Cleaning method for throttling assembly of steam generator

Abstract

The invention relates to the technical field of steam generators and discloses a method for cleaning a throttling assembly of a steam generator, which comprises the following steps: S1, a control system selects the throttling assembly according to the position information of the selected throttling assembly; s2, the positioning module is controlled to be in butt joint with the interface; S3, a flushing needle is controlled to be inserted into a channel by a preset depth along a positioning hole; S4, a pump station is controlled to supply a cleaning medium to the flushing needle, the flushing needle is controlled to withdraw in the axial direction of the channel, and in the withdrawing process, the flushing needle is driven by the mobile platform to move; the flushing needle can continuously rotate around the axis of the flushing needle, S5, the flushing needle is controlled to completely retreat from the channel, and S6, the control system controls the moving platform to drive the cleaning module to return to the initial position, and the steps are repeatedly executed till all the selected throttling assemblies are cleaned. According to the cleaning method for the throttling assembly of the steam generator, the throttling assembly of the steam generator can be rapidly positioned and cleaned.

Description

Technical Field

[0001] This invention belongs to the field of steam generator technology, and specifically relates to a method for cleaning a steam generator throttling component. Background Technology

[0002] The high-temperature gas-cooled reactor (HTGR) steam generator, as the core equipment for heat transfer between the primary and secondary loops of a nuclear power plant, contains hundreds of heat transfer tubes. Each tube has a throttling assembly on its feedwater side, while the secondary side primarily generates steam. Regarding the deviation in the outlet steam temperature of the HTGR steam generator, an inspection of the secondary side revealed black deposits inside the throttling assembly, affecting its throttling effect. Therefore, cleaning of the throttling assembly at the inlet of the heat transfer tubes is necessary. However, due to the small-diameter throttling orifices inside the assembly, cleaning is difficult; currently, cleaning mainly relies on manual flushing, which is inefficient and lacks automation. Furthermore, there are blind spots for cleaning the deposits on the inner wall. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose a method for cleaning a steam generator throttling assembly, which enables rapid positioning and cleaning of the throttling assembly.

[0004] The cleaning method for the steam generator throttling assembly according to an embodiment of the present invention includes the following steps: S1. The control system controls the mobile platform to move the cleaning module according to the position information of the selected throttling component, so that the positioning module of the cleaning module is in a corresponding state with the interface of the selected throttling component. S2. The control system controls the positioning module to connect with the interface, so that the positioning hole on the positioning module is connected to the channel of the selected throttling component; S3. The control system controls the moving component in the cleaning module to drive the flushing needle in the cleaning module to insert into the channel at a preset depth along the positioning hole. S4. The control system controls the pump station to supply cleaning medium to the flushing needle, and controls the moving component to drive the flushing needle to retract along the axial direction of the channel. During the retraction process, the flushing needle can continuously rotate around its own axis, and the cleaning medium sprayed by the nozzle cleans the channel. S5. The control system controls the flushing needle to completely withdraw from the channel; S6. The control system controls the mobile platform to drive the cleaning module back to the initial position, and repeats steps S1 to S6 until all selected throttling components are cleaned.

[0005] The cleaning method for the steam generator throttling component of this invention involves a control system driving a mobile platform to automatically connect the cleaning module to the throttling component interface. A flushing needle is inserted into the channel along a positioning hole, and simultaneously supplied with cleaning medium while rotating and retracting, achieving comprehensive and automatic cleaning of the channel's inner wall. This method solves the problems of difficult positioning, incomplete cleaning, easy damage to components, and radiation risks to personnel associated with traditional manual cleaning, significantly improving cleaning efficiency and consistency, and ensuring safe equipment operation.

[0006] In some embodiments, before performing step S1, the control system controls the mobile platform to move the cleaning module sequentially to a position where the positioning component and at least two of the throttling components are in a corresponding state, and records the spatial coordinates of the cleaning module in each corresponding state. The control system calculates the position information of all the throttling components based on the spatial coordinates and the preset layout model of the throttling components.

[0007] In some embodiments, the corresponding state means that the positioning hole on the positioning module is aligned with the interface of the throttling component, and there is a gap between the two.

[0008] In some embodiments, the flushing needle includes a direct spray needle and a side spray needle, wherein the working end of the direct spray needle is axially open, and the working end of the side spray needle is a closed structure with at least one spray hole on its sidewall.

[0009] In some embodiments, the feature is that, in steps S3 to S5, either the direct injection needle or the side injection needle can be selected, and the injection needle can be replaced after step S5 or step S6 is completed.

[0010] In some embodiments, in step S4, the control system dynamically adjusts the operating power of the pump station so that the injection pressure of the cleaning medium is adjustable within the range of 0-35 MPa.

[0011] In some embodiments, in steps S4 to S5, the duration of the cleaning inside the channel is a preset time, and the preset time ranges from 10 to 30 seconds.

[0012] In some embodiments, during steps S1 to S6, the control system uses a camera unit to visually detect the relative position of the flushing needle and the channel. If an abnormality is detected, the control system stops the flushing needle and issues an alarm.

[0013] In some embodiments, in step S4, the insertion and withdrawal movement of the flushing needle along the through hole is driven by a first drive unit on the moving assembly, and its rotational movement is driven by a second drive unit. The control system performs coordinated control on the rotational speed and withdrawal speed of the flushing needle.

[0014] In some embodiments, the mobile platform includes a multi-axis motion mechanism, which has linear drive components along the X-axis, Y-axis and Z-axis and a rotary drive component rotating about the Z-axis. The movement of the cleaning module in step S2 is achieved through the multi-axis motion mechanism.

[0015] This invention discloses a steam generator throttling component cleaning method. Based on a cleaning system with precise positioning, multi-axis motion, and intelligent control, it achieves automated cleaning of numerous throttling components within a high-temperature gas-cooled reactor steam generator. The method rapidly acquires the position information of all throttling components through a "two-point calibration + automatic coordinate fitting" approach, and utilizes a mobile platform to precisely connect the cleaning module to each interface sequentially. During cleaning, the flushing needle can retract axially along the channel while rotating. Combined with the flexible selection and switching of direct and side spray needles, a multi-directional, full-coverage cleaning jet is formed, thoroughly removing deposits from the channel's inner wall. Simultaneously, the control system provides real-time feedback on the status through visual inspection and resistance monitoring, ensuring a reliable and damage-free cleaning process. Overall, this method achieves full automation, remote operation, and standardization of the cleaning process, significantly improving cleaning efficiency and quality, effectively preventing personnel from entering radiation areas, reducing maintenance costs and safety risks, and is suitable for the maintenance of high-requirement equipment such as nuclear power steam generators. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram from the first perspective of an embodiment of the present invention.

[0017] Figure 2 This is a three-dimensional schematic diagram from a second perspective of an embodiment of the present invention.

[0018] Figure 3 This is a three-dimensional schematic diagram of the cleaning module in an embodiment of the present invention.

[0019] Figure 4 This is a cross-sectional view of the positioning module and the cleaning needle in an embodiment of the present invention.

[0020] Figure 5 This is a structural diagram of the side spray needle in an embodiment of the present invention.

[0021] Figure 6 This is a structural diagram of the direct injection needle in an embodiment of the present invention.

[0022] Figure 7This is a structural diagram of the inlet end of the nozzle in an embodiment of the present invention.

[0023] Figure 8 This is a cross-sectional view of the nozzle after it has been inserted into the throttling assembly in an embodiment of the present invention.

[0024] Figure label: 2. Throttling component; 21. Interface; 22. Channel; 23. First throttling orifice; 24. Second throttling orifice; 25. Third throttling orifice; 3. Cleaning module; 31. Main structure; 32. Positioning module; 321. Positioning hole; 322. Positioning block; 323. Positioning cylinder; 3231. End; 3232. Observation window; 33. Moving component; 331. First drive unit; 332. Sliding support; 333. Second drive unit; 34. Flushing needle; 341. Inlet end; 342. Working end; 3421. Cut; 343. Spray hole; 4. Moving platform; 41. Multi-axis motion mechanism; 411. Linear drive assembly; 412. Rotary drive assembly; 42. Support component. Detailed Implementation

[0025] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0026] like Figures 1-8 As shown, the cleaning method for the steam generator throttling assembly in this embodiment includes the following steps: S1. The control system controls the mobile platform 4 to move the cleaning module 3 according to the position information of the selected throttling component 2, so that the positioning module 32 of the cleaning module 3 is in a corresponding state with the interface 21 of the selected throttling component 2. S2. The control system controls the positioning module 32 to connect with the interface 21, so that the positioning hole 321 on the positioning module 32 is connected to the channel 22 of the selected throttling component 2. S3, the control system controls the moving component 33 in the cleaning module 3 to drive the flushing needle 34 in the cleaning module 3 to insert into the channel 22 at a preset depth along the positioning hole 321; S4. The control system controls the pump station to supply cleaning medium to the flushing needle 34 and controls the moving component 33 to drive the flushing needle 34 to withdraw along the axial direction of the channel 22. During the withdrawal process, the flushing needle 34 can continuously rotate around its own axis, and the cleaning medium sprayed by the needle cleans the channel 22. S5, The control system controls the flushing needle 34 to completely exit the channel 22; S6. The control system controls the mobile platform 4 to drive the cleaning module 3 back to the initial position, and repeats steps S1 to S6 until all selected throttling components 2 are cleaned.

[0027] In step S1 of this embodiment, movement and pre-alignment: The control system generates a control command based on the pre-input or calculated position information of the selected throttling component 2 to be cleaned. This command drives the moving platform 4 to move, and the moving platform 4 moves the cleaning module 3 on it in three-dimensional space. At the same time, the control system can control the cleaning module 3 to rotate around the vertical direction (Z-axis), further increasing the movement range of the nozzle in the XY plane. Finally, the positioning module 32 at the front end of the cleaning module 3 is moved to a position directly opposite the interface 21 of the selected throttling component 2, with their axes basically coinciding and maintaining a small safety gap, forming a "corresponding state".

[0028] Step S2, Docking and Connection: After pre-alignment, the control system controls the moving platform 4 to move precisely along the Z-axis (usually towards the throttling component 2, shown as the top in the attached diagram), driving the positioning module 32 to physically dock with the interface 21 of the throttling component 2. This step ensures that the positioning hole 321 on the positioning module 32 is connected to the fluid channel 22 inside the throttling component 2, and provides a stable, coaxial guide for the subsequent insertion of the flushing needle 34.

[0029] Step S3, Insertion of the flushing needle 34: After positioning and docking are completed, the control system sends a command to the moving component 33 within the cleaning module 3. The moving component 33 drives the flushing needle 34 to move smoothly along the central axis of the positioning hole 321, inserting the working end 342 of the flushing needle 34 into the channel 22 of the throttling component 2 until the preset insertion depth is reached. This depth can be set according to the length of the channel 22 and the cleaning requirements, ensuring that the flushing needle 34 can cover the area to be cleaned and smoothly insert into the first throttling hole 23 (usually with a diameter of 4 mm), the second throttling hole 24 (usually with a diameter of 2.5 mm), and the third throttling hole 25 (usually with a diameter of 3 mm).

[0030] In some specific embodiments, during step S3, the control system monitors the propulsion resistance in real time using a motor current or force sensor. If the resistance exceeds a preset threshold, the system immediately stops propulsion and issues an alarm to prevent scratching or damage to the throttling component 2.

[0031] Step S4, Rotation and Exit Cleaning: After the flushing needle 34 reaches the preset depth, the control system starts the pump station to supply the flushing needle 34 with a cleaning medium (such as high-pressure saline solution) at a preset pressure. Simultaneously, the control system coordinates the movement component 33 to perform two actions: first, driving the flushing needle 34 to rotate continuously around its own axis; second, driving the flushing needle 34 to exit outwards at a uniform speed along the axial direction of the channel 22. During the exit process, the cleaning medium ejected from the rotating flushing needle 34 forms a spiral scanning jet, continuously and comprehensively flushing and cleaning the inner wall of the channel 22, effectively removing deposits.

[0032] In some specific embodiments, during the cleaning process in step S4, the system strictly adheres to the process rule that rotation of the rinsing needle 34 is only permitted during withdrawal and is prohibited during forward insertion. This design completely avoids the risk of abrasive damage between the rotating nozzle and the inner wall of the channel 22.

[0033] Step S5, Stop and Reset: When the control system detects or determines that the flushing needle 34 has completely exited the channel 22 of the throttling component 2, the flushing needle 34 is now within the entire cleaning module 3.

[0034] Step S6, Cyclic Operation: After cleaning the current throttling component 2, the control system controls the moving platform 4 to separate the cleaning module 3 from the current interface 21 and move the cleaning module 3 back to the preset initial position, and then move to the next target position. The system then automatically repeats steps S1 to S5 to clean the next selected throttling component 2, and so on, until the cleaning task of all selected throttling components 2 is completed.

[0035] Further explanation: Throughout the entire process, the control system can monitor the loading of the entire cleaning module 3, as well as the alignment, insertion depth, and cleaning process of the rinsing needle 34 and channel 22, in real time through integrated detection components (such as a camera unit located near the area to be cleaned and a camera unit located on the cleaning module 3). If a positional deviation, abnormal resistance, or other malfunction is detected, the control system can automatically interrupt the current step, issue an alarm, and execute a safety contingency plan, thereby ensuring the reliability of the cleaning process and preventing damage to precision components.

[0036] In some embodiments, before performing step S1, the system controls the mobile platform 4 to move the cleaning module 3 sequentially to a position where the positioning component and at least two throttling components 2 are in a corresponding state, and records the spatial coordinates of the cleaning module 3 in each corresponding state. The system calculates the position information of all throttling components 2 based on the spatial coordinates and the preset layout model of the throttling components 2.

[0037] This embodiment further defines the automatic calibration steps for acquiring the position information of all throttling components 2. Before performing the cleaning step S1, the method includes an automated position learning and coordinate generation stage, the specific steps of which are as follows: Position learning phase: The control system first controls the mobile platform 4 to move the cleaning module 3, so that the positioning module 32 of the cleaning module 3 is aligned with at least two different, known throttling component interfaces 21 in sequence.

[0038] For each selected throttling component 2, the control system manipulates the moving platform 4 to move the positioning module 32 to the approximate area of ​​the target throttling component 2 interface 21. Through the linear movement (X-axis, Y-axis, Z-axis) and rotational drive (around the Z-axis) of the moving platform 4, the attitude and position of the cleaning module 3 are finely adjusted until the positioning hole 321 on the positioning module 32 is precisely aligned with the interface 21 of the throttling component 2, maintaining a small predetermined gap, thus achieving a stable "corresponding state".

[0039] Whenever a corresponding state is successfully established, the control system reads and records in real time the precise spatial coordinates (usually including X, Y, Z positions and rotation angle around the Z axis) of the cleaning module 3 (or the feature point of the positioning module 32) in the equipment coordinate system through the encoder or positioning sensor built into the mobile platform 4.

[0040] Coordinate Calculation and Generation Stage: After successfully acquiring the actual spatial coordinates of at least two throttling components 2, the control system calls its internally stored preset layout model of the steam generator throttling components 2 (this model, based on the equipment installation drawings, defines the theoretical relative positional relationships of all throttling component 2 interfaces 21). The control system matches and fits the recorded actual spatial coordinates with the corresponding theoretical position points in the preset layout model. Through a coordinate system transformation algorithm, a mapping relationship is established between the equipment motion coordinate system and the actual physical layout of the throttling components 2. Based on this mapping relationship, the control system can automatically calculate the theoretical coordinates of all other throttling components 2 in the layout model in actual space, thereby generating a complete coordinate list containing the positional information of all throttling components 2 to be cleaned. Through two-point calibration and automatic coordinate calculation, the positioning error can be controlled within ≤±0.2mm.

[0041] Subsequent Applications: This coordinate list will serve as the core input for the subsequent fully automated cleaning process. When performing step S1 of claim 1, the control system no longer needs to perform manual input or visual search. It can directly control the mobile platform 4 to quickly and accurately move the cleaning module 3 to the corresponding state based on the location information of the target components in the list, greatly improving positioning efficiency and the automation level of the entire cleaning process. This method is particularly suitable for scenarios with a large number of throttling components 2, arranged regularly and densely, fundamentally solving the problem of manually searching for and locating each one.

[0042] In some embodiments, the corresponding state means that the positioning hole 321 on the positioning module 32 is aligned with the interface 21 of the throttling component 2, and there is a gap between the two.

[0043] In this embodiment, "corresponding state" is a key intermediate preparation state, specifically referring to a precise spatial relative relationship between the positioning module 32 of the cleaning module 3 and the interface 21 of the target throttling component 2.

[0044] Generally, the following two conditions must be met: 1. Axial alignment: The central axis of the positioning hole 321 on the positioning module 32 is substantially coincident with the central axis of the throttling component 2 interface 21. This is achieved through coordinated adjustment of the linear movement of the X and Y axes of the moving platform 4 and its rotational movement around the Z axis, ensuring coaxiality in subsequent docking and pin insertion processes. 2. Reserved gap: Based on axial alignment, a preset, small safety distance (i.e., gap) is maintained between the end face of the positioning module 32 and the end face of the throttling component 2 interface 21. The purpose of this gap is to avoid any unintended physical contact or collision before final docking (step S2).

[0045] In practical implementation, in addition to precisely controlling the moving platform 4, the control system can also achieve and confirm the "corresponding state" through visual assistance. Using a camera unit installed in the cleaning module 3 or the environment, the relative position of the positioning hole 321 and the interface 21 is captured in real time. The vision processing unit analyzes the image, identifies edges or features, calculates their center offset and end face distance, and feeds the deviation information back to the motion control unit for closed-loop fine-tuning until the accuracy requirements of "axis alignment" and "gap allowance" are simultaneously met.

[0046] In some embodiments, the flushing needle 34 includes a direct spray needle and a side spray needle. The working end 342 of the direct spray needle is axially open, and the working end 342 of the side spray needle is a closed structure with at least one spray hole 343 on its side wall.

[0047] In this embodiment, at least two types are included: direct injection needles and side injection needles.

[0048] The direct-jet nozzle, after the cleaning medium flows in from the inlet end 341, is directly ejected forward from the axial outlet 342 of the working end, forming a concentrated, high-speed jet along the axial direction of the channel 22. This jet has strong impact force and a concentrated direction, and is mainly used to impact and remove stubborn deposits deep in the axial direction of the channel 22. The working end of the direct-jet nozzle can be provided with multiple cuts 3421 along the axial direction, thereby forming multiple flat jets to enhance the cleaning effect.

[0049] The side spray needles allow the cleaning medium to flow in from the inlet end 341 and then be ejected laterally (radially or at a certain angle to the axis) from the spray holes 343 on the side wall. The main function of the side spray needles is to form one or more rotating lateral cleaning jets when the flushing needle 34 rotates, specifically for flushing and cleaning the inner circumferential surface of the channel 22.

[0050] Furthermore, to facilitate the smooth insertion of the flushing needle 34 into the narrow positioning hole 321 and the inlet of the channel 22, the working end 342 of both the direct spray needle and the side spray needle can be designed as a conical or tapered structure. This conical guide head can play a centering and guiding role during insertion, effectively reducing friction and collision with the edge of the positioning hole 321 or the inlet of the channel 22, avoiding damage to precision components, and ensuring a smooth and accurate insertion process.

[0051] In practical applications, when it is necessary to prioritize clearing blockages deep within channel 22, a direct spray needle can be used for axial impact cleaning. When it is necessary to thoroughly clean the dirt adhering to the inner wall of channel 22, a side spray needle can be used for circumferential brushing. Alternatively, two types of spray needles can be used sequentially or in sequence during a single cleaning process to achieve a thorough cleaning effect of "clearing blockages first, then cleaning the walls".

[0052] In some embodiments, the feature is that, in steps S3 to S5, either a direct injection needle or a side injection needle can be selected, and the injection needle can be replaced after step S5 or step S6 is completed.

[0053] During the cleaning process from step S3 (insertion of flushing needle 34) to step S5 (stop and reset), the control system can, based on a preset cleaning strategy or real-time assessment of scaling conditions, instruct the needle changing mechanism (such as a robotic arm or multi-station turret) or manually to change the needle, selecting either a direct spray needle or a side spray needle to begin the current cleaning cycle. The needle changing mechanism automatically performs a series of actions including needle picking, needle placement, needle loading, and tubing connection / disconnection, and uses sensors to confirm proper installation, achieving seamless switching between different cleaning modes.

[0054] After a complete cleaning cycle is completed, the spray needles can be replaced. Replacement primarily occurs at two times: Replacement after single-component cleaning (after step S5): After the current throttling component 2 has been cleaned, the flushing needle 34 has completely exited the channel 22 and the pump station has been shut down (step S5), but before the cleaning module 3 has returned to its initial position or moved to the next component (step S6), the control system can instruct the needle changing mechanism to perform needle replacement, or a manual array change operation can be performed. For example, after clearing a heavily clogged component with a direct-spray needle, it can be immediately replaced with a side-spray needle to clean the next component mainly composed of wall dirt. To facilitate needle replacement, quick-connect couplings can be used for needle installation.

[0055] Replacement after batch cleaning (after step S6): After cleaning module 3 returns to its initial position or moves to the next station (step S6), the control system can also instruct the nozzle to be replaced. This is applicable when a second cleaning is required according to a preset cleaning plan, or when the cleaning mode of all subsequent components needs to be changed.

[0056] In some embodiments, in step S4, the control system dynamically adjusts the operating power of the pump station so that the injection pressure of the cleaning medium is adjustable within the range of 0-35 MPa. In steps S4 to S5, the duration of cleaning inside channel 22 is a preset time, which ranges from 10 to 30 seconds.

[0057] In this embodiment, by optimizing the combination of pressure and time, the most suitable cleaning energy can be applied to the throttling components 2 for different levels and types of contamination. This avoids residue problems caused by insufficient cleaning and prevents component damage or media waste that may result from over-cleaning. For example, different modes such as standard cleaning and deep cleaning can be combined and selected as needed. This ensures that the cleaning process of each throttling component 2 is performed based on the same set of standards, greatly improving the consistency and reliability of the cleaning results.

[0058] In some embodiments, during steps S1 to S6, the control system performs visual detection on the relative position of the flushing needle 34 and the channel 22 through the camera unit. If an abnormality is detected, the control system stops the flushing needle 34 and triggers an alarm.

[0059] This embodiment significantly improves the controllability, reliability, and safety of the entire automated cleaning process by introducing real-time visual monitoring and a closed-loop safety control mechanism. A camera unit is installed as a core detection component in the system upon which the cleaning method relies. This camera unit can be installed next to the observation window 3232 of the positioning cylinder 323 of the cleaning module 3, and / or independently located within the cleaning area of ​​the steam generator to obtain views from different angles.

[0060] Throughout the entire process from step S1 (movement and pre-alignment) to step S6 (cyclic operation), the camera unit continuously or at key nodes captures images of the following states. For example, in steps S1 and S2, it monitors the alignment of the positioning hole 321 of the positioning module 32 with the interface 21 of the throttling component 2. For example, in steps S3 and S4, it monitors the relative position of the working end 342 of the flushing needle 34 relative to the inlet and interior of the channel 22, including insertion depth, alignment, and smooth withdrawal. For example, in step S4, it observes the spray pattern of the cleaning medium, whether there is foreign matter splashing or abnormal blockage.

[0061] The vision processing unit in the control system receives and analyzes image information from the camera unit in real time. Through image recognition algorithms (such as edge detection, feature matching, and differential comparison), the system can automatically determine if any abnormalities exist. For example, positioning deviation: before or after docking, the positioning hole 321 and the axis of channel 22 show significant misalignment. Insertion pin abnormality: the flushing needle 34 bends, gets stuck, or makes unexpected contact with the inner wall during insertion or withdrawal. Process abnormality: the cleaning jet pattern suddenly changes, large foreign objects fall off, or leakage occurs. Once the vision processing unit detects any of the above abnormalities, the control system issues an emergency stop command to the moving component 33 and the pump station, immediately stopping all movement (rotation, axial movement) of the flushing needle 34 and cutting off the cleaning medium supply. Simultaneously, a clear alarm signal is issued through the human-machine interface, audible and visual alarms, and other devices.

[0062] In some embodiments, in step S4, the insertion and withdrawal movement of the flushing needle 34 along the through hole is driven by the first drive unit 331 on the moving component 33, and its rotational movement is driven by the second drive unit 333. The control system performs coordinated control on the rotational speed and withdrawal speed of the flushing needle 34.

[0063] In this embodiment, during the execution of step S4, the control system does not independently control the first drive unit 331 and the second drive unit 333. Instead, it coordinates the rotation speed (controlled by the second drive unit 333) and withdrawal speed (controlled by the first drive unit 331) of the rinsing needle 34 to maintain a preset, dynamically matched relationship. For example, the rinsing needle 34 may rotate one revolution for every 1 mm of withdrawal. Through coordinated control, the cleaning jet forms a uniform and continuous spiral scanning trajectory on the inner wall of the channel 22, avoiding cleaning blank areas caused by excessive withdrawal or localized over-cleaning caused by excessive rotation. This achieves thorough cleaning of the inner wall of the channel 22 without dead angles and with consistent results.

[0064] In some embodiments, the mobile platform 4 is characterized in that the mobile platform 4 includes a multi-axis motion mechanism 41, which has a linear drive component 411 along the X-axis, Y-axis and Z-axis and a rotary drive component 412 rotating about the Z-axis. The movement of the cleaning module 3 in step S2 is achieved by the multi-axis motion mechanism 41.

[0065] In this embodiment, the core of the mobile platform 4 is a multi-axis motion mechanism 41. This mechanism integrates various drive components, which together give the cleaning module 3 all the required degrees of freedom.

[0066] Linear drive assembly 411: includes components along the X-axis (typically a horizontal direction and usually for support, such as being fixed to a ground support or a steam generator), the Y-axis (a direction orthogonal to the X-axis), and the Z-axis (typically a vertical direction, such as...). Figure 1 Linear motion units arranged in the vertical direction (as shown). The linear drive components 411 in each direction are independently controllable and can drive their loads to perform high-precision, wide-range positioning movements in that axis.

[0067] Rotary drive assembly 412: a precision rotary mechanism that rotates about the Z-axis. The rotary drive assembly 412 is typically mounted on the motion end 3231 of one of a set of linear drive assemblies 411 (e.g., the Z-axis assembly).

[0068] The cleaning module 3 is connected to the mobile platform 4 via a support member 42. The support member 42 is fixedly installed at the output end of the rotary drive assembly 412. Therefore, the motion of the cleaning module 3 is synthesized by the multi-axis motion mechanism 41: through the coordinated motion in the X, Y, and Z directions, i.e., the Z-axis rotation direction, the cleaning module 3 can be driven to reach any target throttling assembly 2 in three-dimensional space.

[0069] Specifically, the control system sends commands to the multi-axis motion mechanism 41. First, the rotary drive assembly 412 drives the cleaning module 3 to rotate to a precise angle based on the orientation of the target throttling assembly 2 interface 21, ensuring that the mating surface of the positioning module 32 is parallel to and oriented in the same direction as the interface 21. Subsequently, the linear drive assembly 411 along the Z-axis is activated, driving the entire cleaning module 3 to perform a precise, minute linear motion along the Z-axis (usually vertically upward) until the positioning module 32 and the throttling assembly 2 interface 21 achieve tight and stable physical contact and docking. The entire movement process is smooth and controllable, ensuring the accuracy and reliability of the docking.

[0070] The following describes a cleaning system for a steam generator throttling assembly cleaning method according to an embodiment of the present invention. The cleaning system includes a cleaning module 3, a mobile platform 4, and a control system.

[0071] 1. Cleaning module.

[0072] The cleaning module 3 mainly includes a main structure 31, a positioning module 32, a moving component 33, and a spray needle. The main structure serves as the frame of the module, used to install and support other components. The positioning module 32 is fixed to the front end of the main structure 31 and is used to achieve precise docking and sealing with the interface 21 of the throttling component 2.

[0073] The positioning module 32 further includes: a positioning cylinder 323, which has a through positioning hole 321 inside. The portion of the positioning hole 321 that mates with the interface 21 of the throttling component 2 can be appropriately expanded for easy accommodation and guidance. The end 3231 of the positioning cylinder 323 is designed to be sealed and connected to the interface 21 of the throttling component 2. An observation window 3232 can also be provided on the side wall of the positioning cylinder 323. A positioning block 322 is used to securely connect the positioning cylinder 323 to the main structure 31.

[0074] The moving assembly 33 is mounted on the main structure 31 and is used to drive the flushing needle 34 to perform precise movements. It includes: a sliding support 332, movable along the main structure 31 (or a linear guide rail provided on the main structure 31); a first drive unit 331 connected to the sliding support 332, used to drive the sliding support 332 and its load to reciprocate along the Z-axis (i.e., the axial direction of the positioning hole 321); and a second drive unit 333 directly mounted on the sliding support 332, whose output shaft is connected to the flushing needle 34, specifically used to drive the flushing needle 34 to rotate about its own axis.

[0075] The flushing needle 34 is mounted on the sliding support 332 via a quick-release connector and is driven to rotate by the second drive unit 333. The flushing needle 34 includes: an inlet end 341, connected to an external pump station via a high-pressure hose for receiving high-pressure cleaning media; and a working end 342, the end 3231 for performing cleaning. Depending on the cleaning requirements, the flushing needle 34 can be a direct-jet needle or a side-jet needle. The working end 342 of a direct-jet needle is an axially open outlet; the working end 342 of a side-jet needle is a closed structure with at least one spray hole 343 on its sidewall, preferably multiple spray holes 343 distributed circumferentially to form a multi-directional jet. For ease of insertion, the working end 342 of the flushing needle 34 can have a tapered structure.

[0076] 2. Mobile platform.

[0077] The mobile platform 4 is used to move and position the cleaning module 3 in three-dimensional space, and its core is the multi-axis motion mechanism 41.

[0078] Multi-axis motion mechanism 41: provides four degrees of freedom of motion, including: Linear drive component 411: These are precision linear modules arranged along the X-axis, Y-axis, and Z-axis directions, respectively, which can realize the positioning of the cleaning module 3 at any point in three-dimensional space.

[0079] Rotary drive assembly 412: A precision rotary mechanism that rotates about the Z-axis, typically mounted on the moving end 3231 of the Z-axis linear drive assembly 411.

[0080] Support member 42: Fixedly installed at the output end of the rotary drive assembly 412, used to connect the cleaning module 3. The central axis of the support member 42 and the central axis of the flushing needle 34 in the cleaning module 3 are designed to be eccentric.

[0081] 3. Control system.

[0082] The control system includes: Motion control unit: electrically connected to the multi-axis motion mechanism 41 of the moving platform 4 and the moving component 33 of the cleaning module 3, used to precisely control the motion speed, position and coordinated action of each axis.

[0083] Vision processing unit: Connected to the detection component, responsible for processing image information.

[0084] Detection components: mainly include a camera unit, which can be set next to the observation window 3232 of the positioning cylinder 323, or in the area to be cleaned of the steam generator, to acquire images of the relative position status (such as alignment status, insertion depth) between the flushing needle 34, the positioning hole 321 and the channel 22 of the throttling component 2.

[0085] Other functions: The control system also integrates safety logic, can receive resistance feedback from the motor to realize over-limit alarm; controls the pump station pressure to adjust within the range of 0-35MPa; and manages the automatic needle changing process, etc.

[0086] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0087] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0088] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0089] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0090] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A method for cleaning a steam generator throttling assembly, characterized in that, Includes the following steps: S1. The control system controls the mobile platform to move the cleaning module according to the position information of the selected throttling component, so that the positioning module of the cleaning module is in a corresponding state with the interface of the selected throttling component. S2. The control system controls the positioning module to connect with the interface, so that the positioning hole on the positioning module is connected to the channel of the selected throttling component; S3. The control system controls the moving component in the cleaning module to drive the flushing needle in the cleaning module to insert into the channel at a preset depth along the positioning hole. S4. The control system controls the pump station to supply cleaning medium to the flushing needle, and controls the moving component to drive the flushing needle to retract along the axial direction of the channel. During the retraction process, the flushing needle can continuously rotate around its own axis, and the cleaning medium sprayed by the nozzle cleans the channel. S5. The control system controls the flushing needle to completely withdraw from the channel; S6. The control system controls the mobile platform to drive the cleaning module back to the initial position, and repeats steps S1 to S6 until all selected throttling components are cleaned.

2. The cleaning method according to claim 1, characterized in that, Before performing step S1, the following is included: The control system controls the mobile platform to move the cleaning module sequentially until the positioning component and at least two of the throttling components are in corresponding states, and records the spatial coordinates of the cleaning module in each corresponding state. The control system calculates the position information of all the throttling components based on the spatial coordinates and the preset layout model of the throttling components.

3. The cleaning method according to claim 2, characterized in that, The corresponding state means that the positioning hole on the positioning module is aligned with the interface of the throttling component, and there is a gap between the two.

4. The cleaning method according to claim 1, characterized in that, The flushing needle includes a direct spray needle and a side spray needle. The working end of the direct spray needle is axially open, and the working end of the side spray needle is a closed structure with at least one spray hole on the side wall.

5. The cleaning method according to claim 2, characterized in that, In steps S3 to S5, either the direct injection needle or the side injection needle can be selected. After completing step S5 or step S6, the injection needle can be replaced.

6. The cleaning method according to claim 1, characterized in that, In step S4, the control system dynamically adjusts the operating power of the pump station so that the injection pressure of the cleaning medium is adjustable within the range of 0-35MPa.

7. The cleaning method according to claim 1, characterized in that, In steps S4 to S5, the duration of the cleaning inside the channel is a preset time, which ranges from 10 to 30 seconds.

8. The cleaning method according to claim 1, characterized in that, During steps S1 to S6, the control system uses a camera unit to visually detect the relative position of the flushing needle and the channel. If an abnormality is detected, the control system stops the flushing needle and triggers an alarm.

9. The cleaning method according to claim 1, characterized in that, In step S4, the insertion and withdrawal movement of the flushing needle along the through hole is driven by the first drive unit on the moving assembly, and its rotational movement is driven by the second drive unit. The control system coordinates the rotational speed and withdrawal speed of the flushing needle.

10. The cleaning method according to any one of claims 1-9, characterized in that, The mobile platform includes a multi-axis motion mechanism, which has linear drive components along the X-axis, Y-axis and Z-axis and a rotary drive component rotating around the Z-axis. The movement of the cleaning module in step S2 is achieved through the multi-axis motion mechanism.

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