Nuclear reactor underwater maintenance robot and method of using same

Abstract

The application discloses a nuclear reactor underwater maintenance robot and a use method thereof. The nuclear reactor underwater maintenance robot comprises a connecting mechanism, a telescopic positioning mechanism, a lifting mechanism, a rotating mechanism and a mechanical arm. The telescopic positioning mechanism of the nuclear reactor underwater maintenance robot has a telescopic function. The whole maintenance robot can be positioned on the wall of a container through the telescopic positioning mechanism. The posture of the underwater maintenance robot can be adjusted through a plurality of telescopic components, so that the position of the underwater maintenance robot can be calibrated. The position of each telescopic component can be finely adjusted, and the posture adjustment of the underwater maintenance robot is facilitated. The mechanical arm can be driven to lift and rotate by the lifting mechanism and the rotating mechanism respectively, so that the mechanical arm can better work. The probe holder can be automatically replaced, the probe can be calibrated underwater, or the maintenance tool holder can be automatically replaced through the mechanical arm, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of nuclear power plant reactor maintenance, in particular to a nuclear reactor underwater maintenance robot and a method for using the same. BACKGROUND

[0002] The inner cavity of the cylindrical metal parts such as the nuclear reactor pressure vessel and the lower in-core component involves in-service inspection, maintenance, fastener replacement and other operations. Due to the existence of radioactivity, underwater operation is generally performed, and the positioning accuracy and efficiency of the underwater operation robot have always been concerned.

[0003] The existing nuclear reactor pressure vessel in-service inspection device mainly includes a bracket type robot positioned by using a flange bolt hole, a bracket type robot positioned by using a key groove and a support block, and a wall surface adsorption type mobile robot, etc., which cannot simultaneously meet the requirements of small size of equipment, high underwater positioning accuracy, convenient detection signal calibration, non-occlusion of the inspected area by the equipment body, parallel operation of multiple robots, etc. The related pressure vessel and lower in-core component maintenance platform mainly includes some fixed lifting type racks, which are large in size and single in function, and cannot meet the needs of miniaturization and multifunctionalization. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a nuclear reactor underwater maintenance robot and a method for using the same.

[0005] The technical solution adopted by the present application to solve the technical problem is that a nuclear reactor underwater maintenance robot is constructed, which comprises a connecting mechanism, an extension positioning mechanism, a lifting mechanism, a rotating mechanism and a mechanical arm.

[0006] The extension positioning mechanism comprises a plurality of extension assemblies, each of which comprises a support leg connected with the connecting mechanism, an extension drive installed on the support leg, and a lead screw module connected with the output end of the extension drive.

[0007] The lead screw module comprises a sliding block connected with the output end of the extension drive, a lead screw positioning seat movably connected with the sliding block, and a lead screw drive motor connected with the lead screw positioning seat, and the wall surface of the lead screw positioning seat away from the sliding block abuts against the vessel wall surface of the nuclear reactor.

[0008] The lifting mechanism is connected with the connecting mechanism and is used to drive the mechanical arm to perform lifting movement, the rotating mechanism is connected with the connecting mechanism and is used to drive the mechanical arm to perform rotating movement, and the mechanical arm is used for the operation of the underwater maintenance robot.

[0009] In some embodiments, the connecting mechanism comprises a base and a connecting frame, one end of each of the plurality of support legs is connected to the base, the lifting mechanism is installed on the base, an output end of the lifting mechanism is connected to the connecting frame, the rotating mechanism is installed on the connecting frame, and an output end of the rotating mechanism is connected to the mechanical arm.

[0010] In some embodiments, the connecting mechanism further comprises a mounting frame, each of the plurality of support legs is connected to the mounting frame.

[0011] The mounting frame is provided with a plurality of underwater thrusters and a plurality of buoyancy blocks.

[0012] In some embodiments, the base is provided with an inclination sensor.

[0013] In some embodiments, the nuclear reactor underwater maintenance robot further comprises a plurality of functional part housings, the functional part housings are connected to the support legs, and the functional part housings are provided with a laser range finder, an ultrasonic probe, and a maintenance tool.

[0014] In some embodiments, the lifting mechanism comprises a lifting hollow motor, and the rotating mechanism comprises a rotating hollow motor.

[0015] In the present embodiment, a method for using a nuclear reactor underwater maintenance robot is also constructed, which is based on the nuclear reactor underwater maintenance robot, and comprises the following steps:

[0016] S1. The nuclear reactor underwater maintenance robot is made to enter a container of a nuclear reactor by a travelling crane;

[0017] S2. The nuclear reactor underwater maintenance robot is made to hover at a target depth position by underwater thrusters under the assistance of a camera and a depth gauge, so as to realize coarse positioning;

[0018] S3. Initial adjustment of a posture of the nuclear reactor underwater maintenance robot is performed;

[0019] S4. Axial direction calibration of the nuclear reactor underwater maintenance robot and an object to be inspected is performed;

[0020] S5. Height and circumferential position calibration of the nuclear reactor underwater maintenance robot is performed;

[0021] S6. Coordinate mapping between a robot coordinate and an object to be inspected is completed;

[0022] S7. A maintenance tool or a calibration probe is loaded by a mechanical arm to perform work;

[0023] S8. The nuclear reactor underwater maintenance robot is made to be displaced as a whole by underwater thrusters, so as to continue work in the next stage.

[0024] In some embodiments, step S3 comprises:

[0025] S31, using the telescopic drive to extend the screw module to a first fixed position, so that the screw positioning seat is in contact with the container wall;

[0026] S32, according to the feedback of the inclination sensor, using the screw drive motor to adjust the position of the screw positioning seat relative to the container wall, until the nuclear reactor underwater maintenance robot is in a vertical position relative to the container of the nuclear reactor;

[0027] S33, using the telescopic drive to extend the screw module to a second fixed position for fixation.

[0028] In some embodiments, step S4 comprises:

[0029] S41, using the mechanical arm to load the laser range finder, moving the laser range finder to a position close to the container wall and keeping the laser range finder perpendicular to the support leg;

[0030] S42, rotating the laser range finder 360 degrees around the base center axis to obtain a first curve measurement graph between the laser ranging sensor data and the rotation angle;

[0031] S43, comparing the bottom structure features of the inspected object at different angles, combining the first curve measurement graph, if the deviation exceeds the required range, adjusting the position of the screw positioning seat, so that the data of the bottom structure features of the inspected object at different angles are within the deviation requirement range, to ensure that the nuclear reactor underwater maintenance robot and the axis of the inspected object are consistent.

[0032] In some embodiments, step S5 comprises:

[0033] S51, rotating the laser range finder 360 degrees again around the base center axis to obtain a second curve measurement graph between the laser ranging sensor data and the rotation angle;

[0034] S52, using the distance data of the flat surface of the bottom structure features of the inspected object at different angles to calibrate the height direction of the maintenance robot;

[0035] S53, using the rising edge or falling edge of the second curve measurement graph to calibrate the angle of the circumferential direction of the maintenance robot.

[0036] The nuclear reactor underwater maintenance robot has the following beneficial effects: the telescopic positioning mechanism of the nuclear reactor underwater maintenance robot has a telescopic function, the maintenance robot can be positioned on the container wall as a whole through the telescopic positioning mechanism, the posture of the underwater maintenance robot is adjusted through the plurality of telescopic assemblies, the position of each telescopic assembly can be finely adjusted, and the posture adjustment of the underwater maintenance robot is facilitated. The mechanical arm can be better operated through the lifting mechanism and the rotating mechanism for driving the mechanical arm to perform lifting and rotating movements, the probe holder can be automatically replaced, the probe can be calibrated underwater, or the maintenance tool holder can be automatically replaced through the mechanical arm, and the work efficiency is improved. Meanwhile, the underwater maintenance robot has a small overall space, and a plurality of underwater maintenance robots can simultaneously work in the nuclear reactor container. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the present application, the present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0038] Figure 1 is the overall structure schematic diagram of the nuclear reactor underwater maintenance robot in some embodiments of the present application;

[0039] Figure 2 is the application schematic diagram of the nuclear reactor underwater maintenance robot in some embodiments of the present application;

[0040] Figure 3 is the structure schematic diagram of the screw module in some embodiments of the present application. DETAILED DESCRIPTION

[0041] In order to more clearly illustrate the technical solutions of the present application, the present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0042] It should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "arranging" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "below" another element, the element can be "directly" or "indirectly" above another element, or one or more intervening elements can exist. The terms "first", "second", "third" and the like are only for the convenience of describing the technical solutions, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second", "third" and the like can be explicitly or implicitly include one or more features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] Please refer to Figures 1 to 3 It is a kind of nuclear reactor underwater maintenance robot in some embodiments of the present application, the nuclear reactor underwater maintenance robot includes connecting mechanism 1, telescopic positioning mechanism 2, lifting mechanism 3, rotating mechanism 4 and mechanical arm 5. The telescopic positioning mechanism 2 includes a plurality of telescopic components, each telescopic component includes support leg 21 connected with connecting mechanism 1, telescopic drive 22 installed on support leg 21 and lead screw module 23 connected with the output end of telescopic drive 22. As Figure 3 The lead screw module 23 includes a slider 231 connected with the output end of the telescopic drive 22, a lead screw positioning seat 232 movably connected with the slider 231 and a lead screw drive motor 233 connected with the lead screw positioning seat 232, and the wall surface of the lead screw positioning seat 232 away from the slider 231 abuts against the container wall surface 6 of the nuclear reactor. In addition, the lifting mechanism 3 is connected to the connecting mechanism 1 and is used to drive the mechanical arm 5 to move up and down; the rotating mechanism 4 is connected to the connecting mechanism 1 and is used to drive the mechanical arm 5 to rotate; the mechanical arm 5 is used for the work of the underwater maintenance robot. In this embodiment, the number of telescopic components is three, and the three telescopic components are uniformly distributed along the central axis of the connecting mechanism 1, and the telescopic components can be adjusted in posture.

[0044] It can be understood that the telescopic positioning mechanism 2 of the nuclear reactor underwater maintenance robot has a telescopic function, and the overall positioning of the maintenance robot on the container wall 6 can be realized through the telescopic positioning mechanism 2, and the posture of the underwater maintenance robot can be adjusted through the plurality of telescopic assemblies, so that the position of the underwater maintenance robot can be calibrated, and the position of each telescopic assembly can be finely adjusted, and the posture adjustment of the underwater maintenance robot is facilitated. At the same time, the lifting mechanism 3 and the rotating mechanism 4 drive the mechanical arm 5 to lift and rotate, respectively, so that the mechanical arm 5 can better perform the work, and the probe holder can be automatically replaced, the probe can be calibrated underwater, or the tool holder can be automatically replaced, thereby improving the work efficiency. At the same time, the overall underwater maintenance robot occupies a small space, and multiple underwater maintenance robots can work in the nuclear reactor container at the same time. For example, two underwater maintenance robots can work in parallel, which helps to improve the work efficiency.

[0045] As shown in Figure 1 The connecting mechanism 1 includes a base 11 and a connecting frame 12. One end of each of the plurality of support legs 21 is connected to the base 11, and the lifting mechanism 3 is installed on the base 11. The output end of the lifting mechanism 3 is connected to the connecting frame 12, and the rotating mechanism 4 is installed on the connecting frame 12. The output end of the rotating mechanism 4 is connected to the mechanical arm 5. The lifting mechanism 3 can drive the rotating mechanism 4 and the mechanical arm 5 to lift simultaneously. The rotating mechanism 4 drives the mechanical arm 5 to rotate, so that the mechanical arm 5 can better move according to different working environments. The mechanical arm 5 is a multi-joint mechanical arm 5, and the number of the multi-joint mechanical arm 5 can be one or more. One end of the multi-joint mechanical arm 5 can be connected to an end quick-change device to realize multifunctional work, such as pressure vessel cylinder girth weld inspection, pressure vessel nozzle safety end weld inspection, underwater cutting of lower in-vessel components, bolt replacement, underwater machining, etc.

[0046] The base 11 is also provided with an inclination sensor to cooperate with the action of the telescopic positioning mechanism 2 to complete the posture adjustment of the underwater maintenance robot.

[0047] Further, the mounting frame 13 is provided with a plurality of underwater thrusters 14 and a plurality of buoyancy blocks 15. In this embodiment, the number of underwater thrusters 14 is three, and the three underwater thrusters 14 are uniformly distributed along the central axis of the base 11. Carrying a plurality of underwater thrusters 14 can realize hovering and stable lifting in water. The number of buoyancy blocks 15 is multiple, and the main function of the buoyancy block 15 is to provide buoyancy to ensure the stability and reliability of the object in water. Through the trim of the buoyancy block 15, the overall underwater maintenance robot can be realized in underwater zero gravity.

[0048] The nuclear reactor underwater maintenance robot further comprises a plurality of functional part accommodating racks 7 connected to the support legs 21, and a laser range finder, an ultrasonic probe and a maintenance tool are arranged on the functional part accommodating racks 7. When different operations are required, the tools in the functional part accommodating racks 7 can be loaded by the mechanical arm 5.

[0049] The lifting mechanism 3 comprises a lifting hollow motor, and the rotating mechanism 4 comprises a rotating hollow motor, and the cable can be arranged in the hollow motor, so that a large amount of cable is not required, radiation hot spots are reduced, and a high-dose area is difficult to form.

[0050] In the embodiment, a use method of the nuclear reactor underwater maintenance robot is also constructed, which is based on the nuclear reactor underwater maintenance robot and comprises the following steps:

[0051] S1, entering the nuclear reactor underwater maintenance robot into a container of a nuclear reactor by using a travelling crane;

[0052] S2, hovering the nuclear reactor underwater maintenance robot at a target depth position by using the underwater thruster 14 under the assistance of a camera and a depth gauge, so as to realize coarse positioning;

[0053] S3, performing initial adjustment of a posture of the nuclear reactor underwater maintenance robot;

[0054] S4, performing axial direction calibration of the nuclear reactor underwater maintenance robot and an object to be inspected;

[0055] S5, performing height and circumferential position calibration of the nuclear reactor underwater maintenance robot;

[0056] S6, completing coordinate mapping between a robot coordinate and an object to be inspected;

[0057] S7, loading a maintenance tool or a calibration probe by using the mechanical arm 5 to perform an operation;

[0058] S8, moving the nuclear reactor underwater maintenance robot as a whole by using the underwater thruster 14, and continuing work of a next stage.

[0059] Specifically, in the step S1, the nuclear reactor underwater maintenance robot is entered into the container of the nuclear reactor by using the travelling crane, so that the maintenance robot enters water and is unhooked.

[0060] The step S3 comprises:

[0061] S31, extending the screw rod module 23 to a first fixed position by using the telescopic drive 22, so that the screw rod positioning seat 232 is in contact with the container wall 6;

[0062] S32, adjusting the position of the screw rod positioning seat 232 relative to the container wall 6 by using the screw rod driving motor 233 according to the feedback of the inclination sensor, until the whole nuclear reactor underwater maintenance robot is in a vertical position relative to the container of the nuclear reactor;

[0063] S33, extending the screw module 23 to a second fixed position for fixation by using the telescopic driver 22.

[0064] Specifically, in step S31, when the screw rod positioning seat 232 is in contact with the container wall 6, the supporting force is relatively small, and the preliminary positioning is completed. In step S32, the screw rod driving motor 233 is driven to drive the sliding block 231 to move, so that the screw rod positioning seat 232 can move up and down relative to the support leg 21, to adjust the position of the screw rod positioning seat 232 relative to the container wall 6, until the positions of the three screw rod positioning seats 232 can make the whole nuclear reactor underwater maintenance robot be in a vertical position relative to the container of the nuclear reactor. In step S33, when the screw module 23 is extended to the second fixed position for fixation, the supporting force between the screw rod positioning seat 232 and the container wall 6 is relatively large, and the posture adjustment of the underwater maintenance robot is completed, thereby establishing a stable base point for the underwater maintenance robot.

[0065] Step S4 includes:

[0066] S41, loading the laser range finder by using the mechanical arm 5, and moving the laser range finder to a position close to the container wall 6 and making the laser range finder keep vertical to the support leg 21;

[0067] S42, rotating the laser range finder 360 degrees around the central axis of the base 11 to obtain a first curve measurement graph between the laser ranging sensor data and the rotation angle;

[0068] S43, comparing the bottom structure features of the detected object at different angles, combining the first curve measurement graph, and if the deviation exceeds the required range, adjusting the position of the screw rod positioning seat 232 until the data of the bottom structure features of the detected object at different angles are within the deviation requirement range, to ensure that the nuclear reactor underwater maintenance robot keeps consistent with the axis of the detected object.

[0069] Specifically, in step S4, the axial direction calibration of the nuclear reactor underwater maintenance robot and the detected object is performed, and in step S43, the bottom structure features of the detected object at different angles are taken as a reference according to the design drawing model of the detected object. If the deviation exceeds the required range, the method similar to step S3 can be adopted to adjust by adjusting the screw module 23, until the data of the bottom structure features of the detected object at different angles are within the deviation requirement range, to ensure that the nuclear reactor underwater maintenance robot keeps consistent with the axis of the detected object. The detected object can be a support block or a lower core plate.

[0070] Step S5 includes:

[0071] S51, rotate the laser range finder around the center axis of the base 11 again by 360 degrees to obtain a second curve measurement graph between the laser ranging sensor data and the rotation angle;

[0072] S52, calibrate the height direction of the maintenance robot using the distance data of the flat surface of the bottom structure features of the detected object at different angles;

[0073] S53, calibrate the angle of the circumferential direction of the maintenance robot using the rising edge or falling edge of the second curve measurement graph.

[0074] Wherein, the bottom structure features of the detected object at different angles can be used as a reference according to the design drawing model of the detected object, and the height direction calibration of the maintenance robot is performed using the distance data of the flat surface of the bottom structure features of the detected object at different angles, and the angle calibration of the circumferential direction of the maintenance robot is performed using the rising edge or falling edge of the second curve measurement graph.

[0075] In step S7, the maintenance tool or calibration probe is loaded by the mechanical arm 5 for operation, and relevant non-destructive testing or maintenance and replacement operation can be performed.

[0076] In step S8, after the underwater maintenance robot finishes the operation in the area, the underwater thruster 14 is used for displacement, and steps S2 to S6 are repeated to complete the position re-calibration.

[0077] The nuclear reactor underwater maintenance robot and its use method have the following beneficial effects:

[0078] 1. The underwater maintenance robot uses the underwater thruster 14, which is convenient for moving underwater, reduces the use of rowing resources, saves time, avoids unnecessary partition detection work, helps to improve work efficiency, and saves on-site resource occupation;

[0079] 2. The underwater maintenance robot has small overall space occupation, and multiple underwater maintenance robots can simultaneously work in the nuclear reactor vessel;

[0080] 3. The posture adjustment of the underwater maintenance robot is performed by the multiple lead screw modules 23 in cooperation with the inclination sensor, and the circumferential and height positions are calibrated by the laser range finder, which overcomes the problem of low positioning accuracy caused by the lack of mechanical feature points;

[0081] 4. The lifting hollow motor and the rotating hollow motor are used, the cables can be stored, a large number of wire winding is not needed, the hollow cable is designed to be built-in in the equipment, the use of cable winding or drag chain parts is reduced, a large amount of cable adsorption of radioactive stains is avoided, thereby reducing the collective dose of operating and maintenance personnel, reducing the radiation hot spot, and difficult to form a high-dose area.

[0082] 5. The underwater maintenance robot has certain adaptability, and the detection and maintenance work can be performed in a container with similar structure by using the setting of the mechanical arm 5, such as inspection of lower internal component basket girth weld and replacement of baffle bolt, etc.

[0083] 6. The positioning method of the underwater maintenance robot is direct, fast and accurate, and overcomes the dependence of the underwater maintenance robot on specific installation position of the detected object, and high-precision positioning is achieved.

[0084] It can be understood that the above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the patent scope of the present application; it should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and several modifications and improvements can be made, which belong to the protection scope of the present application; therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. A nuclear reactor underwater maintenance robot, characterized in that, It includes a connecting mechanism (1), a telescopic positioning mechanism (2), a lifting mechanism (3), a rotating mechanism (4), and a robotic arm (5); The telescopic positioning mechanism (2) includes multiple telescopic components, each of which includes a support leg (21) connected to the connecting mechanism (1), a telescopic driver (22) mounted on the support leg (21), and a lead screw module (23) connected to the output end of the telescopic driver (22); The lead screw module (23) includes a slider (231) connected to the output end of the telescopic actuator (22), a lead screw positioning seat (232) movably connected to the slider (231), and a lead screw drive motor (233) connected to the lead screw positioning seat (232). The wall of the lead screw positioning seat (232) facing away from the slider (231) abuts against the container wall (6) of the nuclear reactor. The lifting mechanism (3) is connected to the connecting mechanism (1) and is used to drive the robotic arm (5) to perform lifting movements; The rotating mechanism (4) is connected to the connecting mechanism (1) and is used to drive the robotic arm (5) to rotate; the robotic arm (5) is used for the operation of the underwater maintenance robot.

2. The underwater nuclear reactor maintenance robot according to claim 1, characterized in that, The connecting mechanism (1) includes a base (11) and a connecting frame (12). One end of each of the multiple support legs (21) is connected to the base (11). The lifting mechanism (3) is mounted on the base (11). The output end of the lifting mechanism (3) is connected to the connecting frame (12). The rotating mechanism (4) is mounted on the connecting frame (12). The output end of the rotating mechanism (4) is connected to the robotic arm (5).

3. The underwater nuclear reactor maintenance robot according to claim 2, characterized in that, The connecting mechanism (1) further includes a mounting frame (13), to which the plurality of support legs (21) are connected; The mounting frame (13) is equipped with multiple underwater thrusters (14) and multiple buoyancy blocks (15).

4. The underwater nuclear reactor maintenance robot according to claim 2, characterized in that, An angle sensor is provided on the base (11).

5. The underwater nuclear reactor maintenance robot according to claim 4, characterized in that, The underwater nuclear reactor maintenance robot also includes multiple functional component housings (7), which are connected to the support legs (21). The functional component housings (7) are equipped with laser rangefinders, ultrasonic probes, and maintenance tools.

6. The underwater nuclear reactor maintenance robot according to claim 1, characterized in that, The lifting mechanism (3) includes a lifting hollow motor, and the rotating mechanism (4) includes a rotating hollow motor.

7. A method of using an underwater nuclear reactor maintenance robot, based on the underwater nuclear reactor maintenance robot according to any one of claims 1 to 6, characterized in that, Including the following steps: S1. Using a gantry crane, the underwater maintenance robot for the nuclear reactor enters the reactor vessel. S2. With the assistance of a camera and a depth gauge, the underwater reactor maintenance robot is suspended at the target depth using an underwater thruster (14) to achieve coarse positioning. S3. Perform initial attitude adjustment of the underwater maintenance robot for the nuclear reactor; S4. Perform axial alignment calibration between the underwater nuclear reactor maintenance robot and the object being inspected; S5. Perform height and circumferential position calibration of the underwater maintenance robot for the nuclear reactor; S6. Complete the coordinate mapping between the robot coordinates and the inspected object; S7. Use the robotic arm (5) to load maintenance tools or calibration probes for operation; S8. Use the underwater thruster (14) to move the entire nuclear reactor underwater maintenance robot to continue the next stage of work.

8. The method of using the underwater nuclear reactor maintenance robot according to claim 7, characterized in that, Step S3 includes: S31. Using the telescopic actuator (22), the lead screw module (23) is extended to the first fixed position, so that the lead screw positioning seat (232) contacts the container wall (6); S32. Based on the feedback from the tilt sensor, the position of the screw positioning seat (232) relative to the container wall (6) is adjusted by the screw drive motor (233) until the entire nuclear reactor underwater maintenance robot is in a vertical position relative to the container of the nuclear reactor. S33. Use the telescopic actuator (22) to extend the lead screw module (23) to the second fixed position for fixing.

9. The method of using the underwater nuclear reactor maintenance robot according to claim 7, characterized in that, Step S4 includes: S41. Using the robotic arm (5), load the laser rangefinder and move the laser rangefinder to a position close to the container wall (6) and keep the laser rangefinder perpendicular to the support leg (21); S42. Rotate the laser rangefinder 360 degrees around the central axis of the base (11) to obtain the first curve measurement diagram between the laser rangefinder sensor data and the rotation angle; S43. Compare the bottom structural features of the inspected object at different angles. Combine with the first curve measurement diagram. If the deviation exceeds the required range, adjust the position of the lead screw positioning seat (232) until the data of the bottom structural features of the inspected object at different angles are within the required deviation range, so as to ensure that the nuclear reactor underwater maintenance robot is consistent with the axis of the inspected object.

10. The method of using the underwater nuclear reactor maintenance robot according to claim 7, characterized in that, Step S5 includes: S51. Rotate the laser rangefinder around the central axis of the base (11) by 360 degrees again to obtain the second curve measurement diagram between the laser rangefinder sensor data and the rotation angle. S52. Use the distance data of the flat surface of the bottom structure features of the inspected object at different angles to calibrate the height direction of the inspection robot. S53. Use the rising or falling edge of the second curve measurement graph to calibrate the circumferential angle of the maintenance robot.

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