Cleaning system for throttling assembly of steam generator of high-temperature gas cooled reactor

Abstract

The invention provides a cleaning system for a throttling assembly of a high-temperature gas cooled reactor steam generator, and relates to the technical field of cleaning equipment for throttling assemblys.The cleaning system comprises a machine base, a mechanical arm, a positioning device and a cleaning device, and the mechanical arm is arranged on the machine base; the positioning device and the cleaning device are both arranged on the mechanical arm, the mechanical arm can adjust the positions of the positioning device and the cleaning device relative to a throttling assembly to be cleaned, and the positioning device is used for positioning the position of the throttling assembly to be cleaned; the cleaning device comprises at least one of a hole cleaning mechanism and a cavity cleaning mechanism, the hole cleaning mechanism is used for cleaning throttling holes of the to-be-cleaned throttling assembly, and the cavity cleaning mechanism is used for cleaning the inner circumferential wall of the to-be-cleaned throttling assembly. According to the cleaning device, the position of the to-be-cleaned throttling assembly can be accurately positioned, so that the cleaning device can accurately reach the to-be-cleaned throttling assembly to clean the to-be-cleaned throttling assembly, and the cleaning effect and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment for throttling components, and more particularly to a cleaning system for throttling components of a high-temperature gas-cooled reactor steam generator. Background Technology

[0002] The steam generator consists of 19 heat exchange components, connecting pipes, tube sheets, and other internal components. The heat exchange components include 665 spiral heat transfer tubes. To ensure the stability of the gas-liquid two-phase flow within the heat transfer tubes and to meet the flow distribution requirements between the tubes, a throttling device is installed at the inlet of each heat transfer tube (see...). Figure 1 The diameter of the first throttling orifice of the throttling assembly is approximately Φ4mm, the diameter of the second throttling orifice is approximately Φ2.5mm, and the diameter of the third throttling orifice is approximately 3mm.

[0003] As the operating time of the steam generator increases, the throttling components are affected by factors such as water quality, temperature, and pressure, and scale or oxide deposits are often formed inside them, which affects the heat exchange efficiency and service life of the steam generator, and causes inconsistencies between the feed water flow and the steam generator outlet temperature.

[0004] In related technologies, in order to ensure the consistency of the steam generator outlet temperature, the throttling components need to be cleaned. However, since the inlet diameter of the throttling components is only 4mm and the narrowest part inside is only 2.5mm, it is impossible to accurately locate the inlet of each throttling component when cleaning them manually one by one. The cleaning is difficult and inefficient, and the cleaning process is time-consuming and labor-intensive. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, embodiments of the present invention propose a cleaning system for throttling components of a high-temperature gas-cooled reactor steam generator. This cleaning system can accurately locate the position of the throttling component to be cleaned, so that the cleaning device can accurately reach the throttling component to be cleaned for cleaning, thereby improving the cleaning effect and efficiency.

[0007] A cleaning system for a throttling assembly of a high-temperature gas-cooled reactor steam generator according to an embodiment of the present invention includes a base, a robotic arm, a positioning device, and a cleaning device. The robotic arm is disposed on the base. Both the positioning device and the cleaning device are disposed on the robotic arm. The robotic arm is capable of adjusting the positions of the positioning device and the cleaning device relative to the throttling assembly to be cleaned. The positioning device is used to position the throttling assembly to be cleaned. The cleaning device includes at least one of an orifice cleaning mechanism and a cavity cleaning mechanism. The orifice cleaning mechanism is used to clean the throttling orifice of the throttling assembly to be cleaned, and the cavity cleaning mechanism is used to clean the inner peripheral wall of the throttling assembly to be cleaned.

[0008] The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to an embodiment of the present invention comprises a base, a robotic arm, a positioning device, and a cleaning device, which work together to form an automated cleaning device suitable for the throttling assembly of a steam generator. The positioning device can locate the position of the throttling assembly to be cleaned in real time, allowing the robotic arm to adjust the positions of the positioning device and the cleaning device relative to the assembly based on the position information obtained by the positioning device. This ensures that the cleaning device can accurately target the assembly for cleaning, guaranteeing the cleaning effect. Furthermore, the coordination between the positioning device and the cleaning device ensures the stability and consistency of the cleaning operation, reducing the impact and uncertainty caused by human operation. Therefore, compared to related technologies, the present invention can accurately locate the position of the throttling assembly to be cleaned, enabling the cleaning device to accurately reach the assembly for cleaning, thus improving the cleaning effect and efficiency.

[0009] In some embodiments, the base includes a suspension base, a positioning slide, and a rotary joint. The suspension base is adapted to be disposed below the throttling assembly tube bundle of the steam generator. The mounting end of the positioning slide is connected to the suspension base, and the telescopic end of the positioning slide is connected to the mounting end of the rotary joint to adjust the position of the rotary joint relative to the suspension base. The pivot end of the rotary joint is connected to the robotic arm so that the robotic arm can rotate relative to the suspension base.

[0010] In some embodiments, the robotic arm includes a first telescopic member and a mounting frame, the mounting end of the first telescopic member being connected to the base; the mounting frame being connected to the positioning device and the cleaning device, and the telescopic end of the first telescopic member being connected to the mounting frame to adjust the position of the positioning device and the cleaning device relative to the throttling component to be cleaned.

[0011] In some embodiments, the positioning accuracy of the positioning device is δ, where δ ≤ 0.1 mm; The positioning device includes a vision camera, which is used to acquire image information of the throttling component tube bundle of the steam generator to determine the location of the throttling component to be cleaned.

[0012] In some embodiments, both the hole cleaning mechanism and the cavity cleaning mechanism include a second telescopic member, a cleaning needle, and a needle holder. The mounting end of the second telescopic member is connected to the robotic arm. The cleaning needle is connected to the needle holder. The telescopic end of the second telescopic member is adapted to connect to the needle holder to push and pull the cleaning needle along the extension direction of the throttling assembly to be cleaned. The cleaning needle has a spray cavity and is provided with a water inlet and a water spray hole communicating with the spray cavity. The water inlet is adapted to be connected to an external high-pressure water source. The water spray hole of the hole cleaning mechanism is located at the end of the cleaning needle away from the needle head seat, and the water spray hole of the cavity cleaning mechanism is located on the side wall of the cleaning needle.

[0013] In some embodiments, the cleaning needle is detachably connected to the needle holder.

[0014] In some embodiments, the water spray holes of the cavity cleaning mechanism are at least one and are arranged at circumferential intervals along the cleaning needle.

[0015] In some embodiments, the cavity cleaning mechanism further includes a rotary drive, the mounting end of which is connected to the telescopic end of the second telescopic member, and the pivot end of which is connected to the needle holder so that the cleaning needle can rotate relative to the robotic arm.

[0016] In some embodiments, both the orifice cleaning mechanism and the cavity cleaning mechanism further include a needle retaining sleeve, which is disposed at the mounting end of the second telescopic member and arranged with the needle seat along the extension direction of the cleaning needle. The cleaning needle and the needle retaining sleeve are slidably connected along the extension direction of the cleaning needle.

[0017] In some embodiments, the cleaning device further includes an endoscope mechanism, which includes a third telescopic member and an endoscope lens. The mounting end of the third telescopic member is connected to the robotic arm. The telescopic end of the third telescopic member is connected to the endoscope lens to push and pull the endoscope lens along the extension direction of the throttling component to be cleaned. The endoscope lens is used to detect the cleaning status of the throttling component to be cleaned.

[0018] In some embodiments, the positioning device and the cleaning device are both at least one and arranged on the robotic arm.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] Figure 1This is a schematic diagram of a cleaning system for a throttling assembly of a high-temperature gas-cooled reactor steam generator according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the connection structure of the robotic arm, positioning device, and cleaning device in the throttling assembly of a high-temperature gas-cooled reactor steam generator according to an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the cavity cleaning mechanism for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the cleaning needle for the cavity cleaning mechanism of the throttling assembly of a high-temperature gas-cooled reactor steam generator according to an embodiment of the present invention.

[0024] Figure label: 1. Base; 11. Suspension base; 12. Positioning slide; 13. Rotary joint; 2. Robotic arm; 21. First telescopic component; 22. Mounting frame; 3. Positioning device; 31. Visual camera; 4. Cleaning device; 41. Hole cleaning mechanism; 411. Second telescopic component; 412. Cleaning needle; 4121. Spray chamber; 4122. Water spray hole; 413. Needle seat; 414. Needle retaining sleeve; 42. Cavity cleaning mechanism; 421. Rotary drive component; 43. Endoscope mechanism; 431. Third telescopic component; 432. Endoscope lens. 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 Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a cleaning system for a throttling assembly of a high-temperature gas-cooled reactor steam generator, comprising a base 1, a robotic arm 2, a positioning device 3, and a cleaning device 4. The robotic arm 2 is mounted on the base 1. The positioning device 3 and the cleaning device 4 are both mounted on the robotic arm 2. The robotic arm 2 is capable of adjusting the positions of the positioning device 3 and the cleaning device 4 relative to the throttling assembly to be cleaned. The positioning device 3 is used to position the throttling assembly to be cleaned. The cleaning device 4 includes at least one of an orifice cleaning mechanism 41 and a cavity cleaning mechanism 42. The orifice cleaning mechanism 41 is used to clean the throttling orifice of the throttling assembly to be cleaned, and the cavity cleaning mechanism 42 is used to clean the inner peripheral wall of the throttling assembly to be cleaned.

[0027] The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to an embodiment of the present invention comprises a base 1, a robotic arm 2, a positioning device 3, and a cleaning device 4, which work together to form an automated cleaning device suitable for the throttling assembly of a steam generator. The positioning device 3 can locate the position of the throttling assembly to be cleaned in real time, so that the robotic arm 2 can adjust the positions of the positioning device 3 and the cleaning device 4 relative to the throttling assembly based on the position information obtained by the positioning device 3. This ensures that the cleaning device 4 can accurately clean the throttling assembly, guaranteeing the cleaning effect. Furthermore, the cooperation between the positioning device 3 and the cleaning device 4 ensures the stability and consistency of the cleaning operation, reducing the impact and uncertainty caused by human operation. Therefore, compared with related technologies, the present invention can accurately locate the position of the throttling assembly to be cleaned, enabling the cleaning device 4 to accurately reach the throttling assembly for cleaning, thus improving the cleaning effect and efficiency.

[0028] Specifically, the cleaning device may include only the orifice cleaning mechanism, or only the cavity cleaning mechanism, or both the orifice cleaning mechanism and the cavity cleaning mechanism, to achieve all-round cleaning of the throttling orifice and the inner peripheral wall of the throttling component, ensuring the smooth flow of the throttling component.

[0029] In addition, the cleaning system may also include a control unit, which is electrically connected to the robotic arm, the positioning device, and the cleaning device. The positioning device can feed back the measured position information of the throttling component to be cleaned to the control unit. The control unit controls the operation of the robotic arm based on the position information, that is, adjusts the position of the positioning device and the cleaning device relative to the throttling component to be cleaned until the cleaning device is directly aligned with the throttling component to be cleaned. After that, the control unit starts the cleaning device to clean the corresponding throttling component.

[0030] Therefore, to ensure the accuracy and efficiency of positioning during the cleaning of the throttling components of a high-temperature gas-cooled reactor steam generator, this invention develops an automatic positioning and cleaning system. Through precise positioning, accurate positioning can be obtained conveniently and quickly, ensuring that cleaning devices (such as nozzles or cleaning tools) can accurately reach the throttling components that need to be cleaned, thereby improving the cleaning effect and efficiency.

[0031] like Figure 1 As shown, in some embodiments, the base 1 includes a suspension base 11, a positioning slide 12, and a rotary joint 13. The suspension base 11 is adapted to be arranged below the throttling assembly tube bundle of the steam generator. The mounting end of the positioning slide 12 is connected to the suspension base 11, and the telescopic end of the positioning slide 12 is connected to the mounting end of the rotary joint 13 to adjust the position of the rotary joint 13 relative to the suspension base 11. The pivot end of the rotary joint 13 is connected to the robotic arm 2 so that the robotic arm 2 can rotate relative to the suspension base 11.

[0032] Understandably, the cleaning system can be installed below the throttling component tube bundle via a suspension base, allowing the cleaning device on the robotic arm to perform cleaning operations on the corresponding throttling component. The positioning slide can assist in the positioning and movement of the rotary joint and the robotic arm to initially adjust the position of the cleaning device relative to the throttling component. Subsequently, with the rotation adjustment of the rotary joint and the cooperation of the robotic arm, the position adjustment operation of the cleaning device is completed. Therefore, the positioning slide, rotary joint, and robotic arm can work together to build a three-dimensional adjustment platform with a compact overall structure and strong operability.

[0033] Specifically, the suspension base can have a cross-shaped structure. The suspension base can be fixed to the main feedwater pipe box or the main feedwater nozzle flange of the steam generator to support the robotic arm. In this case, the rotary joint, robotic arm, positioning device, and cleaning device are all located vertically between the suspension base and the throttling component tube bundle, facilitating subsequent cleaning operations on the corresponding throttling components. The positioning slide can be installed at the center of the suspension base, which helps to position the robotic arm at the center of the main feedwater pipe box, thus facilitating subsequent adjustments to the positions of the positioning device and cleaning device on the robotic arm. The rotary joint can drive the robotic arm to rotate 360°, and with the cooperation of the positioning slide and the robotic arm, the cleaning device can clean and cover all throttling components.

[0034] For example, as shown in the figure, the positioning slide may include a telescopic cylinder and a sliding seat. The cylinder body of the telescopic cylinder is connected to the top of the suspension base, the piston rod of the telescopic cylinder is connected to the sliding seat, and the bottom of the sliding seat is slidably connected to the suspension base. The rotary joint may include a rotary cylinder and a support arm. The mounting end (i.e., the bottom) of the rotary cylinder is connected to the top of the sliding seat, the pivot end (i.e., the top) of the rotary cylinder is connected to the support arm, and the end of the support arm opposite to the rotary cylinder is connected to the robotic arm. The telescopic cylinder and the rotary cylinder may be, but are not limited to, a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, or a hydraulic cylinder.

[0035] like Figure 1 and Figure 2 As shown, in some embodiments, the robotic arm 2 includes a first telescopic member 21 and a mounting frame 22. The mounting end of the first telescopic member 21 is connected to the base 1. The mounting frame 22 is connected to the positioning device 3 and the cleaning device 4. The telescopic end of the first telescopic member 21 is connected to the mounting frame 22 to adjust the position of the positioning device 3 and the cleaning device 4 relative to the throttling component to be cleaned.

[0036] Understandably, the movement of the first telescopic component push-pull mounting bracket relative to the rotary joint can change the position of the positioning device and cleaning device mounted on the mounting bracket relative to the throttling component to be cleaned.

[0037] For example, as shown in the figure, the first telescopic component can be a linear motion module (such as a servo motor and a linear guide rail). The mounting bracket is slidably connected to the linear guide rail, and the servo motor is drivenly connected to the mounting bracket so that the mounting bracket can slide on the linear guide rail to realize the position adjustment of the positioning device and the cleaning device. The linear guide rail can be mounted on the support arm of the aforementioned rotary joint, that is, the linear guide rail is connected to the support arm.

[0038] like Figure 2 As shown, in some embodiments, the positioning accuracy of the positioning device 3 is δ, δ≤0.1mm, so that the cleaning system is accurately positioned, which is beneficial to accurately determine the position of the throttling component to be cleaned.

[0039] The positioning device 3 includes a vision camera 31, which is used to collect image information of the throttling component tube bundle of the steam generator to determine the position of the throttling component to be cleaned. The vision positioning method can meet the positioning accuracy requirements, has high reliability, and is convenient and fast.

[0040] Specifically, based on the above structure, the positioning device can be installed on the top of the mounting frame and placed close to the cleaning device, so as not to affect the normal operation of the cleaning device.

[0041] like Figure 3 and Figure 4 As shown, in some embodiments, both the hole cleaning mechanism 41 and the cavity cleaning mechanism 42 include a second telescopic member 411, a cleaning needle 412, and a needle holder 413. The mounting end of the second telescopic member 411 is connected to the robotic arm 2. The cleaning needle 412 is connected to the needle holder 413. The telescopic end of the second telescopic member 411 is adapted to be connected to the needle holder 413 to push and pull the cleaning needle 412 to move along the extension direction of the throttling assembly to be cleaned. The cleaning needle 412 has a spray cavity 4121 and is provided with a water inlet (not shown in the figure) and a water spray hole 4122 communicating with the spray cavity 4121. The water inlet is adapted to be connected to an external high-pressure water source.

[0042] The water spray hole 4122 of the hole cleaning mechanism 41 is located at the end of the cleaning needle 412 away from the needle head seat 413 (not shown in the figure), and the water spray hole 4122 of the cavity cleaning mechanism 42 is located on the side wall of the cleaning needle 412.

[0043] Understandably, after the cleaning device is moved to the position corresponding to the throttling component to be cleaned, the second telescopic component pushes the cleaning needle through the needle holder. The cleaning needle gradually extends into the inner cavity of the throttling component to be cleaned. After the cleaning needle passes through the three throttling holes of the throttling component, an external high-pressure water source is activated to supply high-pressure water to the inlet of the cleaning needle. This allows the high-pressure water to flow through the spray chamber and be ejected from the spray holes, thus achieving the cleaning of the throttling holes by the spray holes of the hole cleaning mechanism and the cleaning of the inner wall of the throttling component by the spray holes of the cavity cleaning mechanism. The needle holder is used to fix the cleaning needle and withstand the reaction force.

[0044] Specifically, the mounting end of the second telescopic component can be connected to the mounting bracket. The extension direction of the cleaning needle can be consistent with the extension direction of the throttling component. For example, as shown in the figure, both extend in the vertical direction, so that the second telescopic component pushes and pulls the cleaning needle in the vertical direction. The lifting rate of the cleaning needle can be 0mm / s-50mm / s (adjustable), and the axial movement range (i.e., the vertical movement range) is 0-270mm.

[0045] Furthermore, when the cleaning device includes both a hole cleaning mechanism and a cavity cleaning mechanism, the hole cleaning mechanism and the cavity cleaning mechanism can be arranged adjacent to each other along a first direction, which is orthogonal to the extension and retraction direction and the up and down direction of the first telescopic member. This reduces the time required to position and adjust the corresponding cleaning mechanism (hole cleaning mechanism or cavity cleaning mechanism) when switching between the hole cleaning mechanism and the cavity cleaning mechanism, thereby further improving the cleaning efficiency of the cleaning system.

[0046] like Figure 3 As shown, in some embodiments, the cleaning needle 412 is detachably connected to the needle holder 413 to facilitate the disassembly and assembly of the cleaning needle, enabling online replacement of the cleaning needle. At the same time, it also allows for the replacement of only the corresponding part when either the cleaning needle or the needle holder is damaged, saving costs.

[0047] like Figure 4 As shown, in some embodiments, the cavity cleaning mechanism 42 has at least one water spray hole 4122 and is arranged circumferentially at intervals along the cleaning needle 412, so that the high-pressure water jets ejected from all the water spray holes can completely cover the corresponding cross-section of the throttling assembly on the same cross-section of the throttling assembly, thereby ensuring that the entire inner wall of the throttling assembly can be cleaned when the second telescopic member moves along the inner cavity of the throttling assembly with the cleaning needle for cleaning.

[0048] Preferably, the water spray holes of at least one cavity cleaning mechanism are arranged at equal intervals along the circumference of the cleaning needle, so that the high-pressure water jet is sprayed evenly and the impact damage to the throttling component is reduced.

[0049] like Figure 3 As shown, in some embodiments, the cavity cleaning mechanism 42 further includes a rotary drive 421, the mounting end of which is connected to the telescopic end of the second telescopic member 411, and the pivot end of which is connected to the needle holder 413 so that the cleaning needle 412 can rotate relative to the robotic arm 2.

[0050] Understandably, the rotary drive can rotate the needle holder so that the cleaning needle can rotate inside the throttling assembly when cleaning the inner cavity of the throttling assembly, thereby improving the cleaning quality of the inner cavity of the throttling assembly and avoiding cleaning blind spots.

[0051] Specifically, the rotary drive is not limited to a rotary cylinder, and the rotation speed of the cleaning needle can be 0-45° / s (adjustable) to achieve good cleaning of the inner wall of the throttling assembly.

[0052] For example, as shown in the figure, the second telescopic component can also be a linear motion module (such as a servo motor and a linear guide). The linear guide is connected to the mounting bracket mentioned above, the needle holder is slidably connected to the linear guide, the pivot end of the rotary drive is connected to the needle holder, and the servo motor is connected to the mounting end of the rotary drive so that the needle holder can slide on the linear guide to achieve position adjustment of the cleaning needle. The linear guide extends in the vertical direction.

[0053] In addition, the servo motor is equipped with a torque feedback function. When the cleaning needle is obstructed due to blockage of the throttle orifice or positioning deviation, the servo motor will automatically stop running.

[0054] like Figure 3 As shown, in some embodiments, both the hole cleaning mechanism 41 and the cavity cleaning mechanism 42 further include a needle retaining sleeve 414. The needle retaining sleeve 414 is disposed at the mounting end of the second telescopic member 411 and arranged with the needle seat 413 along the extension direction of the cleaning needle 412. The cleaning needle 412 and the needle retaining sleeve 414 are slidably connected along the extension direction of the cleaning needle 412 so that the needle retaining sleeve prevents the cleaning needle from shaking and improves the stability of the cleaning operation.

[0055] Based on the above structure, the needle retainer can be mounted on a linear guide and arranged along the extension direction of the linear guide with the needle holder. The extension direction of the linear guide is consistent with the extension direction of the cleaning needle. For example, as shown in the figure, both extend in the up-down direction.

[0056] like Figure 1 and Figure 2 As shown, in some embodiments, the cleaning device 4 further includes an endoscope mechanism 43, which includes a third telescopic member 431 and an endoscope lens 432. The mounting end of the third telescopic member 431 is connected to the robotic arm 2. The telescopic end of the third telescopic member 431 is connected to the endoscope lens 432 to push and pull the endoscope lens 432 to move along the extension direction of the throttling component to be cleaned. The endoscope lens 432 is used to detect the cleaning status of the throttling component to be cleaned.

[0057] Understandably, if the cleaning quality of the throttling component is substandard, that is, if scale or deposits are still present in the throttling orifice or inner wall of the throttling component, the endoscope mechanism can feed back the detection data to the control unit, which will then control the orifice cleaning mechanism or cavity cleaning mechanism to perform the cleaning operation again, thereby further ensuring the cleaning effect of the cleaning system on the throttling component.

[0058] Specifically, the structure of the third telescopic component can be the same as that of the second telescopic component. For example, as shown in the figure, the third telescopic component can be a linear motion module (such as a servo motor and a linear guide rail). The linear guide rail is connected to the aforementioned mounting bracket. The endoscope lens is slidably connected to the linear guide rail. The servo motor is connected to the endoscope lens so that the endoscope lens can slide on the linear guide rail to adjust the position of the endoscope lens relative to the inner cavity of the throttling component. The linear guide rail extends in the vertical direction.

[0059] Furthermore, the endoscope mechanism can be separately located from the cleaning structure (hole cleaning mechanism and cavity cleaning mechanism) on both sides of the linear guide rail of the robotic arm along the first direction to improve the structural stability of the cleaning device on the robotic arm.

[0060] In some embodiments, at least one positioning device 3 and at least one cleaning device 4 are arranged on the robotic arm 2 (not shown in the figure). For example, at least one positioning device and at least one cleaning device are arranged at intervals along the extension direction of the linear guide rail of the robotic arm to achieve simultaneous cleaning of one or more throttling components, thereby further improving the cleaning efficiency of the cleaning system.

[0061] Therefore, compared with related technologies, this invention combines automatic positioning with high-pressure water jet and is supplemented by a robotic arm, which can conveniently and accurately clean the scale or deposits condensed on the inner surface of the steam generator throttling component, avoiding the error and uncertainty caused by manual cleaning of the throttling component.

[0062] The working process of the cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator is now described in detail, based on its specific structure: When the outlet temperature of the steam generator deviates from the normal temperature, the evaporator throttling component should be cleaned during major overhaul or special maintenance. 1) Assemble the base, robotic arm, positioning device and cleaning device, and fix the base on the main water supply box of the steam generator or the main water supply nozzle flange, and connect the cleaning needle and the external water source through the high pressure water pipe. 2) Adjust the robotic arm to the center position of the main water supply box; 3) The control unit adjusts the positions of the positioning device and the cleaning device relative to the throttling component to be cleaned based on the position information of the throttling component to be cleaned obtained by the positioning device, until the cleaning device is directly aligned with the throttling component to be cleaned; 4) Start the cleaning device to clean the corresponding throttling components. If the cleaning device includes both a hole cleaning mechanism and a cavity cleaning mechanism, switch the operation of the hole cleaning mechanism and the cavity cleaning mechanism. When switching, adjust the position of the corresponding cleaning mechanism (hole cleaning mechanism or cavity cleaning mechanism). 5) After cleaning, conduct visual inspection using an endoscope. The throttle component is considered qualified if there is no scale or other residues. 6) After all are qualified, disassemble the cleaning system and place it in an appropriate position for future use.

[0063] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present invention.

[0064] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plural" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0065] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0067] 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.

[0068] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator, characterized in that, include: Base; A robotic arm, which is mounted on the base; A positioning device and a cleaning device are both mounted on the robotic arm. The robotic arm can adjust the position of the positioning device and the cleaning device relative to the throttling component to be cleaned. The positioning device is used to position the throttling component to be cleaned. The cleaning device includes at least one of an orifice cleaning mechanism and a cavity cleaning mechanism. The orifice cleaning mechanism is used to clean the throttling orifice of the throttling assembly to be cleaned, and the cavity cleaning mechanism is used to clean the inner peripheral wall of the throttling assembly to be cleaned.

2. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to claim 1, characterized in that, The base includes: A suspension base, which is adapted to be installed below the throttling assembly tube bundle of the steam generator; The system includes a positioning slide and a rotary joint. The mounting end of the positioning slide is connected to the suspension base, and the telescopic end of the positioning slide is connected to the mounting end of the rotary joint to adjust the position of the rotary joint relative to the suspension base. The pivot end of the rotary joint is connected to the robotic arm so that the robotic arm can rotate relative to the suspension base.

3. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to claim 1, characterized in that, The robotic arm includes: The first telescopic component, the mounting end of the first telescopic component is connected to the base; The mounting bracket is connected to the positioning device and the cleaning device, and the telescopic end of the first telescopic member is connected to the mounting bracket to adjust the position of the positioning device and the cleaning device relative to the throttling component to be cleaned.

4. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to claim 1, characterized in that, The positioning accuracy of the positioning device is δ, where δ ≤ 0.1 mm; The positioning device includes a vision camera, which is used to acquire image information of the throttling component tube bundle of the steam generator to determine the location of the throttling component to be cleaned.

5. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to claim 1, characterized in that, Both the orifice cleaning mechanism and the cavity cleaning mechanism include: The second telescopic component, the mounting end of which is connected to the robotic arm; The cleaning needle and the needle holder are connected. The telescopic end of the second telescopic member is adapted to be connected to the needle holder to push and pull the cleaning needle to move along the extension direction of the throttling assembly to be cleaned. The cleaning needle has a spray cavity and is provided with a water inlet and a water spray hole communicating with the spray cavity. The water inlet is adapted to be connected to an external high-pressure water source. The water spray hole of the hole cleaning mechanism is located at the end of the cleaning needle away from the needle head seat, and the water spray hole of the cavity cleaning mechanism is located on the side wall of the cleaning needle.

6. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to claim 5, characterized in that, The cleaning needle is detachably connected to the needle holder.

7. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to claim 5, characterized in that, The cavity cleaning mechanism has at least one water spray hole, which is arranged at intervals along the circumference of the cleaning needle. The cavity cleaning mechanism further includes a rotary drive component, the mounting end of which is connected to the telescopic end of the second telescopic component, and the pivot end of which is connected to the needle holder so that the cleaning needle can rotate relative to the robotic arm.

8. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to claim 5, characterized in that, Both the orifice cleaning mechanism and the cavity cleaning mechanism include a needle retaining sleeve, which is disposed at the mounting end of the second telescopic member and arranged with the needle seat along the extension direction of the cleaning needle. The cleaning needle and the needle retaining sleeve are slidably connected along the extension direction of the cleaning needle.

9. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to claim 1, characterized in that, The cleaning device further includes an endoscope mechanism, which comprises: The third telescopic component, the mounting end of which is connected to the robotic arm; An endoscope is provided, and the telescopic end of the third telescopic member is connected to the endoscope to push and pull the endoscope along the extension direction of the throttling component to be cleaned. The endoscope is used to detect the cleaning status of the throttling component to be cleaned.

10. The cleaning system for the throttling assembly of a high-temperature gas-cooled reactor steam generator according to any one of claims 1-9, characterized in that, The positioning device and the cleaning device are both at least one and arranged on the robotic arm.

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