Apparatus for detecting underwater weld defects in a nuclear radiation environment

Abstract

The application provides a device for detecting underwater welding seam defects in a nuclear radiation environment, comprising a vehicle frame, a probe assembly, a power mechanism and at least one welding seam identification mechanism, wherein the vehicle frame is provided with a buoyancy balancing mechanism to make the vehicle frame zero gravity; the probe assembly is detachably installed on the vehicle frame; the power mechanism is arranged on the vehicle frame and comprises a propeller assembly and a track walking mechanism, the propeller assembly is used to drive the track walking mechanism to move along the welding seam to be detected; the welding seam identification mechanism comprises a laser lamp and a camera mechanism, the welding seam identification mechanism is arranged on the vehicle frame, and the camera mechanism is used to identify the welding seam by reflecting light of the laser lamp on the welding seam to be detected. The application avoids the difficulty that the spent fuel assembly needs to be removed, the water needs to be discharged, and the person needs to enter the pool to check the welding seam defects such as leakage points in the nuclear power plant, the time of the detection activity is easy to coordinate, and the applicability and safety are higher.

Description

Technical Field

[0001] This invention relates to the field of nuclear radiation detection technology, and specifically to a detection device for underwater weld defects in nuclear radiation environments. Background Technology

[0002] Spent fuel pools are the main facilities in nuclear power plants used for temporary storage of nuclear waste. They are large metal structures primarily made of stainless steel, and welding technology is extensively used in their manufacturing and installation. These welds are constantly exposed to water and high radiation environments throughout the entire operating cycle of the nuclear power plant, making them prone to localized corrosion, damage, and destruction. They are a key focus of special maintenance in nuclear power plants.

[0003] Currently, most weld inspection methods commonly used in industry are not applicable to underwater environments. Locating leaks in spent fuel pools primarily relies on traditional methods such as transferring spent fuel, draining the pool, and then having personnel enter the pool to use helium leak detection for weld defect inspection. Manual inspection methods have the following drawbacks:

[0004] 1. Spaces suitable for transferring and temporarily storing spent fuel are difficult to find;

[0005] 2. The spent fuel pool is a highly radioactive area. Maintenance personnel who come into direct contact with the steel plates of the pool after the water has been drained are at risk of radiation exposure.

[0006] Based on this, the inventors of this application propose a detection device for underwater weld defects in a nuclear radiation environment, in order to solve the above-mentioned technical problems. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the defects of the prior art in which the detection of leaks in spent fuel pools poses a radiation risk and the space for temporarily storing spent fuel after the pool is drained is difficult to find, and to provide a detection device for underwater weld defects in nuclear radiation environments.

[0008] The present invention solves the above-mentioned technical problems through the following technical solution:

[0009] This invention provides a device for detecting defects in underwater welds in a nuclear radiation environment, characterized in that it includes:

[0010] The vehicle frame is equipped with a buoyancy balancing mechanism to make the vehicle frame zero gravity;

[0011] The probe assembly is detachably mounted on the vehicle frame.

[0012] A power mechanism is mounted on the vehicle frame. The power mechanism includes a propeller assembly and a tracked walking mechanism. The propeller assembly is used to drive the tracked walking mechanism to move along the weld seam to be inspected.

[0013] At least one weld seam recognition mechanism, including a laser light and a camera mechanism, is disposed on the vehicle body frame, and the camera mechanism is used to recognize and detect weld seams by reflecting light from the laser light onto the weld seam to be inspected.

[0014] According to one embodiment of the present invention, a first mounting plate is provided at the front of the vehicle body frame, and a second mounting plate is provided on each of the two sides of the vehicle body frame;

[0015] The probe assembly can be detachably mounted on the first mounting plate and / or the second mounting plate via threaded connectors.

[0016] According to one embodiment of the present invention, the probe assembly includes a fixed bracket, a housing, an illumination lamp, a gripper, and a detection probe. One end of the fixed bracket is detachably connected to the first mounting plate or the second mounting plate. The gripper is mounted on the other end of the fixed bracket. The detection probe is mounted inside the gripper. The housing covers the detection probe and is connected to the fixed bracket. The light-emitting side of the illumination lamp faces the detection end of the detection probe.

[0017] According to one embodiment of the present invention, the probe assembly further includes a first drive motor, a gear set, and a lead screw, wherein the first drive motor is used to drive the gear set and thereby drive the lead screw to rotate;

[0018] The gripper is threadedly engaged with the lead screw, the gripper has a holding compartment, and the gripper is provided with a tightening handle for fixing the detection probe inside the gripper. The first drive motor is used to drive the gripper to move relative to the lead screw, thereby adjusting the irradiation area of ​​the detection probe.

[0019] According to one embodiment of the present invention, the fixed bracket is further provided with an adapter plate, the adapter plate is rotatably engaged with the lead screw, and at least one elastic element is provided between the adapter plate and the gripper.

[0020] According to one embodiment of the present invention, the propeller assembly includes four tilting propellers and two horizontal propellers. The four tilting propellers are spaced apart and symmetrically arranged in pairs for driving the vehicle frame to move at multiple angles. The two horizontal propellers are arranged in parallel for driving the vehicle frame to move forward or backward.

[0021] The axial direction of the tilting propeller is set at an angle to the traveling plane of the tracked walking mechanism.

[0022] According to one embodiment of the present invention, the tracked walking mechanism includes two walking units, each of the walking units including a second drive motor, a mounting frame, two rollers and a track;

[0023] The output end of the second drive motor is rotatably engaged with the roller, the track is sleeved on the outside of the roller, and the mounting bracket is disposed on opposite sides of the track and is used to mount the second drive motor.

[0024] According to one embodiment of the present invention, an electronic compartment is provided in front of the vehicle frame. The electronic compartment includes a cylinder, a first camera, a glass cover, and a circuit board. The circuit board is disposed in the cylinder, the glass cover is installed at one end of the cylinder, the first camera is located inside the glass cover, and a watertight connector is provided at the other end of the cylinder for connecting a cable. A lead apron is also provided on the inner or outer side of the cylinder.

[0025] According to one embodiment of the present invention, the vehicle frame is further provided with a fixing ring, one end of the cable is inserted through the fixing ring, and the other end is coupled to the control console.

[0026] According to one embodiment of the present invention, a light-emitting assembly is provided on each side of the vehicle frame, and the light-emitting assembly includes a mounting base, a light body and a second camera;

[0027] The mounting base is detachably connected to the vehicle frame, and the lamp body and the second camera are mounted on the mounting base.

[0028] The positive and progressive effects of this invention are as follows:

[0029] This invention relates to an underwater weld defect detection device for nuclear radiation environments. It can perform in-service inspections of underwater welds, avoiding the difficulties faced by nuclear power plants in removing spent fuel assemblies and manually entering the pool after draining water to inspect for weld defects such as leaks. The timing of the inspection activities is easier to coordinate, making it more applicable. Furthermore, it avoids the risk of workers coming into close contact with radioactive materials and being exposed to radiation. Workers can conduct remote control operations from the shore under the shielding protection of the pool water, making it safer.

[0030] By adjusting and setting the propeller assembly, the vehicle frame can float in any direction in the water, crawl close to the ground, or flip 90 degrees to crawl along the pool wall. All welds on all surfaces inside the pool can be inspected. Attached Figure Description

[0031] The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, wherein:

[0032] Figure 1 This is a schematic diagram of the structure of the underwater weld defect detection equipment of the present invention for use in nuclear radiation environment;

[0033] Figure 2 for Figure 1 Partial structural diagram;

[0034] Figure 3 for Figure 2 A schematic diagram of the probe assembly in the diagram;

[0035] Figure 4 for Figure 2 A schematic diagram of the vehicle body frame structure;

[0036] Figure 5 for Figure 2 A schematic diagram showing the distribution of the propeller components;

[0037] Figure 6 for Figure 2 A schematic diagram of the structure of the lamp assembly;

[0038] Figure 7 for Figure 2 A schematic diagram of the electronic compartment in the middle;

[0039] Figure 8 for Figure 2 A schematic diagram of the tracked walking mechanism in the diagram;

[0040] Figure 9 for Figure 2 A schematic diagram of the weld seam identification mechanism in the diagram.

[0041] 10. Vehicle frame; 110. Buoyancy balancing mechanism; 120. First mounting plate; 130. Second mounting plate; 140. Electronic compartment; 141. Cylinder; 142. First camera; 143. Glass cover; 144. Circuit board; 145. Watertight connector; 146. Cable; 147. Lead apron; 150. Fixing ring; 160. Control console; 170. Lighting assembly; 171. Mounting base; 172. Light body; 173. Second camera;

[0042] 20. Probe assembly; 210. Mounting bracket; 211. Adapter plate; 220. Cover; 230. Gripper; 231. Holding compartment; 232. Tightening handle; 240. Detection probe; 250. First drive motor; 260. Gear set; 270. Lead screw; 280. Elastic element; 290. Illumination lamp;

[0043] 30. Power mechanism; 310. Propeller assembly; 311. Inclined propeller; 312. Horizontal propeller; 320. Tracked walking mechanism; 321. Walking unit; 322. Second drive motor; 323. Mounting bracket; 324. Roller; 325. Track;

[0044] 40. Weld seam identification mechanism; 410. Laser light; 420. Camera mechanism. Detailed Implementation

[0045] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0046] Embodiments of the invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the invention will now be described in detail, examples of which are illustrated in the drawings. Wherever possible, the same reference numerals will be used in all the drawings to denote the same or similar parts. Furthermore, although the terminology used herein is selected from commonly known and used terminology, some terms mentioned in this specification may have been chosen by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of the description herein. Moreover, the invention should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0047] Reference Figures 1 to 9 This invention proposes a detection device for underwater weld defects in a nuclear radiation environment, comprising a vehicle frame 10, a probe assembly 20, a power mechanism 30, and at least one weld identification mechanism 40. The vehicle frame 10 is provided with a buoyancy balancing mechanism 110 to make the vehicle frame 10 zero gravity. The probe assembly 20 is detachably mounted on the vehicle frame 10. The power mechanism 30 is located on the vehicle frame 10 and includes a propeller assembly 310 and a tracked walking mechanism 320. The propeller assembly 310 is used to drive the tracked walking mechanism 320 to move along the weld to be detected. The weld identification mechanism 40 includes a laser light 410 and a camera mechanism 420. The weld identification mechanism 40 is located on the vehicle frame 10, and the camera mechanism 420 is used to identify the weld by the reflection of the laser light 410 on the weld to be detected.

[0048] This invention relates to an underwater weld defect detection device for nuclear radiation environments. It can perform in-service inspections of underwater welds, avoiding the difficulties faced by nuclear power plants in removing spent fuel assemblies and manually entering the pool after draining water to inspect for weld defects such as leaks. The timing of the inspection activities is easier to coordinate, making it more applicable. Furthermore, it avoids the risk of workers coming into close contact with radioactive materials and being exposed to radiation. Workers can conduct remote control operations from the shore under the shielding protection of the pool water, making it safer.

[0049] For details, please refer to Figure 9 There are two weld seam recognition mechanisms 40, corresponding to two laser lights 410 and two camera mechanisms 420. The two weld seam recognition mechanisms 40 are symmetrically arranged at intervals along the front and rear extension direction of the vehicle frame 10. The two laser lights 410 generate two lasers, which can be used to track and calibrate the weld seam and correct the deviation of the detection equipment so that it can keep a straight line along the weld seam.

[0050] It should be noted that the weld seam recognition mechanism 40 can be installed not only on the vehicle body frame 10 but also on the probe assembly 20, requiring the line connecting the two laser lights 410 to be aligned with the length extension direction of the weld seam. When the weld seam recognition mechanism 40 is installed on the vehicle body frame 10, one end can be rotatably connected to the vehicle body frame 10, thereby adjusting the direction of the line connecting the two laser lights 410. When the probe assembly 20 is installed at the front of the vehicle body frame 10, the line connecting the two laser lights 410 is aligned with the front-rear direction of the vehicle body frame 10. When the probe assembly 20 is installed on the side of the vehicle body frame 10, the line connecting the two laser lights 410 is perpendicular to the front-rear direction of the vehicle body frame 10.

[0051] For details, please refer to Figure 4 In one embodiment, a first mounting plate 120 is provided at the front of the vehicle frame 10, and a second mounting plate 130 is provided on each side of the vehicle frame 10; the probe assembly 20 is detachably mounted on the first mounting plate 120 and / or the second mounting plate 130 via threaded connectors.

[0052] The spent fuel water tank has welds on its bottom and sides, and the inspection equipment of this invention is required to detect defects in these welds. When inspecting the bottom welds, the probe assembly 20 can be mounted on the first mounting plate 120, which is also mounted in front of the vehicle frame 10 to inspect the welds. When inspecting the welds formed on both sides, the probe assembly 20 needs to be mounted on the side of the vehicle frame 10 to facilitate defect detection of the side welds.

[0053] Therefore, the probe assembly 20 can be pre-installed at the front or side of the vehicle frame 10 according to actual needs. In some other embodiments, without considering the overall size of the detection equipment, a probe assembly 20 can be directly installed at the front and side of the vehicle frame 10 to detect defects in welds at different locations. The specific installation position of the probe assembly 20 is not limited here.

[0054] Please refer to Figure 3 and Figure 4 In one embodiment, the probe assembly 20 includes a fixed bracket 210, a cover 220, an illumination lamp 290, a gripper 230, and a detection probe 240. One end of the fixed bracket 210 is detachably connected to a first mounting plate 120 or a second mounting plate 130. The gripper 230 is mounted on the other end of the fixed bracket 210. The detection probe 240 is mounted inside the gripper 230. The cover 220 covers the detection probe 240 and is connected to the fixed bracket 210. The light-emitting side of the illumination lamp 290 faces the detection end of the detection probe 240.

[0055] That is, the fixed bracket 210 is used to install the probe assembly 20 on the vehicle frame 10. Specifically, it can be installed in a detachable manner using threaded connectors, which facilitates the adjustment of the installation position of the probe assembly 20.

[0056] The cover 220 serves two purposes: firstly, to protect the detection probe 240 from rigid impact with the pool wall; secondly, to provide buoyancy for the detection probe 240, which, together with the buoyancy balancing mechanism 110, allows the detection equipment to be in a zero-gravity state underwater.

[0057] The illumination lamp 290 is used to provide light to the periphery of the weld, thereby facilitating the inspection probe 240 to perform defect detection on the weld. For the inspection probe 240, this invention employs an ACFM defect detection probe 240, a novel device capable of underwater, pollution-free weld defect detection using an alternating magnetic field measurement method. The ACFM defect detection probe 240 is used to move in a straight line towards the weld to detect planar welds.

[0058] Specifically, the probe assembly 20 also includes a first drive motor 250, a gear set 260, and a lead screw 270. The first drive motor 250 drives the gear set 260 to rotate the lead screw 270. The gripper 230 is threadedly engaged with the lead screw 270. The gripper 230 has a holding compartment 231 and a tightening handle 232 for fixing the detection probe 240 inside the gripper 230. The first drive motor 250 drives the gripper 230 to move relative to the lead screw 270, thereby adjusting the irradiation area of ​​the detection probe 240.

[0059] In actual operation, the size of the detection probe 240 installed in front of the vehicle frame 10 is different from the size of the detection probe 240 installed on the side of the vehicle frame 10. In order to improve the versatility of the gripper 230, a tightening handle 232 is provided to match the installation of detection probes 240 of different sizes.

[0060] Furthermore, the fixed bracket 210 is also provided with an adapter plate 211, which is rotatably engaged with the lead screw 270, and at least one elastic element 280 is provided between the adapter plate 211 and the gripper 230.

[0061] In the actual testing process, the detection probe 240 is positioned above the weld to be tested and in contact with the surface of the weld. The elastic element 280 is designed to provide elastic buffering for the detection probe 240, so that when the detection probe 240 passes over the protrusion on the weld, the detection probe 240 is pressed up, thus avoiding rigid friction between the end of the detection probe 240 and the protrusion on the weld surface, which would damage the detection probe 240.

[0062] The number of elastic elements 280 can be set to at least one, and can be set to two, four, etc. as needed, without limitation.

[0063] Please refer to Figure 2 and Figure 5 In one embodiment, the propeller assembly 310 includes four tilting propellers 311 and two horizontal propellers 312. The four tilting propellers 311 are spaced apart and symmetrically arranged in pairs to drive the vehicle frame 10 to move at multiple angles. The two horizontal propellers 312 are arranged in parallel to drive the vehicle frame 10 to move forward or backward. The axial direction of the tilting propellers 311 is set at an angle to the traveling plane of the tracked walking mechanism 320.

[0064] It should be noted that the propeller assembly 310 provides power to the detection equipment. Four tilting propellers 311 enable the detection equipment to float in any direction in the water and rotate 90 degrees, allowing the tracked walking mechanism 320 to transition from a bottom-crawling state to a side-wall-crawling state. Two horizontal propellers 312 provide power for the linear motion of the detection equipment. The combined action of the four tilting propellers 311 and the two horizontal propellers 312 allows the detection equipment to move in any direction within the pool.

[0065] Please refer to Figure 2 and Figure 8 In one embodiment, the tracked walking mechanism 320 includes two walking units 321. Each walking unit 321 includes a second drive motor 322, a mounting frame 323, two rollers 324, and a track 325. The output end of the second drive motor 322 is rotatably engaged with the rollers 324. The track 325 is sleeved on the outside of the rollers 324. The mounting frame 323 is disposed on opposite sides of the track 325 and is used to mount the second drive motor 322.

[0066] Mounting bracket 323 is used for detachable connection with vehicle frame 10 and for supporting and mounting roller 324 and track 325. Second drive motor 322 is used to generate power to roller 324, thereby enabling track 325 to rotate and drive inspection equipment to move along the extension direction of weld.

[0067] Please continue to refer to Figure 2 , Figure 4 as well as Figure 7 In one embodiment, an electronic compartment 140 is provided at the front of the vehicle frame 10. The electronic compartment 140 includes a cylinder 141, a first camera 142, a glass cover 143, and a circuit board 144. The circuit board 144 is located inside the cylinder 141, the glass cover 143 is installed at one end of the cylinder 141, the first camera 142 is located inside the glass cover 143, and a watertight connector 145 is provided at the other end of the cylinder 141 for connecting a cable 146. A lead apron 147 is also provided on the inner or outer side of the cylinder 141.

[0068] Furthermore, a fixing ring 150 is provided on the vehicle frame 10, with one end of the cable 146 passing through the fixing ring 150 and the other end coupled to the control console 160.

[0069] The electrical components of the probe assembly 20, power mechanism 30, and weld seam recognition mechanism 40 are connected to the circuit board 144 inside the electronic compartment 140 via watertight connectors 145. The circuit board 144 is connected to the control console 160. Operators can control the movement of the detection equipment through the control console 160 and transmit real-time images of the detection equipment operating underwater to the control console 160. The weld seam recognition mechanism 40 is used to track weld seams. The probe assembly 20 performs defect detection on the weld seams and transmits the collected signals to the control console 160. The lead apron 147 can protect the electrical components on the circuit board 144 inside the electronic compartment 140 so that they can work normally in a nuclear radiation environment.

[0070] Please refer to Figure 6 In one embodiment, a light-emitting assembly 170 is provided on each side of the vehicle frame 10. The light-emitting assembly 170 includes a mounting base 171, a light body 172, and a second camera 173. The mounting base 171 is detachably connected to the vehicle frame 10, and the light body 172 and the second camera 173 are mounted on the mounting base 171.

[0071] The pool is relatively dark, so the lamp body 172 can improve the underwater imaging effect, and the second camera 173 can record the real-time operation footage.

[0072] In summary, the underwater defect detection equipment for nuclear radiation provided by this invention can perform in-service inspection of underwater welds, avoiding the difficulties faced by nuclear power plants in removing spent fuel assemblies and manually entering the pool after draining water to inspect weld defects such as leak points. The timing of the inspection activities is easier to coordinate, and the equipment has greater applicability.

[0073] Moreover, using detection equipment instead of manual testing can avoid the risk of workers coming into close contact with radioactive materials and being exposed to radiation. Workers can also conduct remote control operations from the shore with the pool water as a shield.

[0074] By designing the propeller assembly 310 and the track walking mechanism 320, the inspection equipment can float in any direction underwater, crawl close to the ground, or rotate 90 degrees to crawl along the pool wall. Welds on all planes of the pool can be inspected, thus expanding the inspection range.

[0075] The inspection equipment uses a laser lamp 410 and a camera mechanism 420 at the bottom to track and calibrate the weld seam with two lasers, correcting the deviation of the inspection equipment so that it can maintain a straight line forward.

[0076] This application uses specific terms to describe embodiments of the application. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0077] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any variations and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the invention, fall within the protection scope defined by the claims of the present invention.

Claims

1. A device for detecting defects in underwater welds in a nuclear radiation environment, characterized in that, include: The vehicle frame is equipped with a buoyancy balancing mechanism to make the vehicle frame zero gravity; The probe assembly is detachably mounted on the vehicle frame. A power mechanism is mounted on the vehicle frame. The power mechanism includes a propeller assembly and a tracked walking mechanism. The propeller assembly is used to drive the tracked walking mechanism to move along the weld seam to be inspected. At least one weld seam recognition mechanism, including a laser light and a camera mechanism, wherein the weld seam recognition mechanism is disposed on the vehicle body frame, and the camera mechanism is used to identify and detect the weld seam by the reflection of the laser light on the weld seam to be inspected. A first mounting plate is provided at the front of the vehicle body frame, and a second mounting plate is provided on each of the two sides of the vehicle body frame. The probe assembly is detachably mounted on the first mounting plate and / or the second mounting plate via a threaded connector. The probe assembly includes a fixed bracket, a cover, an illumination lamp, a gripper, and a detection probe. One end of the fixed bracket is detachably connected to the first mounting plate or the second mounting plate. The gripper is mounted on the other end of the fixed bracket. The detection probe is mounted inside the gripper. The cover is placed over the detection probe and connected to the fixed bracket. The light-emitting side of the illumination lamp faces the detection end of the detection probe. The probe assembly also includes a first drive motor, a gear set, and a lead screw. The first drive motor is used to drive the gear set, thereby causing the lead screw to rotate. The gripper is threadedly engaged with the lead screw, the gripper has a holding compartment, and the gripper is provided with a tightening handle for fixing the detection probe inside the gripper. The first drive motor is used to drive the gripper to move relative to the lead screw, thereby adjusting the irradiation area of ​​the detection probe. The fixed bracket is also provided with an adapter plate, which is rotatably engaged with the lead screw, and at least one elastic element is provided between the adapter plate and the gripper.

2. The detection equipment for underwater weld defects in a nuclear radiation environment according to claim 1, characterized in that, The propeller assembly includes four tilting propellers and two horizontal propellers. The four tilting propellers are spaced apart and symmetrically arranged in pairs to drive the vehicle frame to move at multiple angles. The two horizontal propellers are arranged in parallel to drive the vehicle frame forward or backward. The axial direction of the tilting propeller is set at an angle to the traveling plane of the tracked walking mechanism.

3. The detection equipment for underwater weld defects in a nuclear radiation environment according to claim 2, characterized in that, The tracked walking mechanism includes two walking units, each of which includes a second drive motor, a mounting frame, two rollers, and a track; The output end of the second drive motor is rotatably engaged with the roller, the track is sleeved on the outside of the roller, and the mounting bracket is disposed on opposite sides of the track and is used to mount the second drive motor.

4. The detection equipment for underwater weld defects in a nuclear radiation environment according to claim 1, characterized in that, An electronic compartment is located at the front of the vehicle frame. The electronic compartment includes a cylinder, a first camera, a glass cover, and a circuit board. The circuit board is located inside the cylinder. The glass cover is installed at one end of the cylinder. The first camera is located inside the glass cover. A watertight connector is provided at the other end of the cylinder for connecting cables. A lead apron is also provided on the inner or outer side of the cylinder.

5. The detection equipment for underwater weld defects in a nuclear radiation environment according to claim 4, characterized in that, The vehicle frame is also provided with a fixing ring, one end of the cable is passed through the fixing ring, and the other end is coupled to the control console.

6. The detection equipment for underwater weld defects in a nuclear radiation environment according to claim 1, characterized in that, Each side of the vehicle frame is provided with a light-emitting assembly, which includes a mounting base, a light body, and a second camera. The mounting base is detachably connected to the vehicle frame, and the lamp body and the second camera are mounted on the mounting base.

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