Underwater electric spark maintenance device based on rigid-flexible coupling positioning in irradiation environment

Abstract

This invention belongs to the field of nuclear power plant equipment maintenance technology, specifically relating to an underwater electrical discharge machining (EDM) repair device based on rigid-flexible coupling positioning under irradiation conditions. It includes an underwater transport device, an EDM device, a camera monitoring device, and a control system. The underwater transport device provides transport and positioning support for the EDM device, which performs underwater cutting of instrument bushings. The control system is located above water and performs underwater cutting of instrument bushings via remote operation. The repair process is monitored and recorded in real time by the camera monitoring device. This invention is simple to operate, time-efficient, and does not cause secondary damage to the lower reactor internals, nor does it affect the reuse of the lower reactor internals.

Description

Technical Field

[0001] This invention belongs to the field of nuclear power plant equipment maintenance technology, specifically relating to an underwater electric spark repair device based on rigid-flexible coupling positioning under irradiation environment. Background Technology

[0002] As nuclear power plants age, the reactor pressure vessel and its internal equipment are subjected to harsh conditions such as high temperature, high pressure, radiation, corrosion, and wear, as well as impacts from foreign objects, increasing the likelihood of damage and failure. This can even lead to unplanned outages, severely impacting unit safety and economic efficiency. During major overhauls, accidental scraping or collisions can occur when lifting or reinstalling lower reactor internals (CPUs) from the reactor pressure vessel or placing them on A-frame supports. This can cause bending and deformation of the instrument bushings beneath the CPUs, making reinstallation impossible. Since CPUs are non-replaceable, damaged or malfunctioning components require timely repair. Damaged CPUs are stored on A-frames approximately 14.5m underwater in the component pool. The instrument bushings beneath them are arranged in an inverted, jungle-like structure at varying heights, creating a complex spatial configuration. Underwater cameras and underwater laser 3D scanning revealed that an instrument sleeve had bent and deformed. For instrument sleeves that have bent and deformed in a confined space at a long distance underwater, the maintenance equipment has no positioning reference, making it difficult to achieve high-precision positioning. Summary of the Invention

[0003] This invention addresses the challenges of irradiated environments, complex underwater spaces at long distances, and situations lacking positioning references. It provides an underwater EDM repair device based on rigid-flexible coupling positioning, equipped with an EDM tool head, to rapidly repair deformed instrument sleeves of lower-level internal components. The device connects to the instrument sleeve by constructing an adaptive floating centering clamping unit on a rigid transport platform, and uses the EDM device to cut and repair the deformed instrument sleeve. During the cutting process, an underwater suction and filtration device simultaneously collects the cutting powder, and the entire process is monitored by an underwater camera system.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] An underwater EDM repair device based on rigid-flexible coupling positioning under irradiation conditions includes an underwater transport device, an EDM device, a camera monitoring device, and a control system. The underwater transport device provides transport and positioning support for the EDM device, which performs underwater cutting of instrument sleeves. The control system is located on the water surface and performs underwater cutting of instrument sleeves through remote operation. The repair process is monitored and recorded in real time by the camera monitoring device.

[0006] The underwater transport device includes a hoisting pole, a support frame, a cross slide, a lifting platform, an adaptive flexible connection mechanism, a limiting sleeve, and a clamping mechanism. The support frame enables the overall underwater transport of the maintenance device via the hoisting pole. The support frame has a cross slide for mounting the lifting platform, the adaptive flexible connection mechanism, the limiting sleeve, and the clamping mechanism to achieve planar movement. The lifting platform is used to mount the adaptive flexible connection mechanism, the limiting sleeve, and the clamping mechanism to achieve lifting and lowering movement. The electrical discharge machining device, the limiting sleeve, and the clamping mechanism are all mounted on the adaptive flexible connection mechanism and maintain a relatively stable state.

[0007] Before hoisting, the cross slide on the support frame must be moved to the calibrated zero position, and the lifting platform must be moved to the lowest position. During the hoisting process, the position and attitude of the maintenance device are observed in real time through radiation-resistant video monitoring devices to guide the hoisting path.

[0008] A proximity switch is installed on the support frame. When the proximity switch contacts the A-frame around the lower stack components, the proximity switch sends an indication signal, indicating that the maintenance device is hoisted into place. The control system remotely controls the cross slide to complete the horizontal X and Y direction position adjustment, so that the clamping mechanism is aligned with the instrument sleeve to be maintained, realizing the initial positioning of the underwater transport device relative to the instrument sleeve to be maintained.

[0009] A radiation-resistant underwater camera facing upwards is positioned directly below the clamping mechanism. When the instrument sleeve to be repaired is in the center of the clamping mechanism, it indicates that the cross slide is properly adjusted. Based on the information from the camera monitoring device, when the clamping mechanism is aligned with the instrument sleeve to be repaired, the lifting platform is driven to rise upwards. When the upper surface of the limiting sleeve contacts the instrument sleeve grid plate, the adaptive flexible connection mechanism makes the limiting sleeve adaptively align with the lower surface of the grid plate. The pneumatic gripper A on the clamping mechanism is driven to clamp the upper section of the instrument sleeve to be repaired, keeping the underwater transport device and the instrument sleeve to be repaired in a relatively fixed state. The pneumatic gripper B on the clamping mechanism is driven to clamp the lower section of the instrument sleeve, keeping the lower section of the instrument sleeve in a relatively stable state during the cutting process.

[0010] Before the driving lifting platform is lifted upward, the pneumatic grippers A and B on the clamping mechanism must be in the open state; both pneumatic grippers A and B can move adaptively along the clamping direction to ensure that the grippers can reliably clamp onto the instrument sleeve.

[0011] The materials used for the contact parts between pneumatic grippers A and B and the instrument sleeve must be non-conductive.

[0012] A proximity switch is provided on the upper surface of the limit sleeve that contacts the instrument sleeve grid plate. When the proximity switch detects that the limit sleeve is aligned with the grid plate, the lifting platform stops lifting.

[0013] The adaptive flexible connection mechanism consists of an upper connecting plate, a lower connecting plate, a spring, and a connecting rod. The upper connecting plate and the lower connecting plate are flexibly connected by the spring and the connecting rod. The spring can bend and twist, and has an adaptive fine-tuning function.

[0014] The electrical discharge machining (EDM) device consists of an electrode sheet, a mounting base, an electrode sheet sleeve, an electrode feed motor, and a linear module. The electrode sheet is fixed on the linear module by the mounting base and the electrode sheet sleeve. The electrode feed motor drives the linear module to move linearly, thereby driving the electrode sheet to complete the cutting of the instrument sleeve to be repaired.

[0015] The electrode sheath is equipped with a high-pressure chip flushing channel, which uses high-pressure water at appropriate pressure to discharge waste chips from the machining gap.

[0016] The electrode sheaths and mounting bases are made of non-conductive and poorly absorbent non-metallic materials.

[0017] An underwater EDM repair method based on rigid-flexible coupling positioning under irradiation conditions: The repair device is hoisted, transported, and launched underwater. Based on video information from a camera monitoring device, and using the A-frame around the lower internal components as the installation reference, the repair device is hoisted to the area below the instrument sleeve to be cut. The cross slide on the underwater transport device is moved remotely via a control system to achieve initial positioning of the instrument sleeve. The lifting platform on the underwater transport device is then controlled to rise upwards, during which the limiting sleeve above the lifting platform adaptively aligns with the lower surface of the instrument sleeve grid plate. After the lifting is completed, the device is positioned correctly. The system controls the retraction of the clamping mechanism on the lifting platform to clamp and fix the instrument sleeve to be cut; the system remotely controls the electrical discharge machining (EDM) device to cut the instrument sleeve; during the EDM process, high-pressure water jets remove the waste debris deposited on the electrode plates from the machining gap, while an underwater suction and filtration device filters and collects the waste debris in a timely manner; after the EDM is completed, the cut instrument sleeve is collected and sealed for storage; the system remotely controls the return of each motion unit to its original position, cleans and decontaminates the maintenance device, and then the entire maintenance device is removed from the water to complete the maintenance operation.

[0018] The beneficial effects achieved by this invention are as follows:

[0019] This invention compares the feasibility of repair methods such as cutting, straightening, and welding. It combines the analysis of the influence of core flow field and temperature field under hot and transient operation conditions, as well as the simulation analysis of structural integrity. By constructing an adaptive flexible floating centering clamping unit on a rigid carrier platform, it is fixedly connected to the bent and deformed instrument sleeve. This connection method uses the instrument sleeve itself as a reference to form a relatively stable positional relationship with the EDM tool head, realizing adaptive positioning for long-distance operation in a confined space. The repair of the deformed instrument sleeve is completed by EDM cutting.

[0020] This invention provides an underwater transport device for the electrical discharge machining (EDM) device, enabling remote underwater positioning and fixation of the instrument sleeve. The EDM device serves as the main cutting operation unit, performing underwater cutting of the instrument sleeve. The control system is located on the surface of the water, allowing for remote operation of the underwater cutting of the instrument sleeve. The entire maintenance process is monitored and recorded in real time by a video surveillance device. During the EDM cutting process, a suction and filtration device is used to collect the cutting powder. After cutting, a high-level radioactive waste collection device is used for underwater storage of the radioactive waste.

[0021] This invention addresses the issue of electrode chip buildup affecting machining efficiency and quality during electrical discharge machining (EDM). It incorporates a high-pressure chip flushing channel on the electrode sheath, enabling the removal of machining chips within a 0.2mm machining gap, significantly improving machining efficiency and quality. This invention is simple to operate, time-efficient, and does not cause secondary damage to the lower stack components, thus preserving their reusability. Attached Figure Description

[0022] Figure 1 This is a general layout diagram of the present invention;

[0023] Figure 2 This is a perspective view of the present invention;

[0024] Figure 3 A 3D view of the support frame;

[0025] Figure 4 A 3D view of the cross slide;

[0026] Figure 5 This is a 3D view of the lifting platform;

[0027] Figure 6 A 3D diagram of adaptive flexible connection;

[0028] Figure 7 A three-dimensional view of an electrical discharge machining (EDM) apparatus;

[0029] Figure 8 Flowchart of the maintenance process for instrument bushings of the lower reactor internal components;

[0030] In the diagram: 1-Lower internal components; 2-Instrument sleeve; 3-Underwater transport device; 4-Electrical discharge machining device; 5-Lifting long rod; 6-Control system; 7-Camera monitoring device; 8-Support frame; 9-Cross slide; 10-Lifting platform; 11-Adaptive flexible connection mechanism; 12-Radiation resistant underwater camera; 13-Limit sleeve; 14-Clamping mechanism; 16-Proximity switch; 17-Upper connecting plate; 18-Lower connecting plate; 19-Spring; 20-Connecting rod; 21-Pneumatic gripper A; 22-Pneumatic gripper B; 23-Electrode plate; 24-Electrode plate sheath; 25-High-pressure chip removal flushing channel; 26-Mounting base; 27-Linear module; 28-Electrode feed motor. Detailed Implementation

[0031] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 As shown in Figure 8, this invention provides an underwater EDM (Electrical Discharge Machining) repair device based on rigid-flexible coupling positioning under irradiation conditions, used for cutting and repairing instrument sleeves of bent and deformed components in the lower reactor interior of nuclear power plants. It can also be used for underwater EDM cutting of other metal equipment in nuclear power plants. Repairing lower reactor interior components is a high-risk operation, requiring very high standards for equipment, personnel, and operational procedures. Using this invention to repair bent and deformed instrument sleeves in lower reactor interior components can significantly reduce the workload of operators, improve work efficiency, reduce the risk of damage during the transfer of lower reactor interior components, and ensure the safety of repair operations.

[0033] The underwater EDM repair device based on rigid-flexible coupling positioning under irradiation conditions consists of an underwater transport device 3, an EDM processing device 4, a camera monitoring device 7, and a control system 6. The underwater transport device 3 provides transport and positioning support for the EDM processing device 4, enabling remote underwater positioning and fixation of the instrument sleeve 2; the EDM processing device 4 serves as the main body for cutting operations, realizing underwater cutting of the instrument sleeve 2; the control system 6 is located on the water surface, completing the underwater cutting operation of the instrument sleeve 2 through remote operation; the entire repair process is monitored and recorded in real time by the camera monitoring device 7.

[0034] The underwater transport device 3 consists of a hoisting rod 5, a support frame 8, a cross slide 9, a lifting platform 10, an adaptive flexible connection mechanism 11, a limiting sleeve 13, and a clamping mechanism 14. The support frame 8 serves as a crucial support carrier, enabling the overall underwater transport of the maintenance device via the hoisting rod 5. The cross slide 9 on the support frame 8 is used to mount the lifting platform 10, the adaptive flexible connection mechanism 11, the limiting sleeve 13, and the clamping mechanism 14 for planar movement. The lifting platform 10 is used to mount the adaptive flexible connection mechanism 11, the limiting sleeve 13, and the clamping mechanism 14 for lifting and lowering movement. The electrical discharge machining device 4, the limiting sleeve 13, and the clamping mechanism 14 are all mounted on the adaptive flexible connection mechanism 11 and maintain a relatively stable state.

[0035] To reduce the risk of scratching or colliding with other equipment during hoisting, the cross slide 9 on the support frame 8 must be moved to the calibrated zero position and the lifting platform 10 moved to the lowest position before hoisting. During hoisting, the position and attitude of the maintenance device are observed in real time through the radiation-resistant video monitoring device 7 to guide the hoisting path. To ensure that the movement stroke of the cross slide 9 meets the alignment requirements of the instrument sleeve to be maintained, a proximity switch 16 can be installed on the support frame 8. When the proximity switch 16 contacts the A-frame around the lower stack component 1, the proximity switch 16 sends an indication signal, indicating that the entire device has been hoisted into place. After the entire device has been hoisted into place, the cross slide 9 is remotely controlled by the control system 6 to complete the horizontal X and Y direction position adjustment, so that the clamping mechanism 14 is aligned with the instrument sleeve to be maintained, realizing the initial positioning of the underwater transport device 3 relative to the instrument sleeve to be maintained.

[0036] To visually demonstrate the positional relationship between the clamping mechanism 14 and the instrument sleeve to be repaired, an upward-facing, radiation-resistant underwater camera 12 can be positioned directly below the clamping mechanism 14. When the instrument sleeve to be repaired is at the exact center of the clamping mechanism 14, it indicates that the cross-slide adjustment is in place. Based on the information fed back by the camera monitoring device 7, when the clamping mechanism 14 is aligned with the instrument sleeve to be repaired, the lifting platform 10 is driven to rise upwards. When the upper surface of the limiting sleeve 13 contacts the instrument sleeve grid plate, the adaptive flexible connection mechanism 11 causes the limiting sleeve 13 to adaptively align with the lower surface of the grid plate. The pneumatic gripper A21 on the clamping mechanism 14 is driven to clamp the upper section of the instrument sleeve to be repaired, keeping the underwater transport device 3 and the instrument sleeve to be repaired in a relatively fixed state. The pneumatic gripper B22 on the clamping mechanism 14 is driven to clamp the lower section of the instrument sleeve, keeping the lower section of the instrument sleeve in a relatively stable state during the cutting process. Before the lifting platform 10 is lifted upwards, the pneumatic grippers A21 and B22 on the clamping mechanism 14 must be in the open state; in addition, the material of the contact part between the grippers and the instrument sleeve must be a non-conductive material. A proximity switch 16 is provided on the upper surface of the limiting sleeve 13 that contacts the instrument sleeve grid plate. When the proximity switch 16 detects that the limiting sleeve 13 is aligned with the grid plate, the lifting platform 10 stops lifting. The electrical discharge machining device 4, the limiting sleeve 13, and the clamping mechanism 14 are all mounted on the lifting platform 10 through an adaptive flexible connection mechanism 11, which allows for a certain degree of bending and torsion, possessing a certain degree of self-adaptability. This ensures that the electrical discharge machining device 4 and the clamping mechanism 14 remain relatively stable while adapting to the deformation of the instrument sleeve grid plate.

[0037] The adaptive flexible connection mechanism 11 consists of an upper connecting plate 17, a lower connecting plate 18, a spring 19, and a connecting rod 20. The upper connecting plate 17 and the lower connecting plate 18 are flexibly connected by the spring 19 and the connecting rod 20. The spring 19 can achieve a certain degree of bending and torsion, and has a certain adaptive fine-tuning function. In order to adapt to the deformation of the instrument sleeve, the pneumatic grippers A21 and B22 on the clamping mechanism 14 can both move adaptively along the clamping direction to ensure that the grippers can reliably clamp the instrument sleeve.

[0038] The electrical discharge machining (EDM) device 4 consists of an electrode plate 23, a mounting base 26, an electrode plate sleeve 24, an electrode feed motor 28, and a linear module 27. The electrode plate 23 is fixed to the linear module 27 via the mounting base 26 and the electrode plate sleeve 24. The electrode feed motor 28 drives the linear module 27 to move linearly, thereby causing the electrode plate 23 to cut the instrument sleeve to be repaired. To prevent waste chips generated during EDM from accumulating or adhering to the electrode plate 23 and affecting processing efficiency and quality, a high-pressure chip removal and flushing channel 25 is provided on the electrode plate sleeve 24, using high-pressure water at appropriate pressure to discharge waste chips from the processing gap. Both the electrode plate sleeve 24 and the mounting base 26 are made of non-conductive and poorly absorbent non-metallic materials.

[0039] The workflow of an underwater electric spark repair device based on rigid-flexible coupling positioning under irradiation conditions is as follows:

[0040] The entire repair unit is hoisted, transported, and launched into the water. During the hoisting process, a gantry crane above the component pool, in conjunction with specialized lifting equipment, ensures stability during transport. Based on video information from the camera monitoring device 7, the A-frame around the lower stack of components is used as the installation reference to hoist the repair unit to the area below the instrument sleeve to be cut. The cross slide 9 on the underwater transport device 3 is remotely controlled by the control system 6 to complete the initial positioning of the instrument sleeve to be repaired. The lifting platform 10 on the underwater transport device 3 is then controlled to lift upwards. During the lifting process, the limiting sleeve 13 above the lifting platform 10 adaptively aligns with the lower surface of the instrument sleeve grid plate. After being raised to the correct position, the clamping mechanism 14 on the lifting platform 10 retracts to clamp and fix the instrument sleeve to be cut. The electrical discharge machining (EDM) device 4 is remotely controlled by the control system 6 to cut the instrument sleeve. During the EDM process, high-pressure water jets are used to remove the waste debris deposited on the electrode plate 23 from the machining gap. At the same time, an underwater suction and filtration device can be used to filter and collect the waste debris in a timely manner. After the EDM is completed, the cut instrument sleeve is collected and sealed for storage. The control system 6 remotely controls each motion unit to return to its original position. After cleaning and decontaminating the maintenance device, the entire maintenance device is removed from the water to complete the maintenance operation.

Claims

1. An underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation conditions, characterized in that: It includes an underwater transport device, an electrical discharge machining device, a video monitoring device, and a control system. The underwater transport device provides transport and positioning support for the electrical discharge machining device, which performs underwater cutting of instrument sleeves. The control system is located on the water and completes the underwater cutting of instrument sleeves through remote operation. The maintenance process is monitored and recorded in real time by the video monitoring device. The underwater transport device includes a hoisting pole, a support frame, a cross slide, a lifting platform, an adaptive flexible connection mechanism, a limiting sleeve, and a clamping mechanism. The support frame enables the overall underwater transport of the maintenance device via the hoisting pole. The support frame has a cross slide for mounting the lifting platform, the adaptive flexible connection mechanism, the limiting sleeve, and the clamping mechanism to achieve planar movement. The lifting platform is used to mount the adaptive flexible connection mechanism, the limiting sleeve, and the clamping mechanism to achieve lifting movement. The electrical discharge machining device, the limiting sleeve, and the clamping mechanism are all mounted on the adaptive flexible connection mechanism and maintain a relatively stable state. A radiation-resistant underwater camera facing upwards is positioned directly below the clamping mechanism. When the instrument sleeve to be repaired is in the center of the clamping mechanism, it indicates that the cross slide is properly adjusted. Based on the information from the camera monitoring device, when the clamping mechanism is aligned with the instrument sleeve to be repaired, the lifting platform is driven to rise upwards. When the upper surface of the limiting sleeve contacts the instrument sleeve grid plate, the adaptive flexible connection mechanism makes the limiting sleeve adaptively align with the lower surface of the grid plate. The pneumatic gripper A on the clamping mechanism is driven to clamp the upper section of the instrument sleeve to be repaired, keeping the underwater transport device and the instrument sleeve to be repaired in a relatively fixed state. The pneumatic gripper B on the clamping mechanism is driven to clamp the lower section of the instrument sleeve, keeping the lower section of the instrument sleeve in a relatively stable state during the cutting process. The adaptive flexible connection mechanism consists of an upper connecting plate, a lower connecting plate, a spring, and a connecting rod. The upper connecting plate and the lower connecting plate are flexibly connected by the spring and the connecting rod. The spring can bend and twist, and has an adaptive fine-tuning function. The electrical discharge machining (EDM) device consists of an electrode sheet, a mounting base, an electrode sheet sleeve, an electrode feed motor, and a linear module. The electrode sheet is fixed on the linear module by the mounting base and the electrode sheet sleeve. The electrode feed motor drives the linear module to move linearly, thereby driving the electrode sheet to complete the cutting of the instrument sleeve to be repaired.

2. The underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation environment according to claim 1, characterized in that: Before hoisting, the cross slide on the support frame must be moved to the calibrated zero position, and the lifting platform must be moved to the lowest position. During the hoisting process, the position and attitude of the maintenance device are observed in real time through radiation-resistant video monitoring devices to guide the hoisting path.

3. The underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation environment according to claim 1, characterized in that: A proximity switch is installed on the support frame. When the proximity switch contacts the A-frame around the lower stack components, the proximity switch sends an indication signal, indicating that the maintenance device is hoisted into place. The control system remotely controls the cross slide to complete the horizontal X and Y direction position adjustment, so that the clamping mechanism is aligned with the instrument sleeve to be maintained, realizing the initial positioning of the underwater transport device relative to the instrument sleeve to be maintained.

4. The underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation environment according to claim 1, characterized in that: Before the driving lifting platform is lifted upward, the pneumatic grippers A and B on the clamping mechanism must be in the open state; both pneumatic grippers A and B can move adaptively along the clamping direction to ensure that the grippers can reliably clamp onto the instrument sleeve.

5. The underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation environment according to claim 1, characterized in that: The materials used for the contact parts between pneumatic grippers A and B and the instrument sleeve must be non-conductive.

6. The underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation environment according to claim 1, characterized in that: A proximity switch is provided on the upper surface of the limit sleeve that contacts the instrument sleeve grid plate. When the proximity switch detects that the limit sleeve is aligned with the grid plate, the lifting platform stops lifting.

7. The underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation environment according to claim 1, characterized in that: The electrode sheath is equipped with a high-pressure chip flushing channel, which uses high-pressure water at appropriate pressure to discharge waste chips from the machining gap.

8. The underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation environment according to claim 1, characterized in that: The electrode sheath and mounting base are made of non-conductive and poorly absorbent non-metallic materials.

9. An underwater electrical spark repair method based on rigid-flexible coupling positioning under irradiation environment, using the underwater electrical spark repair device based on rigid-flexible coupling positioning under irradiation environment as described in any one of claims 1-8, characterized in that: The maintenance unit was hoisted, transported, and launched into the water. Based on video information from the camera monitoring device, and using the A-frame around the lower stack internal components as the installation reference, the maintenance unit was hoisted to the area below the instrument sleeve to be cut. The cross slide on the underwater transport device was moved remotely by the control system to complete the initial positioning of the instrument sleeve to be repaired. The lifting platform on the underwater transport device was then controlled to lift upwards, during which the limit sleeve above the lifting platform adaptively aligned with the lower surface of the instrument sleeve grid plate. After being lifted into position, the clamping mechanism on the lifting platform was controlled to retract, completing the clamping and fixing of the instrument sleeve to be cut. The electrical discharge machining device was then remotely controlled by the control system to perform the cutting of the instrument sleeve. During the electrical discharge machining process, high-pressure water jets are used to remove the waste debris deposited on the electrode plates from the machining gap. At the same time, an underwater suction and filtration device is used to filter and collect the waste debris in a timely manner. After the electrical discharge machining is completed, the cut instrument sleeves are collected and sealed for storage. The control system remotely controls each moving unit to return to its original position. After cleaning and decontaminating the maintenance device, the entire maintenance device is drained from the water to complete the maintenance operation.

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