Visual inspection device for welding seam of top cover of reactor pressure vessel

Abstract

The invention provides a reactor pressure vessel top cover welding seam visual inspection device, which comprises a camera device, a telescopic adjusting device and a mobile trolley platform, and is characterized in that the camera device comprises a detection camera device and an auxiliary camera device; the detection camera device is arranged at the top of the telescopic adjusting device and is used for detecting a welding seam; the auxiliary camera device is arranged on a trolley body of the mobile trolley platform and is used for observing the visual field of the mobile trolley platform in the moving process; the telescopic adjusting device is connected to the top of the moving trolley platform and can adjust the height and the horizontal position of the detection camera device relative to the moving trolley platform. The visual inspection device for the welding seam of the top cover of the reactor pressure vessel can flexibly move in a shielding ring of the top cover, can reach a specified area, realizes full-coverage inspection, can realize full-coverage visual inspection on the interior of the top cover, and has the advantages of high flexibility, high inspection efficiency and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant inspection and maintenance, and particularly to a visual inspection device for the weld seams of the reactor pressure vessel top head. Background Art

[0002] Nuclear power non-destructive testing personnel need to regularly conduct visual inspections on the penetration weld seams and surfacing weld seams inside the reactor pressure vessel top head of a nuclear power plant to ensure the safe operation of the nuclear power plant. Affected by the internal space of the reactor pressure vessel top head and the radiation of its surrounding environment, inspectors often cannot directly reach the weld seams to be inspected from inside the top head for visual inspection. Usually, it is necessary to rely on a dedicated automated inspection device to conduct remote video visual inspection of weld defects.

[0003] The penetration weld seams and surfacing weld seams inside the reactor pressure vessel top head of a nuclear power plant are characterized by high position, large elevation difference, large quantity, large scanning span, and small accessible space around. Existing mobile vision inspection devices cannot meet the visual inspection requirements for the penetration weld seams and surfacing weld seams inside the reactor pressure vessel top head of a nuclear power plant in terms of space adaptability, maneuverability, etc.

[0004] In view of this, the inventors of the present application have designed a visual inspection device for the weld seams of the reactor pressure vessel top head in order to overcome the above technical problems. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defect that existing mobile vision inspection devices cannot meet the visual inspection requirements for the penetration weld seams and surfacing weld seams inside the reactor pressure vessel top head of a nuclear power plant in terms of space adaptability, maneuverability, etc., and to provide a visual inspection device for the weld seams of the reactor pressure vessel top head.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] The present invention provides a visual inspection device for the weld seams of the reactor pressure vessel top head, characterized in that the visual inspection device includes a camera device, a telescopic adjustment device, and a mobile trolley platform. The camera device includes a detection camera device and an auxiliary camera device; the detection camera device is arranged on the top of the telescopic adjustment device for weld seam detection; the auxiliary camera device is arranged on the body of the mobile trolley platform for observing the field of view during the movement of the mobile trolley platform; the telescopic adjustment device is connected to the top of the mobile trolley platform and can adjust the height and horizontal position of the detection camera device relative to the mobile trolley platform.

[0008] According to an embodiment of the present invention, the camera device includes at least two of the auxiliary camera devices, and the two auxiliary camera devices are installed at the front end and the rear end of the body of the mobile trolley platform for observing the front and rear fields of view of the mobile trolley platform during movement.

[0009] According to an embodiment of the present invention, the camera device further includes a camera fixing base, a camera vertical rotation shaft, a camera horizontal rotation shaft, a camera, and a light source; the camera vertical rotation shaft is installed on the camera fixing base and rotates left and right along the camera fixing base; the camera horizontal rotation shaft is installed on the camera vertical rotation shaft and pitches relative to the camera vertical rotation shaft; the light source and the camera are installed on the camera horizontal rotation shaft.

[0010] According to an embodiment of the present invention, the camera device uses a zoom pan-tilt camera, the light source uses a multi-directional LED auxiliary lighting lamp, and the camera device has a one-key reset and slow-angle fine-tuning function after zooming.

[0011] According to an embodiment of the present invention, the visual inspection device further includes a pan-tilt angle sensor and a vehicle body pose sensor, the pan-tilt angle sensor is arranged on the detection camera device; the vehicle body pose sensor is arranged on the body of the mobile trolley platform.

[0012] According to an embodiment of the present invention, the telescopic adjustment device includes a horizontal adjustment device and a vertical telescopic device, the horizontal adjustment device is arranged on the top of the mobile trolley platform, the horizontal moving part of the horizontal adjustment device is connected to the bottom of the vertical telescopic device for adjusting the horizontal position of the vertical telescopic device; the top of the vertical moving part of the vertical telescopic device is installed with a detection camera device for adjusting the height of the detection camera device.

[0013] According to an embodiment of the present invention, the horizontal adjustment device includes a horizontal axis base plate, a horizontal axis guide rail, a horizontal axis drive motor, a horizontal axis lead screw group, and a vertical telescopic axis connection plate, and the vertical telescopic axis connection plate is the horizontal moving part of the horizontal adjustment device; the horizontal axis base plate is arranged on the top of the mobile trolley platform, and the horizontal axis guide rail, the horizontal axis drive motor, and the horizontal axis lead screw group are respectively connected to the horizontal axis base plate; the vertical telescopic axis connection plate is connected to the horizontal axis guide rail through a slider; the horizontal axis lead screw group is connected to the vertical telescopic axis connection plate; the horizontal axis drive motor drives the horizontal axis lead screw group to make the vertical telescopic axis connection plate move horizontally.

[0014] According to an embodiment of the present invention, the horizontal axis substrate is connected to the top of the mobile trolley platform through a telescopic adjustment device connecting plate; the horizontal axis drive motor is connected to the horizontal axis substrate through a horizontal axis motor base; the horizontal axis drive motor drives the horizontal axis lead screw group through a synchronous belt pulley set, so that the vertical telescopic shaft connecting plate moves horizontally.

[0015] According to an embodiment of the present invention, the vertical telescopic device includes a support column vertical, a vertical axis drive motor, a vertical axis lead screw group, and a hollow telescopic rod. The hollow telescopic rod is the vertical moving part of the vertical telescopic device; the support column vertical is vertically connected to the vertical telescopic shaft connecting plate; the vertical axis drive motor is connected to one side of the support column vertical; the vertical axis lead screw group is arranged parallel to the support column vertical, and the support column vertical guides the movement direction of the hollow telescopic rod, so that the hollow telescopic rod moves parallel to the support column vertical; the hollow telescopic rod is sleeved outside the vertical axis lead screw group; the vertical axis drive motor drives the vertical axis lead screw group, so that the hollow telescopic rod moves vertically.

[0016] According to an embodiment of the present invention, the support column vertical is connected to the vertical telescopic shaft connecting plate through a column pipe seat; the vertical axis drive motor is connected to one side of the support column vertical through a straight axis motor base; the support column vertical guides the movement direction of the hollow telescopic rod through a support column guide, and the support column guide is connected to the support column through a support column connecting plate; the vertical axis drive motor drives the vertical axis lead screw group through a synchronous belt drive, so that the hollow telescopic rod moves vertically.

[0017] According to an embodiment of the present invention, the detection camera device is arranged on the top of the hollow telescopic rod, and the detection camera device is connected to the hollow telescopic rod through a camera device connecting piece and a camera device fixing and pressing piece.

[0018] The positive and progressive effects of the present invention are as follows:

[0019] The visual inspection device for the top cover weld of the reactor pressure vessel of the present invention has at least the following advantages:

[0020] First, by connecting the detection camera device at the top to the mobile trolley platform, the present invention realizes the visual inspection of welds at different positions in the whole range, and solves the problems of visual dead angles and visual blockages during large-range scanning.

[0021] Second, the visual inspection device of the present invention has the advantages of simple structure, small volume, light weight, and combined installation. During the major overhaul, it can be put into operation and transported manually without waiting for the in-island overhead crane.

[0022] III. By installing a telescopic adjustment device on the mobile trolley platform, the accessibility of the top detection camera device is enhanced, and at the same time, the problem of spatial interference between the detection mechanism and the container to be inspected is avoided, realizing the visual inspection of welds in narrow spaces.

[0023] IV. An auxiliary camera device is installed on the mobile trolley platform to observe the field of view in front of and behind the mobile trolley platform during the movement of the mobile trolley platform, facilitating the control of the walking path. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other features, properties, and advantages of the present invention will become more apparent from the following description in conjunction with the drawings and embodiments, where the same reference numerals in the drawings always represent the same features, and among them:

[0025] Figure 1 is the overall structural schematic diagram of the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention.

[0026] Figure 2 is the structural schematic diagram of the camera device in the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention.

[0027] Figure 3 is the structural schematic diagram of the mobile trolley platform in the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention.

[0028] Figure 4 is the overall structural schematic diagram of the telescopic adjustment device in the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention.

[0029] Figure 5 is the enlarged bottom structural schematic diagram of the telescopic adjustment device in the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention.

[0030] Figure 6 is the enlarged top structural schematic diagram of the telescopic adjustment device in the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention.

[0031]

REFERENCE NUMERALS

[0032] Camera device 100

[0033] Camera fixed base 101

[0034] Camera vertical rotation axis 102

[0035] Camera horizontal rotation axis 103

[0036] Camera 104

[0037] Light source 105

[0038] Camera device connecting member 106

[0039] Camera device fixing and pressing member 107

[0040] Detection camera device 110

[0041] Auxiliary camera device 120

[0042] Telescopic adjustment device 200

[0043] Horizontal adjustment device 210

[0044] Horizontal moving part 211

[0045] Horizontal axis base plate 212

[0046] Horizontal axis guide rail 213

[0047] Horizontal axis drive motor 214

[0048] Horizontal axis lead screw group 215

[0049] Vertical telescopic axis connecting plate 216

[0050] Telescopic adjustment device connecting plate 217

[0051] Horizontal axis motor base 218

[0052] Synchronous belt pulley group 219

[0053] Slider 2110

[0054] Vertical telescopic device 220

[0055] Vertical moving part 221

[0056] Support column vertical 222

[0057] Vertical axis drive motor 223

[0058] Vertical axis lead screw group 224

[0059] Hollow telescopic rod 225

[0060] Column pipe seat 226

[0061] Straight axis motor base 227

[0062] Support column guide 228

[0063] Support column connecting plate 229

[0064] Moving trolley platform 300

[0065] Vehicle body 310

[0066] Drive wheel 320 Detailed implementation manners

[0067] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention will be given with reference to the accompanying drawings.

[0068] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the present invention will now be described in detail, which are illustrated in the accompanying drawings. Whenever possible, the same reference numerals will be used throughout the drawings to refer to the same or like parts. In addition, although the terms used in the present invention are selected from well-known and commonly used terms, some of the terms mentioned in the description of the present invention may be selected by the applicant according to his or her judgment, and their detailed meanings are described in the relevant parts of the present description. In addition, it is required to understand the present invention not only by the actual terms used, but also by the meaning implied by each term.

[0069] As Figures 1 to 6 shown, the present invention provides a visual inspection device for the weld seam of the reactor pressure vessel head cover, and the visual inspection device includes a camera device 100, a telescopic adjustment device 200 and a mobile trolley platform 300.

[0070] The camera device 100 includes a detection camera device 110 and an auxiliary camera device 120; the detection camera device 110 is arranged on the top of the telescopic adjustment device 200 for performing weld seam detection; the auxiliary camera device 120 is arranged on the vehicle body 310 of the mobile trolley platform 300 for observing the field of view during the movement of the mobile trolley platform 300.

[0071] The telescopic adjustment device 200 is connected to the top of the mobile trolley platform 300 and can adjust the height and horizontal position of the detection camera device 110 relative to the mobile trolley platform 300.

[0072] Preferably, the mobile trolley platform 300 is a small lightweight wheeled trolley, including a vehicle body 310 and four active drive wheels 320. The detection camera device 110 is fixed to the top end of the telescopic adjustment device 200 and moves with the mobile trolley platform 300 to switch workstations; the telescopic adjustment device 200 controls the height and left-right offset of the detection camera device 110 at the top relative to the mobile trolley platform 300 to achieve the alignment adjustment function of the weld seam position.

[0073] The visual inspection device for the weld seam of the reactor pressure vessel head cover of the present invention realizes the visual inspection of weld seams at different positions in the whole range by connecting the detection camera device 110 at the top with the mobile trolley platform 300, and solves the problems of visual dead angles and visual occlusion during large-range scanning.

[0074] The visual inspection device of the present invention has the advantages of simple structure, small size, light weight, and combined installation. During major repairs, it can be put into operation and transported manually without waiting for the in-island overhead crane.

[0075] By installing the telescopic adjustment device 200 on the mobile trolley platform 300, the accessibility of the detection camera device 110 at the top is enhanced, and at the same time, the problem of spatial interference between the detection mechanism and the container to be inspected is avoided, realizing visual inspection of welds in narrow spaces.

[0076] As Figure 1 and Figure 3 shown, as a preferred embodiment of the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention, the camera device 100 includes at least two auxiliary camera devices 120. The two auxiliary camera devices 120 are installed at the front end and the rear end of the vehicle body 310 of the mobile trolley platform 300 for observing the front and rear fields of view during the movement of the mobile trolley platform 300.

[0077] One auxiliary camera device 120 is installed at each of the front and rear ends of the vehicle body 310 for observing the front and rear fields of view of the mobile trolley platform 300 during the movement of the mobile trolley platform 300, facilitating the control of the walking path.

[0078] As Figure 2 shown, as a preferred embodiment of the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention, the camera device 100 further includes a camera fixed base 101, a camera vertical rotation shaft 102, a camera horizontal rotation shaft 103, a camera 104, and a light source 105.

[0079] The camera vertical rotation shaft 102 is installed on the camera fixed base 101 and rotates left and right along the camera fixed base 101.

[0080] The camera horizontal rotation shaft 103 is installed on the camera vertical rotation shaft 102 and pitches relative to the camera vertical rotation shaft 102.

[0081] The light source 105 and the camera 104 are installed on the camera horizontal rotation shaft 103.

[0082] The camera horizontal rotation shaft 103 and the camera vertical rotation shaft 102 can realize the left and right rotation and pitching rotation of the camera 104, realizing the perspective adjustment function for weld detection.

[0083] As a preferred embodiment of the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention, the camera device 100 uses a zoom pan-tilt camera, the light source 105 uses a multi-directional LED auxiliary lighting lamp, and the camera device 100 has a one-key reset and low-speed fine angle adjustment function after zooming.

[0084] The small integrated development zoom pan-tilt camera is equipped with multi-directional LED auxiliary lighting lamps, and has functions of one-key reset and low-speed fine adjustment of the angle after zooming, so that it can observe the details and areas of the inspected part more stably and controllably.

[0085] As a preferred embodiment of the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention, the visual inspection device further includes a pan-tilt angle sensor and a vehicle body pose sensor. The pan-tilt angle sensor is arranged on the detection camera device 110; the vehicle body pose sensor is arranged on the vehicle body 310 of the mobile trolley platform 300.

[0086] The visual inspection device of the present invention is provided with a pan-tilt angle sensor and a vehicle body pose sensor, which can facilitate the display of the angle of the camera 104 and provide an azimuth reference during the visual inspection process, and can timely feedback the pose change when the vehicle body 310 encounters obstacles, ensuring the safe and smooth implementation of the work.

[0087] As Figures 4 to 6 shown, as a preferred embodiment of the visual inspection device for the top cover weld of the reactor pressure vessel of the present invention, the telescopic adjustment device 200 includes a horizontal adjustment device 210 and a vertical telescopic device 220, that is, the telescopic adjustment device 200 includes two mutually perpendicular adjustment axes.

[0088] The horizontal adjustment device 210 is arranged on the top of the mobile trolley platform 300. The horizontal moving part 211 of the horizontal adjustment device 210 is connected to the bottom of the vertical telescopic device 220. The horizontal adjustment device 210 is used to adjust the horizontal position of the vertical telescopic device 220.

[0089] The top of the vertical moving part 221 of the vertical telescopic device 220 is installed with the detection camera device 110. The vertical telescopic device 220 is used to adjust the height of the detection camera device 110.

[0090] The horizontal adjustment device 210 and the vertical telescopic device 220 form a telescopic adjustment device 200 with multiple degrees of freedom. The horizontal movement function of the telescopic adjustment device 200 is to ensure that the detection camera device 110 at the top of the container edge is offset to one side, increasing the accessibility of the edge area. The vertical telescopic function is to ensure that the detection camera device 110 at the top can adjust the distance between the camera 104 and the weld when detecting welds at different heights.

[0091] As Figure 5As shown, as a preferred embodiment of the visual inspection device for the weld seam of the reactor pressure vessel head cover of the present invention, the horizontal adjustment device 210 includes a horizontal axis base plate 212, a horizontal axis guide rail 213, a horizontal axis drive motor 214, a horizontal axis lead screw group 215, and a vertical telescopic axis connection plate 216. The vertical telescopic axis connection plate 216 is the horizontal moving part 211 of the horizontal adjustment device 210.

[0092] The horizontal axis base plate 212 is arranged on the top of the moving trolley platform 300. The horizontal axis guide rail 213, the horizontal axis drive motor 214, and the horizontal axis lead screw group 215 are respectively connected to the horizontal axis base plate 212.

[0093] The vertical telescopic axis connection plate 216 is connected to the horizontal axis guide rail 213 through a slider 2110.

[0094] The horizontal axis lead screw group 215 is connected to the vertical telescopic axis connection plate 216.

[0095] The horizontal axis drive motor 214 drives the horizontal axis lead screw group 215 to make the vertical telescopic axis connection plate 216 move horizontally.

[0096] Furthermore, the horizontal axis base plate 212 is connected to the top of the moving trolley platform 300 through a telescopic adjustment device connection plate 217; the horizontal axis drive motor 214 is connected to the horizontal axis base plate 212 through a horizontal axis motor base 218; the horizontal axis drive motor 214 drives the horizontal axis lead screw group 215 through a synchronous pulley group 219 to make the vertical telescopic axis connection plate 216 move horizontally.

[0097] As Figure 5 and Figure 6 shown, as a preferred embodiment of the visual inspection device for the weld seam of the reactor pressure vessel head cover of the present invention, the vertical telescopic device 220 includes a support column vertical 222, a vertical axis drive motor 223, a vertical axis lead screw group 224, and a hollow telescopic rod 225. The hollow telescopic rod 225 is the vertical moving part 221 of the vertical telescopic device 220.

[0098] The support column vertical 222 is vertically connected to the vertical telescopic axis connection plate 216.

[0099] The vertical axis drive motor 223 is connected to one side of the support column vertical 222.

[0100] The vertical axis lead screw group 224 is arranged in parallel with the support column vertical 222. The support column vertical 222 guides the moving direction of the hollow telescopic rod 225 to make the hollow telescopic rod 225 move parallel to the support column vertical 222.

[0101] The hollow telescopic rod 225 is sleeved outside the vertical axis lead screw group 224.

[0102] The vertical-axis drive motor 223 drives the vertical-axis lead screw group 224 to make the hollow telescopic rod 225 move vertically.

[0103] Furthermore, the vertical support column 222 is connected to the vertical telescopic shaft connecting plate 216 through the column socket 226; the vertical-axis drive motor 223 is connected to one side of the vertical support column 222 through the straight-axis motor base 227.

[0104] The vertical support column 222 guides the movement direction of the hollow telescopic rod 225 through the vertical support column guide 228, and the vertical support column guide 228 is connected to the vertical support column 222 through the vertical support column connecting plate 229.

[0105] The vertical-axis drive motor 223 drives the vertical-axis lead screw group 224 through the synchronous pulley group to make the hollow telescopic rod 225 move vertically.

[0106] As Figure 1 and Figure 6 shown, as a preferred embodiment of the visual inspection device for the reactor pressure vessel top head weld of the present invention, the detection camera device 110 is arranged at the top of the hollow telescopic rod 225, and the detection camera device 110 is connected to the hollow telescopic rod 225 through the camera device connecting piece 106 and the camera device fixing and pressing piece 107.

[0107] Preferably, the visual inspection device for the reactor pressure vessel top head weld of the present invention has an electric clutch function, and when a device failure or power failure occurs, it can directly pause the current operation, and dragging the tensile main cable can pull the trolley out of the shielding ring hole for inspection and maintenance.

[0108] After the visual inspection device for the reactor pressure vessel top head weld of the present invention is connected to the control platform, it can move flexibly within the top head shielding ring, can reach the designated area, and realizes full-coverage inspection. The present invention can achieve full-coverage visual inspection of the inside of the top head, and has the advantages of strong flexibility and high inspection efficiency.

[0109] The visual inspection device for the reactor pressure vessel top head weld of the present invention is used for full-coverage visual inspection of areas such as the intersection weld between the CRDM tube and the inner surface and the circumferential weld between the CRDM tube and the bell mouth inside the top head, making the device more targeted and practical. At the same time, it can also reduce the installation and commissioning time of the device, greatly improve the inspection efficiency, and reduce the inspection cost during the major overhaul.

[0110] The visual inspection device of the present invention can meet the visual inspection of the welds of specific spatial array tubes, improving the spatial adaptability and unmanned operation convenience of the inspection device.

[0111] In summary, the visual inspection device for the reactor pressure vessel top head weld of the present invention has the following advantages:

[0112] 1. By connecting the detection camera device 110 at the top to the mobile trolley platform 300, the present invention realizes visual inspection of welds at different positions within the entire range, solving the problems of visual dead angles and visual blockages during large-scale scanning.

[0113] 2. The visual inspection device of the present invention has the advantages of simple structure, small size, light weight, and combined installation. During major repairs, it can be put into operation and transported manually without waiting for the in-island overhead crane.

[0114] 3. By installing the telescopic adjustment device 200 on the mobile trolley platform 300, the accessibility of the top detection camera device 110 is enhanced. At the same time, the problem of spatial interference between the detection mechanism and the container to be inspected is avoided, realizing visual inspection of welds in narrow spaces.

[0115] 4. An auxiliary camera device 120 is installed on the mobile trolley platform 300 to observe the fields of view in front of and behind the mobile trolley platform 300 during the movement of the mobile trolley platform 300, facilitating the control of the walking path.

[0116] Although the specific implementation manners of the present invention have been described above, those skilled in the art should understand that these are only examples. The protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these implementation manners, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A visual inspection device for the weld of the reactor pressure vessel head cover, characterized in that, The visual inspection device includes a camera device, a telescopic adjustment device, and a mobile trolley platform. The camera device includes a detection camera device and an auxiliary camera device; the detection camera device is arranged on the top of the telescopic adjustment device for weld detection; the auxiliary camera device is arranged on the body of the mobile trolley platform for observing the field of view during the movement of the mobile trolley platform. The telescopic adjustment device is connected to the top of the mobile trolley platform and can adjust the height and horizontal position of the detection camera device relative to the mobile trolley platform.

2. The visual inspection device for the weld of the reactor pressure vessel head as described in claim 1, wherein The camera device includes at least two of the auxiliary camera devices, and the two auxiliary camera devices are installed at the front end and the rear end of the body of the mobile trolley platform for observing the front and rear fields of view during the movement of the mobile trolley platform.

3. The visual inspection device for the weld of the reactor pressure vessel head cover as described in claim 1, characterized in that, The camera device further includes a camera fixing base, a camera vertical rotation shaft, a camera horizontal rotation shaft, a camera, and a light source. The camera vertical rotation shaft is installed on the camera fixing base and rotates left and right along the camera fixing base. The camera horizontal rotation shaft is installed on the camera vertical rotation shaft and pitches relative to the camera vertical rotation shaft. The light source and the camera are installed on the camera horizontal rotation shaft.

4. The visual inspection device for the weld seam of the reactor pressure vessel head as described in claim 3, characterized in that, The camera device uses a zoom pan-tilt camera, the light source uses a multi-directional LED auxiliary lighting lamp, and the camera device has a one-key reset and slow-speed fine-tuning function for the angle after zooming.

5. The visual inspection device for the weld seam of the reactor pressure vessel head as described in claim 1, characterized in that, The visual inspection device further includes a pan-tilt angle sensor and a vehicle body pose sensor. The pan-tilt angle sensor is arranged on the detection camera device; the vehicle body pose sensor is arranged on the body of the mobile trolley platform.

6. The visual inspection device for the weld of the reactor pressure vessel head cover according to claim 1, characterized in that, The telescopic adjustment device includes a horizontal adjustment device and a vertical telescopic device. The horizontal adjustment device is arranged on the top of the mobile trolley platform. The horizontal moving part of the horizontal adjustment device is connected to the bottom of the vertical telescopic device for adjusting the horizontal position of the vertical telescopic device. The top of the vertical moving part of the vertical telescopic device is installed with a detection camera device for adjusting the height of the detection camera device.

7. The visual inspection device for the weld of the reactor pressure vessel head cover according to claim 6, wherein, The horizontal adjustment device includes a horizontal axis substrate, a horizontal axis guide rail, a horizontal axis drive motor, a horizontal axis lead screw group, and a vertical telescopic axis connecting plate. The vertical telescopic axis connecting plate is the horizontal moving part of the horizontal adjustment device. The horizontal axis substrate is arranged on the top of the mobile trolley platform, and the horizontal axis guide rail, the horizontal axis drive motor, and the horizontal axis lead screw group are respectively connected to the horizontal axis substrate. The vertical telescopic axis connecting plate is connected to the horizontal axis guide rail through a slider. The horizontal axis lead screw group is connected to the vertical telescopic axis connecting plate. The horizontal axis drive motor drives the horizontal axis lead screw group to make the vertical telescopic axis connecting plate move horizontally.

8. The visual inspection device for the weld of the reactor pressure vessel head cover according to claim 7, characterized in that, The horizontal axis substrate is connected to the top of the moving trolley platform through a telescopic adjustment device connecting plate; the horizontal axis drive motor is connected to the horizontal axis substrate through a horizontal axis motor base; the horizontal axis drive motor drives the horizontal axis lead screw group through a synchronous pulley group, so that the vertical telescopic shaft connecting plate moves horizontally.

9. The visual inspection device for the weld of the reactor pressure vessel head cover according to claim 7, wherein, The vertical telescopic device includes a vertical support column, a vertical axis drive motor, a vertical axis lead screw group, and a hollow telescopic rod. The hollow telescopic rod is the vertical moving part of the vertical telescopic device. The vertical support column is vertically connected to the vertical telescopic shaft connecting plate. The vertical axis drive motor is connected to one side of the vertical support column. The vertical axis lead screw group is arranged parallel to the vertical support column. The vertical support column guides the movement direction of the hollow telescopic rod, so that the hollow telescopic rod moves parallel to the vertical support column. The hollow telescopic rod is sleeved outside the vertical axis lead screw group. The vertical axis drive motor drives the vertical axis lead screw group, so that the hollow telescopic rod moves vertically.

10. The visual inspection device for the reactor pressure vessel top cover weld as described in claim 9, characterized in that, The vertical support column is connected to the vertical telescopic shaft connecting plate through a column pipe seat; the vertical axis drive motor is connected to one side of the vertical support column through a straight axis motor base. The vertical support column guides the movement direction of the hollow telescopic rod through a support column guide. The support column guide is connected to the support column through a support column connecting plate. The vertical axis drive motor drives the vertical axis lead screw group through synchronous belt transmission, so that the hollow telescopic rod moves vertically.

11. The visual inspection device for the weld of the reactor pressure vessel head as described in claim 9, characterized in that, The detection camera device is arranged at the top of the hollow telescopic rod. The detection camera device is connected to the hollow telescopic rod through a camera device connecting piece and a camera device fixing and pressing piece.

Images