Laser cleaning and video inspection device for heat transfer tube plate of steam generator of nuclear power plant

Abstract

The invention particularly relates to a nuclear power plant steam generator heat transfer tube plate laser cleaning and video inspection device and method, and belongs to the technical field of nuclear power plant steam generator heat transfer tube plate cleaning, and the laser cleaning and video inspection device comprises a laser cleaning and video inspection robot and a remote control module; and the remote control module is arranged outside the steam generator, is connected with the laser cleaning and video inspection robot through a cable, and controls the laser cleaning and video inspection robot to move to a target tube plate on a laser cleaning and video inspection operation platform erected in the steam generator so as to perform laser cleaning and video inspection on the target tube plate. According to the laser cleaning and video inspection method, the laser cleaning and video inspection device is used for conducting laser cleaning and video inspection operation on the tube plate. Manual cleaning operation is replaced by the robot, the cleaning quality and efficiency are improved, the labor intensity of cleaning workers is reduced, and meanwhile the possibility of mechanical damage is eliminated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power plant steam generator heat pipe tube plate cleaning, in particular to a nuclear power plant steam generator heat pipe tube plate laser cleaning and video inspection device. BACKGROUND

[0002] The nuclear power plant steam generator heat pipe is long-term operated under the washing and evaporation of high-temperature and high-pressure medium, which is easy to produce dirt and chemical loss. During the overhaul of the steam generator heat pipe tube plate, a large amount of chemical deposition dirt is often found, which affects the heat transfer effect. The traditional cleaning method is to empty the internal medium of the steam generator, and then manually enter the internal pipe plate for cleaning. The cleaning quality and efficiency are low, and the work has high radiation dose, closed space and narrow internal space, which belongs to radiation protection and high-altitude operation, and has risks such as suffocation and falling. Since the heat pipe tube plate part is expanded and welded, mechanical scratches should be avoided during cleaning, which also indirectly reduces the efficiency of manual cleaning. SUMMARY

[0003] The purpose of the present application is to provide a nuclear power plant steam generator heat pipe tube plate laser cleaning and video inspection device, which replaces manual cleaning work with a robot to improve cleaning quality and efficiency, fundamentally eliminates the risks of closed space, high environmental radiation dose and high-altitude falling, reduces the labor intensity of cleaning workers, and eliminates the possibility of mechanical damage.

[0004] In order to achieve the above purpose, the present application provides the following technical scheme:

[0005] A nuclear power plant steam generator heat pipe tube plate laser cleaning and video inspection device, comprising a laser cleaning and video inspection robot and a remote control module;

[0006] The remote control module is outside the steam generator, connected to the laser cleaning and video inspection robot through a cable, and controls the laser cleaning and video inspection robot to move to the target tube plate on the laser cleaning and video inspection work platform set up inside the steam generator, and performs laser cleaning and video inspection on the target tube plate.

[0007] As one of the possible ways, the laser cleaning and video inspection robot is a roller type laser cleaning and video inspection robot, comprising a moving device, a laser cleaning device and a video inspection device;

[0008] The moving device adopts a roller structure and moves to the target tube plate on the surface of the laser cleaning and video inspection work platform set up inside the steam generator;

[0009] The laser cleaning device and the video inspection device are installed on the moving device and perform laser cleaning and video inspection on the target tube plate.

[0010] As one possible implementation, the mobile device includes a chassis; rollers are rotatably connected to both sides of the chassis, and a cover plate is provided on the top of the chassis;

[0011] A roller drive motor is installed in the chassis; the roller drive motor is connected to the roller transmission to provide power to the roller and drive the roller to move forward or backward; the roller drive motor is connected to the remote control module through the robot control cable, and the remote control module controls the operation of the roller drive motor.

[0012] As one possible implementation, the roller includes a guide wheel and a drive wheel; the guide wheel and the drive wheel are rotatably connected to both sides of the chassis; the drive wheel is connected to the roller drive motor.

[0013] As one possible implementation, the guide wheel is rotatably connected to the chassis via a guide wheel shaft. The top of the guide wheel shaft is fixedly connected to the chassis, and the two sides of the guide wheel shaft are rotatably connected to the guide wheel. A wheel spacing adjustment hole is provided at the connection between the guide wheel and the guide wheel shaft, and a threaded hole is provided on the guide wheel shaft. The distance between the guide wheel and the drive wheel is adjusted by the screw in the wheel spacing adjustment hole engaging with the threaded hole.

[0014] As one possible approach, a laser cleaning device includes a laser cleaning head, a laser generator, and laser cleaning cables; a video inspection device includes a video inspection camera and video inspection cables.

[0015] The laser generator and the laser cleaning head are connected via a laser cleaning cable; the video inspection camera is connected to the remote control module via a video inspection cable; the remote control module controls the operation of the laser generator and the video inspection camera.

[0016] The laser cleaning head and video inspection camera are mounted on the cover plate via a telescopic rod and a fixing bracket; the telescopic rod is installed at the top center of the cover plate, and the laser cleaning head and video inspection camera are mounted on the fixing bracket, which is fixed to the top of the telescopic rod.

[0017] The chassis also houses a telescopic pole drive motor; the telescopic pole drive motor is connected to the telescopic pole transmission, providing power to the telescopic pole and driving it to move up and down; the telescopic pole drive motor is connected to the remote control module via the telescopic pole control cable, and the remote control module controls the operation of the telescopic pole drive motor.

[0018] The laser cleaning head and video inspection camera are equipped with a telescopic rod to provide them with free vertical movement, enabling laser cleaning and video inspection of the target tube sheet.

[0019] As one possible implementation method, the remote control module includes a human-machine console, a human-machine control panel, and a composite cable;

[0020] Composite cables integrate robot control cables, laser cleaning cables, video inspection cables, and telescopic pole control cables;

[0021] An electrical control unit and a laser generator are fixedly installed inside the human-machine interface; a human-machine operation panel is set on the human-machine interface for controlling and operating the laser cleaning and video inspection robot.

[0022] As one possible approach, video inspection cameras have image recognition capabilities;

[0023] Before starting tube sheet flushing, a video inspection camera captures an overall image of the tube sheet. The tube sheets in the overall image are numbered one by one from top to bottom and from left to right, and the overall image of the tube sheet with the completed numbering is stored.

[0024] During the tube sheet flushing process, a video inspection camera performs video inspection of the tube sheet, captures images of the tube sheet, and compares the captured tube sheet images with the stored overall tube sheet images to identify the specific number and location of the target tube sheet in the tube sheet images.

[0025] The video inspection camera features zoom, light compensation, and illumination functions. It has an external protective case that is closed when in standby mode to ensure that the video inspection camera is not damaged by washing debris.

[0026] This invention also provides a method for laser cleaning and video inspection of heat transfer tube sheets in nuclear power plant steam generators, using the aforementioned laser cleaning and video inspection device for heat transfer tube sheets in nuclear power plant steam generators, comprising the following steps:

[0027] Step 1: Connect the laser cleaning and video inspection robot to the remote control module via a composite cable, and place the laser cleaning and video inspection robot on the temporary laser cleaning and video inspection work platform set up inside the steam generator.

[0028] Step 2: Turn on the video inspection device to take pictures and identify the tube sheet to confirm its specific location;

[0029] Step 3: Adjust the angle of the laser cleaning device to the target tube sheet, and use the telescopic rod to provide free movement space for the laser cleaning device to perform laser cleaning on the target tube sheet;

[0030] Step 4: Perform video inspection on the target tube sheet using a video inspection device; if the video inspection result is unqualified, repeat Step 3; if the video inspection result is qualified, proceed to Step 5.

[0031] Step 5: After the laser cleaning and video inspection operation is completed, the laser cleaning and video inspection robot will roll to the installation port using its rollers and be removed.

[0032] As one feasible method, the laser cleaning and video inspection method for heat transfer tube sheets of steam generators in nuclear power plants specifically includes the following steps:

[0033] Step 1: Place the laser cleaning and video inspection robot on the temporary laser cleaning and video inspection work platform set up inside the steam generator through the steam generator maintenance manhole, and then connect the laser cleaning and video inspection robot to the remote control module through the composite cable.

[0034] Step 2: Turn on the video inspection device and use the image recognition function to perform a video inspection of the tube sheet to confirm its specific location.

[0035] Step 3: Based on the video inspection results, if laser cleaning of all tube sheets is required, number the tube sheets in advance according to their arrangement. Adjust the angle of the laser cleaning head to the target tube sheet position through the remote control module, turn on the laser generator and adjust it to the corresponding power, control the moving device and telescopic rod to move forward and up and down, and control the laser cleaning and video inspection robot to move and laser clean the tube sheets sequentially from top to bottom and from left to right in an 'S' shaped route.

[0036] If laser cleaning is required for some tube sheets, adjust the angle of the laser cleaning head to the target tube sheet position through the remote control module according to the tube sheet number, turn on the laser generator and adjust it to the corresponding power, control the moving device and telescopic rod to move forward and up and down, and control the laser cleaning and video inspection robot to automatically laser clean the tube sheet through the laser cleaning head according to the planned path.

[0037] Step 4: After the laser cleaning operation is completed, turn off the laser generator, adjust the angle of the video inspection camera to the target tube sheet position through the remote control module, control the moving device and telescopic rod to move forward and up and down, and control the laser cleaning and video inspection robot to perform automatic video inspection according to the planned path. Automatically identify and record the uncleaned parts of the target tube sheet, switch to cleaning mode, and repeat Step 3 until the video inspection results meet the requirements, then proceed to Step 5.

[0038] Step 5: After the laser cleaning and video inspection are completed, the laser cleaning and video inspection robot is moved to the steam generator maintenance manhole via the remote control module and then removed from the steam generator.

[0039] Beneficial technical effects of the present invention:

[0040] This invention relates to a laser cleaning and video inspection device for heat transfer tube sheets in nuclear power plant steam generators. The laser cleaning and video inspection robot adopts a roller structure, enabling forward and backward movement and turning. The laser cleaning device and video inspection device are centrally arranged on the upper part of a telescopic rod. Whether cleaning a portion or the entire heat transfer tube sheet of the steam generator, the image recognition function of the video inspection device can accurately locate the tube sheet. Using a moving device and the telescopic rod, the laser cleaning device and video inspection device can be accurately moved to the target tube sheet position, realizing automated laser cleaning and video inspection. The overall structure and operation are simple, applicable to all types of steam generators, and can replace manual cleaning operations, improving cleaning quality and efficiency. It fundamentally eliminates the risks associated with confined spaces and falls from heights, reducing the labor intensity of cleaning workers. At the same time, laser cleaning is a non-contact cleaning method, eliminating the possibility of mechanical damage. Attached Figure Description

[0041] Fig. 1 This is a schematic diagram of an embodiment of the laser cleaning and video inspection device for heat transfer tube sheets of a nuclear power plant steam generator according to the present invention.

[0042] Fig. 2 A schematic structural view of one embodiment of a laser cleaning and video inspection robot;

[0043] Fig. 3 This is a structural schematic diagram of one embodiment of a mobile device.

[0044] In the diagram: 1. Laser cleaning and video inspection robot; 2. Composite cable; 3. Human-machine interface console; 4. Human-machine interface control panel; 5. Steam generator heat transfer tube sheet; 6. Laser cleaning and video inspection work platform; 7. Cover plate; 8. Chassis; 9. Guide wheels; 10. Drive wheels; 11. Telescopic rod; 12. Fixing frame; 13. Laser cleaning head; 14. Video inspection camera; 15. Roller drive motor; 16. Telescopic rod drive motor. Detailed Implementation

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0046] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0047] In the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0048] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of description and simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0049] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0050] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments.

[0051] See Figs. 1-3 This embodiment provides a laser cleaning and video inspection device for heat transfer tube sheets of steam generators in nuclear power plants, including a laser cleaning and video inspection robot 1 and a remote control module;

[0052] The remote control module is located outside the steam generator and is connected to the laser cleaning and video inspection robot via cable. It controls the laser cleaning and video inspection robot 1 to move on the laser cleaning and video inspection work platform 6 set up inside the steam generator to the target tube sheet to perform laser cleaning and video inspection on the target tube sheet.

[0053] In this embodiment, as one possible implementation method, the laser cleaning and video inspection robot 1 is a roller-type laser cleaning and video inspection robot, including a mobile device, a laser cleaning device and a video inspection device.

[0054] The mobile device adopts a roller structure, and the surface of the laser cleaning and video inspection work platform 6 set up inside the steam generator is moved to the target tube sheet.

[0055] The laser cleaning device and video inspection device are mounted on the mobile device to perform laser cleaning and video inspection on the target tube sheet.

[0056] In this embodiment, as one possible implementation, the mobile device includes a chassis 8; rollers are rotatably connected to both sides of the chassis 8, and a cover plate 7 is provided on the top of the chassis 8;

[0057] A roller drive motor 15 is installed in the chassis 8; the roller drive motor 15 is connected to the roller drive to provide power to the roller and drive the roller to move forward or backward; the roller drive motor 15 is connected to the remote control module through the robot control cable, and the remote control module controls the roller drive motor (15) to work.

[0058] In this embodiment, as one possible approach, the top of the chassis 8 is fixedly connected to the cover plate 7 using bolts.

[0059] In this embodiment, as one possible implementation, the roller includes a guide wheel 9 and a drive wheel 10; the guide wheel 9 and the drive wheel 10 are rotatably connected to both sides of the chassis 8, and the drive wheel 10 is connected to the roller drive motor 15 for transmission.

[0060] In this embodiment, as one possible implementation method, the guide wheel 9 is rotatably connected to the chassis 8 via a guide wheel shaft. The top of the guide wheel shaft is fixedly connected to the chassis 8 via screws, and the two sides of the guide wheel shaft are rotatably connected to the guide wheel 9 via bearings and snap rings. A wheel spacing adjustment hole is provided at the connection between the guide wheel 9 and the guide wheel shaft, and a threaded hole is provided on the guide wheel shaft. The distance between the guide wheel 9 and the drive wheel 10 is adjusted by the screw in the wheel spacing adjustment hole engaging with the threaded hole.

[0061] In this embodiment, as one possible implementation, the laser cleaning device includes a laser cleaning head 13, a laser generator, and a laser cleaning cable; the video inspection device includes a video inspection camera 14 and a video inspection cable.

[0062] The laser generator is connected to the laser cleaning head 13 via a laser cleaning cable; the video inspection camera 14 is connected to the remote control module via a video inspection cable; the remote control module controls the operation of the laser generator and the video inspection camera (14);

[0063] The laser cleaning head 13 and the video inspection camera 14 are mounted on the cover plate 7 via the telescopic rod 11 and the fixing bracket 12; the telescopic rod 11 is mounted at the top middle part of the cover plate 7, and the laser cleaning head 13 and the video inspection camera 14 are mounted on the fixing bracket 12, which is fixed to the top of the telescopic rod 11.

[0064] The chassis 8 is also equipped with a telescopic rod drive motor 16; the telescopic rod drive motor 16 is connected to the telescopic rod transmission, provides power to the telescopic rod 11, and drives the telescopic rod 11 to move up and down; the telescopic rod drive motor 16 is connected to the remote control module through the telescopic rod control cable, and the remote control module controls the telescopic rod drive motor (16) to work.

[0065] The laser cleaning head 13 and the video inspection camera 14 are provided with a telescopic rod 11 to allow them to move freely up and down, so as to perform laser cleaning and video inspection on the target tube sheet.

[0066] The heat transfer tube sheet of the steam generator is laser-cleaned using a laser cleaning device. A video inspection device is used to confirm the parts of the heat transfer tube sheet that need cleaning and the effect after cleaning. The operation can be carried out remotely by personnel.

[0067] In this embodiment, as one possible implementation method, the telescopic rod 11 is a free-type telescopic rod.

[0068] In this embodiment, as one possible approach, the chassis 8 has an electrical installation cavity inside, in which a roller drive motor 15 and a telescopic rod drive motor 16 are installed; both the roller drive motor 15 and the telescopic rod drive motor 16 are integrated servo motors.

[0069] In this embodiment, as one possible implementation method, the remote control module includes a human-machine interface 3, a human-machine interface panel 4, and a composite cable 2;

[0070] Composite cable 2 integrates robot control cable, laser cleaning cable, video inspection cable and telescopic pole control cable;

[0071] An electrical control unit and a laser generator are fixedly installed inside the human-machine interface 3; a human-machine operation panel 4 is set on the human-machine interface 3 for controlling the operation of the laser cleaning and video inspection robot 1.

[0072] In this embodiment, as one possible implementation, the video inspection camera 14 has an image recognition function;

[0073] Before starting tube sheet flushing, video inspection camera 14 captures an overall image of the tube sheet, and the tube sheets in the overall image are numbered one by one in order from top to bottom and from left to right, and the overall image of the tube sheet after numbering is stored.

[0074] During the tube sheet flushing process, the video inspection camera 14 performs video inspection of the tube sheet, captures tube sheet images, and compares the captured tube sheet images with the stored overall tube sheet images to identify the specific number and location of the target tube sheet in the tube sheet images.

[0075] The video inspection camera 14 has zoom, light compensation, and illumination functions. It is equipped with a protective case. When in standby mode, the protective case is closed to ensure that the video inspection camera 14 is not damaged by washing debris.

[0076] This embodiment also provides a method for laser cleaning and video inspection of heat transfer tube sheets in a nuclear power plant steam generator, using the aforementioned laser cleaning and video inspection device for heat transfer tube sheets in a nuclear power plant steam generator, including the following steps:

[0077] Step 1: Connect the laser cleaning and video inspection robot 1 to the remote control module via composite cable 2, and place the laser cleaning and video inspection robot 1 on the laser cleaning and video inspection work platform 6 temporarily set up inside the steam generator.

[0078] Step 2: Turn on the video inspection device to take pictures and identify the tube sheet to confirm its specific location;

[0079] Step 3: Adjust the angle of the laser cleaning device to the target tube sheet, and use the telescopic rod 11 to provide free movement space for the laser cleaning device to perform laser cleaning on the target tube sheet;

[0080] Step 4: Perform video inspection on the target tube sheet using a video inspection device; if the video inspection result is unqualified, repeat Step 3; if the video inspection result is qualified, proceed to Step 5.

[0081] Step 5: After the laser cleaning and video inspection operation is completed, the laser cleaning and video inspection robot 1 will roll to the installation port using rollers and then be moved out.

[0082] In this embodiment, as one possible approach, the laser cleaning and video inspection method for the heat transfer tube sheet of a nuclear power plant steam generator specifically includes the following steps:

[0083] Step 1: Place the laser cleaning and video inspection robot 1 on the temporary laser cleaning and video inspection work platform 6 set up inside the steam generator through the steam generator maintenance manhole, and then connect the laser cleaning and video inspection robot 1 to the remote control module through the composite cable 2.

[0084] Step 2: Turn on the video inspection device and use the image recognition function to perform a video inspection of the tube sheet to confirm its specific location.

[0085] Step 3: Based on the video inspection results, if laser cleaning of all tube sheets is required, number the tube sheets in advance according to their arrangement. Adjust the angle of the laser cleaning head 13 to the target tube sheet position through the remote control module, turn on the laser generator and adjust it to the corresponding power, and control the moving device and telescopic rod 11 to move forward and up and down at an appropriate speed. Control the laser cleaning and video inspection robot 1 to move and laser clean the tube sheets sequentially from top to bottom and from left to right in an 'S' shaped route.

[0086] If laser cleaning is required for some tube sheets, adjust the angle of the laser cleaning head 13 to the target tube sheet position through the remote control module according to the tube sheet number, turn on the laser generator and adjust it to the corresponding power, control the moving device and telescopic rod 11 to move forward and up and down at a suitable speed, and control the laser cleaning and video inspection robot 1 to automatically laser clean the tube sheet through the laser cleaning head 13 according to the planned path.

[0087] Step 4: After the laser cleaning operation is completed, turn off the laser generator, adjust the angle of the video inspection camera 14 to the target tube sheet position through the remote control module, control the moving device and telescopic rod 11 to move forward and up and down at an appropriate speed, control the laser cleaning and video inspection robot 1 to perform automatic video inspection according to the planned path, automatically identify and record the uncleaned parts of the target tube sheet, switch to cleaning mode, repeat step 3 until the video inspection results meet the requirements, and then proceed to step 5.

[0088] Step 5: After the laser cleaning and video inspection are completed, the laser cleaning and video inspection robot 1 is moved to the steam generator maintenance manhole by the remote control module and then moved out of the steam generator.

[0089] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A laser cleaning and video inspection device for heat transfer tube sheets of a steam generator in a nuclear power plant, characterized in that, Includes a laser cleaning and video inspection robot (1) and a remote control module; The remote control module is located outside the steam generator and is connected to the laser cleaning and video inspection robot (1) via a cable. The remote control module controls the laser cleaning and video inspection robot (1) to move to the target tube sheet on the laser cleaning and video inspection work platform (6) set up inside the steam generator, and to perform laser cleaning and video inspection on the target tube sheet.

2. The laser cleaning and video inspection device for heat transfer tube sheets of nuclear power plant steam generators according to claim 1, characterized in that, The laser cleaning and video inspection robot (1) is a roller-type laser cleaning and video inspection robot, including a mobile device, a laser cleaning device and a video inspection device; The mobile device adopts a roller structure and moves the surface of the laser cleaning and video inspection work platform (6) set up inside the steam generator to the target tube sheet. The laser cleaning device and video inspection device are mounted on the mobile device to perform laser cleaning and video inspection on the target tube sheet.

3. The laser cleaning and video inspection device for heat transfer tube sheets of nuclear power plant steam generators according to claim 2, characterized in that, The mobile device includes a chassis (8); rollers are rotatably connected to both sides of the chassis (8), and a cover plate (7) is provided on the top of the chassis (8); A roller drive motor (15) is installed in the chassis (8); the roller drive motor (15) is connected to the roller drive to provide power to the roller and drive the roller forward or backward; the roller drive motor (15) is connected to the remote control module through the robot control cable, and the remote control module controls the roller drive motor (15) to work.

4. The laser cleaning and video inspection device for heat transfer tube sheets of nuclear power plant steam generators according to claim 3, characterized in that, The roller includes a guide wheel (9) and a drive wheel (10); the guide wheel (9) and the drive wheel (10) are rotatably connected to both sides of the chassis (8); the drive wheel (10) is connected to the roller drive motor (15) for transmission.

5. The laser cleaning and video inspection device for heat transfer tube sheets of nuclear power plant steam generators according to claim 4, characterized in that, The guide wheel (9) is rotatably connected to the chassis (8) via the guide wheel shaft. The top of the guide wheel shaft is fixedly connected to the chassis (8), and the two sides of the guide wheel shaft are rotatably connected to the guide wheel (9). A wheel spacing adjustment hole is provided at the connection between the guide wheel (9) and the guide wheel shaft. A threaded hole is provided on the guide wheel shaft. The distance between the guide wheel (9) and the drive wheel (10) is adjusted by the screw in the wheel spacing adjustment hole cooperating with the threaded hole.

6. The laser cleaning and video inspection device for heat transfer tube sheets of nuclear power plant steam generators according to claim 3, characterized in that, The laser cleaning device includes a laser cleaning head (13), a laser generator, and laser cleaning cables; the video inspection device includes a video inspection camera (14) and video inspection cables. The laser generator and the laser cleaning head (13) are connected via a laser cleaning cable; the video inspection camera (14) is connected to the remote control module via a video inspection cable; the remote control module controls the operation of the laser generator and the video inspection camera (14); The laser cleaning head (13) and the video inspection camera (14) are mounted on the cover plate (7) via the telescopic rod (11) and the fixing frame (12); the telescopic rod (11) is installed at the top middle part of the cover plate (7), and the laser cleaning head (13) and the video inspection camera (14) are mounted on the fixing frame (12), and the fixing frame (12) is fixed to the top of the telescopic rod (11); The chassis (8) is also equipped with a telescopic rod drive motor (16); the telescopic rod drive motor (16) is connected to the telescopic rod transmission to provide power to the telescopic rod (11) and drive the telescopic rod (11) to move up and down; the telescopic rod drive motor (16) is connected to the remote control module through the telescopic rod control cable, and the remote control module controls the telescopic rod drive motor (16) to work. The laser cleaning head (13) and video inspection camera (14) are provided with a telescopic rod (11) for free vertical movement to perform laser cleaning and video inspection on the target tube sheet.

7. The laser cleaning and video inspection device for heat transfer tube sheets of nuclear power plant steam generators according to claim 6, characterized in that, The remote control module includes a human-machine console (3), a human-machine operation panel (4), and a composite cable (2); Composite cable (2) integrates robot control cable, laser cleaning cable, video inspection cable and telescopic pole control cable; The electrical control unit and laser generator are fixedly installed inside the human-machine interface (3); the human-machine interface (3) is equipped with a human-machine operation panel (4) for controlling the operation of the laser cleaning and video inspection robot (1).

8. The laser cleaning and video inspection device for heat transfer tube sheets of nuclear power plant steam generators according to claim 6, characterized in that, The video inspection camera (14) has image recognition capabilities; Before starting tube sheet flushing, the video inspection camera (14) takes a picture of the tube sheet as a whole, and the tube sheets in the whole tube sheet picture are numbered one by one in the order from top to bottom and from left to right, and the whole tube sheet picture after the numbering is completed is stored. During the tube sheet flushing process, the video inspection camera (14) performs video inspection on the tube sheet, captures tube sheet images, and compares the captured tube sheet images with the stored overall tube sheet images to identify the specific number and location of the target tube sheet in the tube sheet images. The video inspection camera (14) has zoom, light compensation and illumination functions. It is equipped with a protective shell. When in standby mode, the protective shell is closed to ensure that the video inspection camera (14) is not damaged by washing debris.

9. A method for laser cleaning and video inspection of heat transfer tube sheets in a nuclear power plant steam generator, characterized in that, The laser cleaning and video inspection device for heat transfer tube sheets of nuclear power plant steam generators according to any one of claims 1-8 includes the following steps: Step 1: Connect the laser cleaning and video inspection robot (1) to the remote control module via a composite cable (2), and place the laser cleaning and video inspection robot (1) on the laser cleaning and video inspection work platform (6) temporarily set up inside the steam generator. Step 2: Turn on the video inspection device to take pictures and identify the tube sheet to confirm its specific location; Step 3: Adjust the angle of the laser cleaning device to the target tube sheet, and use the telescopic rod (11) to provide free movement space for the laser cleaning device to perform laser cleaning on the target tube sheet; Step 4: Perform video inspection on the target tube sheet using a video inspection device; if the video inspection result is unqualified, repeat Step 3; if the video inspection result is qualified, proceed to Step 5. Step 5: After the laser cleaning and video inspection operation is completed, the laser cleaning and video inspection robot (1) rolls to the installation port by rollers and moves the laser cleaning and video inspection robot (1) out.

10. The method for laser cleaning and video inspection of heat transfer tube sheets in a nuclear power plant steam generator according to claim 9, characterized in that, Specifically, the following steps are included: Step 1: Place the laser cleaning and video inspection robot (1) on the temporary laser cleaning and video inspection work platform (6) inside the steam generator through the steam generator maintenance manhole, and then connect the laser cleaning and video inspection robot (1) to the remote control module through the composite cable (2). Step 2: Turn on the video inspection device and use the image recognition function to perform a video inspection of the tube sheet to confirm its specific location. Step 3: According to the video inspection results, if it is necessary to perform laser cleaning on all tube sheets, number the tube sheets in advance according to the tube sheet arrangement, adjust the angle of the laser cleaning head (13) to the target tube sheet position through the remote control module, turn on the laser generator and adjust it to the corresponding power, control the moving device and telescopic rod (11) to move forward and up and down, and control the laser cleaning and video inspection robot (1) to perform laser cleaning on the tube sheets from top to bottom and from left to right in an 'S' shaped route. If laser cleaning is required for some tube sheets, adjust the angle of the laser cleaning head (13) to the target tube sheet position through the remote control module according to the tube sheet number, turn on the laser generator and adjust it to the corresponding power, control the moving device and telescopic rod (11) to move forward and up and down, and control the laser cleaning and video inspection robot (1) to automatically laser clean the tube sheet through the laser cleaning head (13) according to the planned path. Step 4: After the laser cleaning operation is completed, turn off the laser generator, adjust the angle of the video inspection camera (14) to the target tube plate position through the remote control module, control the moving device and telescopic rod (11) to move forward and up and down, control the laser cleaning and video inspection robot (1) to perform automatic video inspection according to the planned path, automatically identify and record the uncleaned parts of the target tube plate, switch to cleaning mode, repeat step 3 until the video inspection results meet the requirements, and then proceed to step 5. Step 5: After the laser cleaning and video inspection operation is completed, the laser cleaning and video inspection robot (1) is moved to the steam generator maintenance manhole by the remote control module and then moved out of the steam generator.

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