Reactor lower reactor internal reactor core supporting plate global foreign matter video inspection grabbing equipment

Abstract

The invention discloses a reactor lower internals reactor core supporting plate global foreign matter video inspection grabbing device which comprises a rack, a video inspection device and a foreign matter grabbing device, a positioning pin is arranged at the bottom of the rack, and a containing groove used for storing foreign matter is further formed in the rack; the video inspection device is movably installed on the rack in the height direction and comprises a video inspection mechanism used for conducting foreign matter video inspection. The foreign matter grabbing device is movably installed on the rack in the height direction and comprises a foreign matter grabbing mechanism used for grabbing foreign matter. By applying the video inspection and grabbing equipment for the global foreign matters on the reactor core supporting plate of the reactor lower reactor internals, the foreign matters on the reactor core supporting plate can be inspected and grabbed when the reactor internals are in situ, the damage to the components and a pressure vessel body caused by hoisting of the reactor internals can be effectively avoided, the steps of hoisting of the reactor internals and the like are reduced, and the production efficiency is improved. And the overall foreign matter checking and grabbing operation efficiency can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of nuclear power technology, and in particular to a video inspection and capture device for foreign objects in the entire reactor core support plate of the lower reactor internals. Background Technology

[0002] The reactor pressure vessel, which houses and encloses the reactor core and internal components, confines the nuclear fuel fission reaction within a sealed space and is considered a core component of a nuclear power plant. Because the lower part of the pressure vessel, containing the internal components, is located at the lowest point of the primary coolant loop, foreign object inspection of this area is essential during both operation and maintenance shutdowns. During normal operation, the high temperatures, radiation, vibration, and other combined or prolonged harsh working conditions of a nuclear power unit can easily lead to the accumulation of various foreign objects inside the pressure vessel. If these foreign objects are not addressed promptly, they will continuously accumulate within the equipment, ultimately threatening the safe operation of the nuclear power unit.

[0003] like Figure 1 , Figure 2 As shown, the lower in-core component 100 consists of a lower grid plate 101, a core support plate 102, a large grid plate 103, a small grid plate 104, and a base plate 105. The lower grid plate 101 is installed above the core support plate 102 via core support columns. Currently, there is no method for inspecting and retrieving foreign objects from the core support plate while the in-core component is in place. The existing method involves first hoisting the in-core component to the component pool, and then carrying out the corresponding foreign object inspection and retrieval work. Hoisting in-core components is a high-risk operation; slight carelessness can easily cause damage to the component and the pressure vessel itself, and the work efficiency is not high. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a full-area foreign object video inspection and grasping device for the core support plate of the reactor lower in-core components, so as to solve the technical problem that the existing technology requires hoisting the in-core components, which easily causes damage to the components and the pressure vessel body and has low working efficiency.

[0005] The technical solution adopted by the present invention to solve its technical problem is: to construct a full-area foreign object video inspection and grabbing device for the core support plate of the lower reactor internal components, including a frame, a video inspection device and a foreign object grabbing device. The bottom of the frame is provided with a number of positioning pins that match the position of the water flow holes on the lower grid plate. The frame is also provided with a storage tank for storing foreign objects. The video inspection device is movably mounted on the frame along the height direction, and the video inspection device includes a video inspection mechanism for performing foreign object video inspection; The foreign object gripping device is movably mounted on the frame along the height direction, and the foreign object gripping device includes a foreign object gripping mechanism for gripping foreign objects.

[0006] In some embodiments, the bottom of the rack is provided with a first through hole, including a first lifting mechanism and a video inspection mechanism connected to the first lifting mechanism; The video inspection mechanism includes a first mounting frame, a first drive assembly, a second drive assembly, a first bracket, a connecting arm, a rotating assembly, and a detection assembly; The first mounting bracket is used to connect with the first lifting mechanism, the first drive assembly is mounted on the first mounting bracket, the second drive assembly is connected to the first mounting bracket and the drive rod of the second drive assembly is connected to the first bracket; The connecting arm connects the first bracket to the rotating assembly, the first driving assembly is connected to the rotating assembly, and the detection assembly is connected to the rotating assembly. The detection assembly includes an underwater radiation-resistant camera. The connecting arm, the rotating assembly, and the detection assembly enter and exit the first through hole to perform foreign object video inspection.

[0007] In some embodiments, the first driving component and the rotating component are connected via a driving element; The first mounting bracket includes an upper plate, a lower plate, and a support plate. The upper plate and the lower plate are arranged parallel to each other and spaced apart. The support plate connects the upper plate and the lower plate. The first mounting bracket also includes a support seat mounted on the upper plate. The support plate has a first surface and a second surface facing away from each other. The first surface is provided with a first guide rail and a second guide rail, which extend along the height direction of the support plate. The second surface is provided with a third guide rail and a fourth guide rail, which extend along the height direction of the support plate. The first drive assembly includes a first drive motor, a second drive motor, a third drive motor, a fourth drive motor, a first lead screw, a second lead screw, a third lead screw, a fourth lead screw, a first nut, a second nut, a third nut, a fourth nut, a first slider, a second slider, a third slider, and a fourth slider; The first drive motor, the second drive motor, the third drive motor, and the fourth drive motor are mounted on the support base; The first lead screw and the second lead screw are arranged parallel to each other at a distance, and the first lead screw and the second lead screw are mounted on one side of the first surface; the third lead screw and the fourth lead screw are arranged parallel to each other at a distance, and the third lead screw and the fourth lead screw are mounted on one side of the first surface; the upper end of the first lead screw is connected to the output end of the first drive motor, the upper end of the second lead screw is connected to the output end of the second drive motor, the upper end of the third lead screw is connected to the output end of the third drive motor, and the upper end of the fourth lead screw is connected to the output end of the fourth drive motor. The first nut is mounted on the first lead screw and is connected to the first guide rail via the first slider; the second nut is mounted on the second guide rail and is connected to the second guide rail via the second slider; the third nut is mounted on the third lead screw and is connected to the third guide rail via the third slider; the fourth nut is mounted on the fourth lead screw and is connected to the fourth guide rail via the fourth slider. The driving component includes a first driving rope, a second driving rope, a third driving rope, and a fourth driving rope. The upper end of the first driving rope is connected to the first nut, and the lower end of the first driving rope is connected to the rotating assembly. The upper end of the second driving rope is connected to the second nut, and the lower end of the third driving rope is connected to the rotating assembly. The upper end of the third driving rope is connected to the third nut, and the lower end of the third driving rope is connected to the rotating assembly. The upper end of the fourth driving rope is connected to the fourth nut, and the lower end of the fourth driving rope is connected to the rotating assembly.

[0008] In some embodiments, the connecting arm includes a hollow cylindrical rigid arm; the upper end of the rigid arm is connected to the first bracket; The rotating assembly includes a first end cap, a second end cap, an annular body, and an elastic element; the first end cap and the second end cap are arranged parallel to each other and spaced apart, the first end cap is connected to the lower end of the rigid arm, and the lower surface of the first end cap is provided with a first connecting part and a second connecting part, which are arranged parallel to each other and spaced apart. The upper surface of the second end cap is provided with a third connecting portion and a fourth connecting portion, which are arranged parallel to each other and spaced apart; the annular body is disposed between the first connecting portion and the second connecting portion, and the annular body is arranged parallel to and spaced apart from the first end cap. Both the first connecting portion and the second connecting portion are rotatably connected to the annular body, and both the third connecting portion and the fourth connecting portion are rotatably connected to the annular body; the line connecting the first connecting portion and the second connecting portion is the first connecting line, and the line connecting the third connecting portion and the fourth connecting portion is the second connecting line; the first connecting line and the second connecting line are arranged perpendicularly; the elastic element passes through the inner cavity of the annular body, and both ends of the elastic element abut against the first end cap and the second end cap respectively; The second end cap is provided with a first connecting hole, a second connecting hole, a third connecting hole and a fourth connecting hole. The first connecting hole and the second connecting hole are located near the third connecting part, and the third connecting hole and the fourth connecting hole are located near the fourth connecting part. The first driving rope, the second driving rope, the third driving rope and the fourth driving rope are passed through the rigid arm, and the lower end of the first driving rope is connected to the first connecting hole, the lower end of the second driving rope is connected to the second connecting hole, the lower end of the third driving rope is connected to the third connecting hole, and the lower end of the fourth driving rope is connected to the fourth connecting hole.

[0009] In some embodiments, the detection component includes a mounting sleeve, the upper end of which is connected to the second end cap, and the underwater radiation-resistant camera is mounted in the mounting sleeve.

[0010] In some embodiments, the first support includes a first plate and a second plate arranged perpendicularly to each other; the first plate is connected to the upper end of the rigid arm; The first mounting bracket further includes a guide plate connected to the lower plate; the guide plate is disposed opposite to the second plate at a distance. The guide plate is provided with a fifth guide rail on the side facing the second plate, and the second plate is provided with a fifth slider that cooperates with the fifth guide rail on the side facing the guide plate. The first mounting frame further includes a mounting plate connected to the upper plate and / or the lower plate, the mounting plate being connected to the first lifting mechanism; the first mounting frame further includes a fixing plate connected to the lower plate and / or the mounting plate; The second drive assembly includes a first drive component, which is mounted on the fixed plate and the drive rod of the first drive component is connected to the first plate. The first drive component includes a pneumatic cylinder or a hydraulic cylinder. The second drive assembly further includes a first ranging sensor mounted on the fixed plate and / or the drive member.

[0011] In some embodiments, the foreign object grasping device includes a second lifting mechanism, a driving mechanism, and a foreign object grasping mechanism; The drive mechanism includes a second mounting bracket, a third drive assembly, a fourth drive assembly, a second support, and an arm assembly; the foreign object gripping mechanism includes a rotating assembly and a gripping assembly connected to each other. The second mounting bracket is used to connect with the second lifting mechanism, the third drive assembly is mounted on the second mounting bracket, the fourth drive assembly is connected to the second mounting bracket and the drive rod of the fourth drive assembly is connected to the second bracket; The upper end of the arm assembly is connected to the second bracket, the lower end of the arm assembly is connected to the rotating assembly, the third drive assembly is connected to the arm assembly to drive the arm assembly to swing, the third drive assembly is also connected to the rotating assembly to drive the rotating assembly to rotate, thereby driving the gripping assembly to rotate, and the third drive assembly is also connected to the gripping assembly to drive the gripping assembly to grip foreign objects.

[0012] In some embodiments, the arm assembly includes a first arm, a second arm, a third arm, a first connector, a second connector, and a third connector; the upper end of the first arm is connected to the second bracket, the lower end of the first arm is connected to the upper end of the second arm via the first connector, the lower end of the second arm is connected to the upper end of the third arm via the second connector, and the lower end of the third arm is connected to the upper end of the rotating assembly via the third connector; The first arm body includes a plurality of first joint portions and a plurality of second joint portions, which are staggered. The highest point of the upper surface of each first joint portion has two symmetrically arranged first arc-shaped protrusions, and the lowest point of the lower surface of each first joint portion has two symmetrically arranged second arc-shaped protrusions. The line connecting the two first arc-shaped protrusions is perpendicular to the line connecting the two second arc-shaped protrusions. The highest point of the upper surface of each second joint portion has two symmetrically arranged first arc-shaped concave portions, and the lowest point of the lower surface of each first joint portion has two symmetrically arranged second arc-shaped concave portions. The line connecting the two first arc-shaped concave portions is perpendicular to the line connecting the two second arc-shaped concave portions. The first arc-shaped protrusions and first arc-shaped concave portions cooperate with each other, and the second arc-shaped protrusions and second arc-shaped concave portions cooperate with each other. The lower surface of the first joint portion and the upper surface of the second joint portion form a first deformation space, and the upper surface of the first joint portion and the lower surface of the second joint portion form a second deformation space. The second arm includes several third joint portions and several fourth joint portions, which are staggered. The highest point of the upper surface of each third joint portion has two symmetrically arranged third arc-shaped protrusions, and the lowest point of the lower surface of each third joint portion has two symmetrically arranged fourth arc-shaped protrusions. The line connecting the two third arc-shaped protrusions is perpendicular to the line connecting the two fourth arc-shaped protrusions. The highest point of the upper surface of each fourth joint portion has two symmetrically arranged third arc-shaped concave portions, and the lowest point of the lower surface of each third joint portion has two symmetrically arranged fourth arc-shaped concave portions. The line connecting the two third arc-shaped concave portions is perpendicular to the line connecting the two fourth arc-shaped concave portions. The third arc-shaped protrusions and concave portions cooperate with each other, and the fourth arc-shaped protrusions and concave portions cooperate with each other. Furthermore, the lower surface of the third joint portion and the upper surface of the fourth joint portion form a third deformation space, and the upper surface of the third joint portion and the lower surface of the fourth joint portion form a fourth deformation space. The third arm includes several fifth joint portions and several sixth joint portions, which are staggered. The highest point of the upper surface of each fifth joint portion has two symmetrically arranged fifth arc-shaped protrusions, and the lowest point of the lower surface of each fifth joint portion has two symmetrically arranged sixth arc-shaped protrusions. The line connecting the two fifth arc-shaped protrusions is perpendicular to the line connecting the two sixth arc-shaped protrusions. The highest point of the upper surface of each sixth joint portion has two symmetrically arranged fifth arc-shaped concave portions, and the lowest point of the lower surface of each fifth joint portion has two symmetrically arranged sixth arc-shaped concave portions. The line connecting the two fifth arc-shaped concave portions is perpendicular to the line connecting the two sixth arc-shaped concave portions. The fifth arc-shaped protrusions and concave portions cooperate with each other, and the sixth arc-shaped protrusions and concave portions cooperate with each other. Furthermore, the lower surface of the fifth joint portion and the upper surface of the sixth joint portion form a fifth deformation space, and the upper surface of the fifth joint portion and the lower surface of the sixth joint portion form a sixth deformation space. The first joint portion, the second joint portion, the third joint portion, the fourth joint portion, the fifth joint portion, and the sixth joint portion are each provided with a first through hole, a second through hole, a third through hole, a fourth through hole, a fifth through hole, a sixth through hole, a seventh through hole, an eighth through hole, and a ninth through hole that penetrate their upper and lower surfaces. The third drive assembly includes a first pull rope, a second pull rope, and a third pull rope, with three of each type. The three first pull ropes are respectively threaded through a first through hole, a fourth through hole, and a seventh through hole, and their ends are connected to the first connector. The three second pull ropes are respectively threaded through a second through hole, a fifth through hole, and an eighth through hole, and their ends are connected to the second connector. The three third pull ropes are respectively threaded through a third through hole, a sixth through hole, and a ninth through hole, and their ends are connected to the third connector.

[0013] In some embodiments, the first connector has an annular columnar structure, the highest point of the upper surface of the first connector has two symmetrically arranged seventh arc-shaped recesses, the lowest point of the lower surface of the first connector has two symmetrically arranged eighth arc-shaped recesses, and the line connecting the two seventh arc-shaped recesses is perpendicular to the line connecting the two eighth arc-shaped recesses; the second arc-shaped protrusion cooperates with the seventh arc-shaped recesses, and the third arc-shaped protrusion cooperates with the eighth arc-shaped recesses; The second connector has an annular columnar structure. The highest point of the upper surface of the second connector has two symmetrically arranged ninth arc-shaped recesses, and the lowest point of the lower surface of the second connector has two symmetrically arranged tenth arc-shaped recesses. The line connecting the two ninth arc-shaped recesses is perpendicular to the line connecting the two tenth arc-shaped recesses. The fourth arc-shaped protrusion cooperates with the ninth arc-shaped recesses, and the fifth arc-shaped protrusion cooperates with the tenth arc-shaped recesses. The third connector has an annular columnar structure. The highest point of the upper surface of the third connector has two symmetrically arranged eleventh arc-shaped recesses. The sixth arc-shaped protrusion cooperates with the eleventh arc-shaped recesses. The lower end of the third connector is connected to the rotating assembly.

[0014] In some embodiments, the rotating assembly includes a fixed cylinder, a sliding drive shaft, a mounting base, a rotating shaft, a sliding sleeve shaft, a sliding sleeve, a first elastic element, an adapter plate, and a plurality of ball screws; The mounting base connects the upper end of the fixed cylinder to the lower end of the third connector. The sliding transmission shaft is movably inserted through the mounting base. The rotating shaft is connected to the lower end of the sliding transmission shaft and is located inside the fixed cylinder. The sliding sleeve is located inside the fixed cylinder and is used to fit around the outer circumference of the rotating shaft. The outer circumference of the rotating shaft is provided with a plurality of spirally continuous grooves. The axial sidewall of the sliding sleeve is provided with a plurality of ball screws, and the ends of the ball screws are located inside the grooves. The upper end of the sliding sleeve shaft passes through the rotating shaft and is engaged with the mounting base; the lower end of the sliding sleeve shaft passes through the lower end of the sliding sleeve and is connected to the adapter plate. The first elastic element is sleeved on the outer periphery of the portion of the sliding sleeve shaft that protrudes from the rotating shaft, and the two ends of the first elastic element respectively abut against the lower surface of the mounting base and the upper surface of the rotating shaft; The third drive assembly also includes two fourth pull ropes, which are connected to the upper end of the sliding transmission shaft. The gripping assembly includes a housing, a positioning piston, a first connecting rod, a second connecting rod, a first gripper, a second gripper, and a second elastic element; The top of the outer shell is connected to the adapter plate. A sliding groove is provided inside the outer shell, coaxially arranged with the outer shell. The second elastic element is located within the sliding groove, with its upper end abutting the inner surface of the top of the outer shell and its lower end abutting the upper surface of the positioning piston. The lower end of the positioning piston has a positioning groove, and the upper ends of the first and second connecting rods are rotatably mounted within the positioning groove. The upper end of the first gripper is rotatably connected to the lower end of the first connecting rod, and the upper end of the second gripper is rotatably connected to the lower end of the second connecting rod. The middle portions of the first and second grippers are connected together via a pivot. The gripping ends of the first and second grippers protrude from the lower end of the outer shell. The third drive assembly also includes a fifth pull rope, the lower end of which is connected to the upper end face of the positioning piston.

[0015] Implementing this invention has the following beneficial effects: By using the full-area foreign object video inspection and grabbing equipment for the reactor core support plate of the lower reactor in-core components, foreign object inspection and grabbing operations can be performed on the core support plate when the in-core components are in place. This can effectively avoid damage to the components and pressure vessel body caused by the hoisting of in-core components, and reduce the steps of hoisting in-core components, thereby effectively improving the overall efficiency of foreign object inspection and grabbing operations. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings: Figure 1 This is a schematic diagram of the internal components of the lower stack. Figure 2 This is a schematic diagram of the distribution of water flow holes in the lower grid plate; Figure 3 This is one of the structural schematic diagrams of the full-area foreign object video inspection and capture device for the reactor core support plate of the reactor lower in-core components in some embodiments of the present invention; Figure 4 This is the second schematic diagram of the structure of the full-area foreign object video inspection and capture device for the reactor core support plate of the reactor lower in-core components in some embodiments of the present invention; Figure 5 This is a partial structural schematic diagram of the rack in some embodiments of the present invention; Figure 6 This is one of the structural schematic diagrams of the reactor lower in-core component core support plate full-area foreign object video inspection and grabbing device with the frame hidden in some embodiments of the present invention; Figure 7 This is the second schematic diagram of the structure of the reactor lower in-core component core support plate full-area foreign object video inspection and grabbing device with the frame hidden in some embodiments of the present invention; Figure 8 This is one of the partial structural schematic diagrams of the video inspection device in some embodiments of the present invention; Figure 9 This is a second partial structural schematic diagram of the video inspection device in some embodiments of the present invention; Figure 10 This is a partial structural schematic diagram of the video inspection device in some embodiments of the present invention; Figure 11 This is a partial structural schematic diagram of the video inspection device in some embodiments of the present invention; Figure 12 This is a partial structural schematic diagram of the video inspection device in some embodiments of the present invention; Figure 13 This is the fifth of several schematic diagrams showing the partial structure of the video inspection device in some embodiments of the present invention; Figure 14 This is a partial structural schematic diagram of the video inspection device in some embodiments of the present invention; Figure 15 This is one of the partial structural cross-sectional views of the video inspection device in some embodiments of the present invention; Figure 16 This is a second partial structural cross-sectional view of the video inspection device in some embodiments of the present invention; Figure 17 yes Figure 16 Detailed diagram of the video inspection device in the image; Figure 18 This is one of the partial structural schematic diagrams of the video inspection mechanism in some embodiments of the present invention; Figure 19 This is a second partial structural schematic diagram of the video inspection device in some embodiments of the present invention; Figure 20 This is an exploded view of the rotating component in some embodiments of the present invention; Figure 21 This is a schematic diagram of the structure of the second end cap of the rotating assembly in some embodiments of the present invention; Figure 22 This is a schematic diagram of the engagement of the first support in some embodiments of the present invention; Figure 23 This is one of the structural schematic diagrams of the foreign object grasping device in some embodiments of the present invention; Figure 24 This is a second schematic diagram of the foreign object grasping device in some embodiments of the present invention; Figure 25 This is one of the partial structural schematic diagrams of the foreign object grasping device in some embodiments of the present invention; Figure 26 This is a second partial structural schematic diagram of the foreign object grasping device in some embodiments of the present invention; Figure 27 This is the third of three partial structural schematic diagrams of the foreign object grasping device in some embodiments of the present invention; Figure 28 This is the fourth partial structural schematic diagram of the foreign object grasping device in some embodiments of the present invention; Figure 29 This is the fifth partial structural schematic diagram of the foreign object grasping device in some embodiments of the present invention; Figure 30 This is a partial structural schematic diagram of the foreign object grasping device in some embodiments of the present invention; Figure 31 This is the seventh partial structural schematic diagram of the foreign object grasping device in some embodiments of the present invention; Figure 32 This is one of the partial structural cross-sectional views of the foreign object grasping device in some embodiments of the present invention; Figure 33 This is a second partial structural cross-sectional view of the foreign object grasping device in some embodiments of the present invention; Figure 34 This is one of the partial structural exploded views of the first arm body in some embodiments of the present invention; Figure 35 This is a second exploded view of a portion of the structure of the first arm in some embodiments of the present invention; Figure 36 This is one of the partial structural exploded views of the second arm body in some embodiments of the present invention; Figure 37 This is a partial exploded view of the second arm body in some embodiments of the present invention; Figure 38 This is one of the partial structural exploded views of the third arm body in some embodiments of the present invention; Figure 39 This is a second partial exploded view of the third arm body in some embodiments of the present invention; Figure 40 This is one of the structural schematic diagrams of the first connector in some embodiments of the present invention; Figure 41 This is a second schematic diagram of the structure of the first connector in some embodiments of the present invention; Figure 42 This is one of the structural schematic diagrams of the second connector in some embodiments of the present invention; Figure 43 This is a second schematic diagram of the structure of the second connector in some embodiments of the present invention; Figure 44 This is a schematic diagram of the structure of the third connector in some embodiments of the present invention; Figure 45 This is an exploded view of the rotating component in some embodiments of the present invention; Figure 46 This is an exploded view of the rotating component in some embodiments of the present invention; Figure 47 This is an exploded view of the grasping component in some embodiments of the present invention; Figure 48 This is an exploded view of the grasping component in some embodiments of the present invention; Figure 49 This is a schematic diagram of the second support in some embodiments of the present invention. Detailed Implementation

[0017] To provide a clearer understanding of the technical features, objectives, and effects of this invention, specific embodiments are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or element referred to must have a specific orientation; therefore, they should not be construed as limitations on this invention.

[0018] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0020] See Figure 1 The present invention discloses a video inspection and grabbing device for foreign objects in the core support plate of the lower reactor in-core components. The device includes a frame 10, a video inspection device 20 and a foreign object grabbing device 30.

[0021] The bottom of the frame 10 is provided with several positioning pins 13 that match the position of the drainage holes on the lower grid plate. The frame 10 is also provided with a storage slot for storing foreign objects. The bottom of the frame 10 is provided with a first through hole and a second through hole.

[0022] The video inspection device 20 is movably mounted on the frame 10 along the height direction. The video inspection device 20 includes a video inspection mechanism 22 for performing foreign object video inspection.

[0023] The foreign object gripping device 30 is movably mounted on the frame 10 along the height direction, and the foreign object gripping device 30 includes a foreign object gripping mechanism for gripping foreign objects.

[0024] like Figures 3 to 5As shown, in some embodiments, the frame 10 is generally rectangular in shape, and the main frame 11 is constructed by truss welding, mainly serving a supporting function. The base of the frame 10 and the baffle 14 together define a storage slot for storing foreign objects. The bottom of the frame 10 is provided with a first through hole and a second through hole. The upper edge of the first through hole extends to form a first limiting step, and the upper edge of the second through hole extends to form a second limiting step. The first through hole is used for the video inspection mechanism to enter and exit, and the second through hole is used for the foreign object grasping mechanism to enter and exit.

[0025] like Figures 3 to 5 As shown, the frame 10 mainly includes a main frame 11, lifting rings 12, and positioning pins 13. The lifting rings 12 are located at the top of the main frame 11, and the positioning pins 13 are located at the bottom of the main frame 11. A gantry crane is connected to the lifting rings 12, and the gantry crane lifts and places the foreign object video inspection and grabbing device for the reactor lower in-core component core support plate onto the lower core grid plate. Four positioning pins 13 are installed at the bottom of the device. These positioning pins 13 can be conical pins, and their dimensions match the drainage holes on the lower grid plate, facilitating the overall installation and fixation of the device onto the lower grid plate. After being gripped from the core support plate, the foreign object is placed in the receiving slot of the frame 10. The frame 10 is equipped with baffles 14 around its perimeter and features a first and second limiting step to effectively prevent the retrieved foreign object from falling back into the reactor. The cross-sectional dimensions of the frame 10 can be a multiple of the fuel assembly. Since the length of the arm assembly 325 of the foreign object gripping mechanism 33 is limited, multiple lifting operations can be used to achieve full-area foreign object gripping of the core support plate.

[0026] like Figure 3 , Figure 4 as well as Figures 6 to 13 As shown, in some embodiments, the video inspection device 20 includes a first lifting mechanism 21 and a video inspection mechanism 22 connected to the first lifting mechanism 21. The video inspection device 20 can perform full-area foreign object video inspection of the reactor core support plate of the lower reactor in-core components independently, or it can be used in conjunction with the foreign object grabbing device 30 installed in the frame 10 to assist in monitoring the grabbing operation status of the foreign object grabbing device 30.

[0027] like Figures 6 to 13 As shown, the video inspection mechanism 22 includes a first mounting bracket 221, a first drive assembly 222, a second drive assembly 223, a first bracket 224, a connecting arm 225, a rotating assembly 226, and a detection assembly 227.

[0028] The first mounting bracket 221 is used to connect with the first lifting mechanism 21. The first drive assembly 222 is mounted on the first mounting bracket 221. The second drive assembly 223 is connected to the first mounting bracket 221 and the drive rod of the second drive assembly 223 is connected to the first bracket 224.

[0029] The connecting arm 225 connects the first bracket 224 to the rotating assembly 226. The first driving assembly 222 is connected to the rotating assembly 226, and the detection assembly 227 is connected to the rotating assembly 226. The detection assembly 227 includes an underwater radiation-resistant camera 2272. The connecting arm 225, the rotating assembly 226, and the detection assembly 227 pass through a first through hole for foreign object video inspection. The first driving assembly 222 drives the rotating assembly 226 to rotate, which in turn drives the detection assembly 227 to rotate, thereby adjusting the detection position of the underwater radiation-resistant camera 2272.

[0030] like Figures 6 to 21 As shown, in some embodiments, the first drive component 222 and the rotating component 226 are connected by a drive member 228.

[0031] In some embodiments, the first mounting bracket 221 includes an upper plate 2211, a lower plate 2212, and a support plate 2213. The upper plate 2211 and the lower plate 2212 are arranged parallel to each other and spaced apart. The support plate 2213 connects the upper plate 2211 and the lower plate 2212. The upper plate 2211, the lower plate 2212, and the support plate 2213 generally form an I-shaped structure. The first mounting bracket 221 also includes a support base 2214 mounted on the upper plate 2211. The support base 2214 is generally T-shaped.

[0032] The support plate 2213 has a first surface and a second surface facing away from each other. The first surface is provided with a first guide rail 22131 and a second guide rail 22132, which are arranged parallel to each other and spaced apart. The first guide rail 22131 and the second guide rail 22132 extend along the height direction of the support plate 2213. The second surface is provided with a third guide rail 22133 and a fourth guide rail 22134, which are arranged parallel to each other and spaced apart. The third guide rail 22133 and the fourth guide rail 22134 extend along the height direction of the support plate 2213.

[0033] The first drive assembly 222 includes a first drive motor 2221, a second drive motor 2222, a third drive motor 2223, a fourth drive motor 2224, a first lead screw 2225, a second lead screw 2226, a third lead screw 2227, a fourth lead screw 2228, a first nut 2229, a second nut 22210, a third nut 22211, a fourth nut 22212, a first slider 22213, a second slider 22214, a third slider 22215, and a fourth slider 22216.

[0034] The first drive motor 2221, the second drive motor 2222, the third drive motor 2223, and the fourth drive motor 2224 are mounted on the support base 2214; the first drive motor 2221 and the second drive motor 2222 are arranged side by side with intervals, and the third drive motor 2223 and the fourth drive motor 2224 are arranged side by side with intervals.

[0035] The first lead screw 2225 and the second lead screw 2226 are arranged parallel to each other at a distance, and are mounted on one side of the first surface; the third lead screw 2227 and the fourth lead screw 2228 are arranged parallel to each other at a distance, and are mounted on one side of the first surface; the upper end of the first lead screw 2225 is connected to the output end of the first drive motor 2221, the upper end of the second lead screw 2226 is connected to the output end of the second drive motor 2222, the upper end of the third lead screw 2227 is connected to the output end of the third drive motor 2223, and the upper end of the fourth lead screw 2228 is connected to the output end of the fourth drive motor 2224. The lead screws and the output ends of the drive motors can be connected via couplings, which is not specifically limited here.

[0036] The first nut 2229 is mounted on the first lead screw 2225 and is connected to the first guide rail 22131 via the first slider 22213; the second nut 22210 is mounted on the second guide rail 22132 and is connected to the second guide rail 22132 via the second slider 22214; the third nut 22211 is mounted on the third lead screw 2227 and is connected to the third guide rail 22133 via the third slider 22215; the fourth nut 22212 is mounted on the fourth lead screw 2228 and is connected to the fourth guide rail 22134 via the fourth slider 22216.

[0037] The drive component 228 includes a first drive rope 2281, a second drive rope 2282, a third drive rope 2283, and a fourth drive rope 2284. The upper end of the first drive rope 2281 is connected to the first nut 2229, and the lower end of the first drive rope 2281 is connected to the rotating assembly 226. The upper end of the second drive rope 2282 is connected to the second nut 22210, and the lower end of the third drive rope 2283 is connected to the rotating assembly 226. The upper end of the third drive rope 2283 is connected to the third nut 22211, and the lower end of the third drive rope 2283 is connected to the rotating assembly 226. The upper end of the fourth drive rope 2284 is connected to the fourth nut 22212, and the lower end of the fourth drive rope 2284 is connected to the rotating assembly 226.

[0038] Specifically, the first drive motor 2221 drives the first lead screw 2225 to rotate, which in turn drives the first slider 22213 to move back and forth along the height direction, causing the first drive rope 2281 to move back and forth along the height direction, thereby pulling the rotating assembly 226 to rotate. Similarly, the second drive motor 2222 drives the second lead screw 2226 to rotate, which in turn drives the second slider 22214 to move back and forth along the height direction, causing the second drive rope 282 to move back and forth along the height direction, thereby pulling the rotating assembly 226 to rotate. Similarly, the third drive motor 2223 drives the third lead screw 2227 to rotate, which in turn drives the third slider 22215 to move back and forth along the height direction, causing the third drive rope 2283 to move back and forth along the height direction, thereby pulling the rotating assembly 226 to rotate. Similarly, the fourth drive motor 2224 drives the fourth lead screw 2228 to rotate, which in turn drives the fourth slider 22216 to move back and forth along the height direction, so that the fourth drive rope 2284 moves back and forth along the height direction, which in turn can pull the rotating component 226 to rotate.

[0039] In some embodiments, the first lead screw 2225, the second lead screw 2226, the third lead screw 2227, and the fourth lead screw 2228 may be trapezoidal lead screws. The first nut 2229, the second nut 22210, the third nut 22211, and the fourth nut 22212 may be square nuts. The first drive motor 2221, the second drive motor 2222, the third drive motor 2223, and the fourth drive motor 2224 may be brushless servo motors, which have high precision and forward / reverse rotation capabilities.

[0040] In some embodiments, the first drive assembly 222 may further include a motor cover for covering the outer periphery of the first drive motor 2221, the second drive motor 2222, the third drive motor 2223 and the fourth drive motor 2224.

[0041] like Figures 18 to 21As shown, in some embodiments, the connecting arm 225 includes a hollow cylindrical rigid arm; the upper end of the rigid arm is connected to the first bracket 224; the rigid arm can be a hollow cylindrical structure, the rigid arm can be made of stainless steel tube, and the dimensions of the rigid arm can be an outer diameter of 53 mm and a wall thickness of 1.5 mm.

[0042] like Figures 18 to 21 As shown, the rotating assembly 226 includes a first end cap 2261, a second end cap 2262, an annular body 2263, and an elastic element 2264; the first end cap 2261 and the second end cap 2262 are arranged parallel to each other and spaced apart. The first end cap 2261 is connected to the lower end of the rigid arm. The lower surface of the first end cap 2261 is provided with a first connecting portion 22611 and a second connecting portion 22612, which are arranged parallel to each other and spaced apart.

[0043] The upper surface of the second end cap 2262 is provided with a third connecting portion 22621 and a fourth connecting portion 22622, which are arranged in parallel and spaced apart. The annular body 2263 is disposed between the first connecting portion 22611 and the second connecting portion 22612, and the annular body 2263 is arranged in parallel and spaced apart from the first end cap 2261.

[0044] The first connecting portion 22611 and the second connecting portion 22612 are both rotatably connected to the annular body 2263, and the third connecting portion 22621 and the fourth connecting portion 22622 are both rotatably connected to the annular body 2263; the line connecting the first connecting portion 22611 and the second connecting portion 22612 is the first connecting line, and the line connecting the third connecting portion 22621 and the fourth connecting portion 22622 is the second connecting line; the first connecting line and the second connecting line are arranged perpendicularly; the elastic member 2264 passes through the inner cavity of the annular body 2263, and the two ends of the elastic member 2264 abut against the first end cap 2261 and the second end cap 2262, respectively.

[0045] The second end cap 2262 is provided with a first connecting hole 22623, a second connecting hole 22624, a third connecting hole 22625, and a fourth connecting hole 22626. The shape formed by connecting the first and last ends of the first connecting hole 22623, the second connecting hole 22624, the third connecting hole 22625, and the fourth connecting hole 22626 is approximately square, including both square and rectangular shapes. Of course, the first end cap 2262 may also be provided with the first connecting hole 22623, the second connecting hole 22624, the third connecting hole 22625, and the fourth connecting hole 22626 to facilitate the passage of the drive rope.

[0046] The first connecting hole 22623 and the second connecting hole 22624 are located near the third connecting portion 22621, and the third connecting hole 22625 and the fourth connecting hole 22626 are located near the fourth connecting portion 22622. The first drive rope 2281, the second drive rope 2282, the third drive rope 2283, and the fourth drive rope 2284 are threaded through the rigid arm. The lower end of the first drive rope 2281 is connected to the first connecting hole 22623, the lower end of the second drive rope 2282 is connected to the second connecting hole 22624, the lower end of the third drive rope 2283 is connected to the third connecting hole 22625, and the lower end of the fourth drive rope 2284 is connected to the fourth connecting hole 22626. The first drive rope 2281, the second drive rope 2282, the third drive rope 2283, and the fourth drive rope 2284 can be made of steel wire rope.

[0047] The first drive rope 2281 and the second drive rope 2282 simultaneously pull the second end cap 2262, or the second drive rope 2282 and the third drive rope 2283 simultaneously pull the second end cap 2262, or the third drive rope 2283 and the fourth drive rope 2284 simultaneously pull the second end cap 2262, or the first drive rope 2281 and the fourth drive rope 2284 simultaneously pull the second end cap 2262, so that the rotating component 226 can be adjusted to rotate at multiple angles.

[0048] like Figures 18 to 21 As shown, in some embodiments, the elastic element 2264 may be a helical columnar spring, which may enable the first end cap 2261 and the second end cap 2262 to return to a vertical state without being pulled by the drive rope.

[0049] In some embodiments, both the first end cap 2261 and the second end cap 2262 are provided with grooves so that the end of the elastic member 2264 can be accommodated therein.

[0050] like Figures 18 to 21 As shown, in some embodiments, the first connecting part 22611 is rotatably connected to the circumferential side of the annular body 2263 via a first pin 22613. The first connecting part 22611 may be provided with a first connecting through hole, and the portion of the first pin 22613 located in the first connecting through hole may be provided with a first bearing.

[0051] The second connecting part 22612 is rotatably connected to the circumferential side of the annular body 2263 via the second pin 22614. The second connecting part 22612 may be provided with a second connecting through hole, and the portion of the second pin 22614 located in the second connecting through hole may be provided with a second bearing.

[0052] The third connecting part 22621 is rotatably connected to the circumferential side of the annular body 2263 via the third pin 22627. The third connecting part 22621 may be provided with a third connecting through hole, and the portion of the third pin 22627 located in the third connecting through hole may be provided with a third bearing.

[0053] The fourth connecting part 22622 is rotatably connected to the circumferential side of the annular body 2263 via a fourth pin 22628. The fourth connecting part 22622 may be provided with a fourth connecting through hole, and the portion of the fourth pin 22628 located within the fourth connecting through hole may be provided with a fourth bearing.

[0054] like Figures 18 to 21 As shown, in some embodiments, the detection component 227 includes a mounting sleeve 2271, the upper end of which is connected to the second end cap 2262, and the underwater radiation-resistant camera 2272 is mounted in the mounting sleeve 2271.

[0055] In some embodiments, the lower plate 2212 is provided with a first hole, a second hole, a third hole and a fourth hole, the first drive rope 2281 passes through the first hole, the third drive rope 2283 passes through the third hole and the fourth drive rope 2284 passes through the fourth hole.

[0056] like Figures 18 to 21 As shown, in some embodiments, the detection component 227 includes a mounting sleeve 2271, the upper end of which is connected to the second end cap 2262, and the underwater radiation-resistant camera 2272 is mounted in the mounting sleeve 2271. The underwater radiation-resistant camera 2272 can be a miniature radiation-resistant camera, and can be any camera from the prior art; no specific limitation is made here. The underwater radiation-resistant camera 2272 can be fixed to the mounting sleeve 2271 using bolts or other fasteners.

[0057] like Figure 22 As shown, in some embodiments, the first support 224 includes a first plate 2241 and a second plate 2242 arranged perpendicularly to each other; the first plate 2241 is connected to the upper end of the rigid arm.

[0058] The first mounting bracket 221 also includes a guide plate 2215 connected to the lower plate 2212 (e.g., ...). Figure 8 (As shown); the guide plate 2215 and the second plate 2242 are arranged opposite each other at intervals.

[0059] The guide plate 2215 is provided with a fifth guide rail 22151 on the side facing the second plate 2242, and the second plate 2242 is provided with a fifth slider 22152 that cooperates with the fifth guide rail 22151 on the side facing the guide plate 2215.

[0060] The first mounting bracket 221 also includes a mounting plate 2216 connected to the upper plate 2211 and / or the lower plate 2212, the mounting plate 2216 being connected to the first lifting mechanism 21; the first mounting bracket 221 also includes a fixing plate 2217 connected to the lower plate 2212 and / or the mounting plate 2216.

[0061] The second drive assembly 223 includes a first drive component 2231, which is mounted on the fixed plate 2217 and the drive rod of the first drive component 2231 is connected to the first plate 2241. The first drive component 2231 includes a pneumatic cylinder or a hydraulic cylinder.

[0062] Preferably, the second drive assembly 223 may further include a protective cover covering the outer periphery of the first drive component 2231. If the first drive component 2231 is a pneumatic cylinder, the protective cover may also be provided with an air supply port connected to the pneumatic cylinder. Of course, the first drive component 2231 may also be selected from other power components according to actual needs, and no specific limitation is made here.

[0063] The second drive assembly 223 is configured such that when the first drive assembly 222 fails, the second drive assembly 223 can lift the first support 224, allowing the drive rope to be released vertically, so that the detection assembly 227 can be restored to a vertical or perpendicular state, ensuring that the detection assembly 227 does not interfere with the reactor's lower in-core components, and allowing the detection assembly 227 to detach from the reactor's lower in-core components. In some embodiments, the second drive assembly 223 further includes a first ranging sensor 2232 mounted on the fixed plate 2217 and / or the drive member 228.

[0064] In some embodiments, the first lifting mechanism 21 includes a first positioning frame 211, a fifth drive motor 212, a first transmission lead screw 213, and a first lead screw nut 214; the fifth drive motor 212 is mounted on the first positioning frame 211, and the output end of the fifth drive motor 212 is connected to the upper end of the first transmission lead screw 213; the first lead screw nut 214 is mounted on the first transmission lead screw 213, and the first lead screw nut 214 is connected to the first mounting frame 221. Figure 6 In the diagram, for ease of demonstration, the first lead screw nut 214 and the first mounting bracket 221 are shown separately. In reality, the first lead screw nut 214 and the first mounting bracket 221 are fixedly connected, for example, by bolts or screws. The first lifting mechanism 21 can move the entire video inspection mechanism 22 up and down to adjust the height of the detection component 227.

[0065] In some embodiments, the frame 10 is further provided with a first cable chain frame 40, on which a first cable chain 41 is provided. One end of the first cable chain 41 is connected to the first mounting frame 221. The first mounting frame 221, the first positioning frame 211 and / or the upper and lower ends of the first cable chain frame may also be provided with a first position sensor 50 to detect the height position of the video inspection mechanism 22 in order to improve safety.

[0066] like Figure 6 , Figure 7 , Figures 23 to 49 As shown, in some embodiments, the foreign object grasping device 30 includes a second lifting mechanism 31, a driving mechanism 32, and a foreign object grasping mechanism 33. Driven by the second lifting mechanism 31, the driving mechanism 32 and the foreign object grasping mechanism 33 of the foreign object grasping device 30 can pass through the drainage holes of the lower grid plate to reach the core support plate for foreign object grasping.

[0067] The drive mechanism 32 includes a second mounting bracket 321, a third drive assembly 322, a fourth drive assembly 323, a second support 324, and an arm assembly 325; the foreign object gripping mechanism 33 includes a rotating assembly 331 and a gripping assembly 332 connected to each other. The foreign object gripping mechanism 33 is a flexible multi-joint actuator.

[0068] The second mounting bracket 321 is used to connect with the second lifting mechanism 31. The third drive assembly 322 is mounted on the second mounting bracket 321. The fourth drive assembly 323 is connected to the second mounting bracket 321 and the drive rod of the fourth drive assembly 323 is connected to the second bracket 324.

[0069] The upper end of the arm assembly 325 is connected to the second bracket 324, and the lower end of the arm assembly 325 is connected to the rotating assembly 331. The third drive assembly 322 is connected to the arm assembly 325 to drive the arm assembly 325 to swing. The third drive assembly 322 is also connected to the rotating assembly 331 to drive the rotating assembly 331 to rotate, thereby driving the gripping assembly 332 to rotate. The third drive assembly 322 is also connected to the gripping assembly 332 to drive the gripping assembly 332 to grip foreign objects.

[0070] like Figures 34 to 44As shown, in some embodiments, the arm assembly 325 includes a first arm 3251, a second arm 3252, a third arm 3253, a first connector 3254, a second connector 3255, and a third connector 3256; the upper end of the first arm 3251 is connected to the second bracket 324, the lower end of the first arm 3251 is connected to the upper end of the second arm 3252 through the first connector 3254, the lower end of the second arm 3252 is connected to the upper end of the third arm 3253 through the second connector 3255, and the lower end of the third arm 3253 is connected to the upper end of the rotating assembly 331 through the third connector 3256.

[0071] like Figures 34 to 35 As shown, the first arm body 3251 includes a plurality of first joint portions 32511 and a plurality of second joint portions 32512, which are alternately arranged. The first joint portions 32511 and the second joint portions 32512 are alternately arranged, that is, in the form of first joint portions 32511, second joint portions 32512, and first joint portions 32511, or second joint portions 32512, first joint portions 32511, and second joint portions 32512, they are alternately arranged along the axis of the first arm body 3251. Both the first joint portions 32511 and the second joint portions 32512 are annular structures.

[0072] The highest point of the upper surface of the first joint portion 32511 has two symmetrically arranged first arc-shaped protrusions 325111, and the lowest point of the lower surface of the first joint portion 32511 has two symmetrically arranged second arc-shaped protrusions 325112. The line connecting the two first arc-shaped protrusions 325111 is perpendicular to the line connecting the two second arc-shaped protrusions 325112. The highest point of the upper surface of the second joint portion 32512 has two symmetrically arranged first arc-shaped recesses 325121. The lowest point of the lower surface of the first joint portion 32511 has two symmetrically arranged second arc-shaped recesses 325122. The line connecting the two first arc-shaped recesses 325121 is perpendicular to the line connecting the two second arc-shaped recesses 325122. The first arc-shaped protrusion 325111 and the first arc-shaped recess 325121 cooperate with each other, and the second arc-shaped protrusion 325112 and the second arc-shaped recess 325122 cooperate with each other. Here, "cooperating" means that they overlap and contact each other. Furthermore, the lower surface of the first joint portion 32511 and the upper surface of the second joint portion 32512 form a first deformation space, and the upper surface of the first joint portion 32511 and the lower surface of the second joint portion 32512 form a second deformation space. like Figures 36 to 37As shown, similarly, the second arm body 3252 includes a plurality of third joint portions 32521 and a plurality of fourth joint portions 32522, which are staggered. The highest point of the upper surface of each third joint portion 32521 has two symmetrically arranged third arc-shaped protrusions 325211, and the lowest point of the lower surface of each third joint portion 32521 has two symmetrically arranged fourth arc-shaped protrusions 325212. The line connecting the two third arc-shaped protrusions 325211 is perpendicular to the line connecting the two fourth arc-shaped protrusions 325212. The fourth joint portion... The highest point of the upper surface of the third joint portion 32522 has two symmetrically arranged third arc-shaped recesses 325221, and the lowest point of the lower surface of the third joint portion 32521 has two symmetrically arranged fourth arc-shaped recesses 325222. The line connecting the two third arc-shaped recesses 325221 is perpendicular to the line connecting the two fourth arc-shaped recesses 325222. The third arc-shaped protrusion 325211 and the third arc-shaped recess 325221 cooperate with each other, and the fourth arc-shaped protrusion 325212 and the fourth arc-shaped recess 325222 cooperate with each other. Here, "cooperating" means that they overlap and contact each other. Furthermore, the lower surface of the third joint portion 32521 and the upper surface of the fourth joint portion 32522 form a third deformation space, and the upper surface of the third joint portion 32521 and the lower surface of the fourth joint portion 32522 form a fourth deformation space.

[0073] like Figures 38 to 39As shown, similarly, the third arm body 3253 includes a plurality of fifth joint portions 32531 and a plurality of sixth joint portions 32532, which are staggered. The highest point of the upper surface of each fifth joint portion 32531 has two symmetrically arranged fifth arc-shaped protrusions 325311, and the lowest point of the lower surface of each fifth joint portion 32531 has two symmetrically arranged sixth arc-shaped protrusions 325312. The line connecting the two fifth arc-shaped protrusions 325311 is perpendicular to the line connecting the two sixth arc-shaped protrusions 325312. The sixth joint portion... The highest point of the upper surface of the fifth joint portion 32532 has two symmetrically arranged fifth arc-shaped recesses 325321, and the lowest point of the lower surface of the fifth joint portion 32531 has two symmetrically arranged sixth arc-shaped recesses 325322. The line connecting the two fifth arc-shaped recesses 325321 is perpendicular to the line connecting the two sixth arc-shaped recesses 325322. The fifth arc-shaped protrusion 325311 and the fifth arc-shaped recess 325321 cooperate with each other, and the sixth arc-shaped protrusion 325312 and the sixth arc-shaped recess 325322 cooperate with each other. Here, "cooperating" means that they overlap and contact each other. Furthermore, the lower surface of the fifth joint portion 32531 and the upper surface of the sixth joint portion 32532 form a fifth deformation space, and the upper surface of the fifth joint portion 32531 and the lower surface of the sixth joint portion 32532 form a sixth deformation space.

[0074] The first joint portion 32511, the second joint portion 32512, the third joint portion 32521, the fourth joint portion 32522, the fifth joint portion 32531, and the sixth joint portion 32532 are each provided with a first through hole 325a, a second through hole 325b, a third through hole 325c, a fourth through hole 325d, a fifth through hole 325e, a sixth through hole 325f, a seventh through hole 325g, an eighth through hole 325h, and a ninth through hole 325i that penetrate their upper and lower surfaces. The first through hole 325a, the second through hole 325b, the third through hole 325c, the fourth through hole 325d, the fifth through hole 325e, the sixth through hole 325f, the seventh through hole 325g, the eighth through hole 325h, and the ninth through hole 325i are evenly distributed at intervals. The positions of the first through hole 325a, the second through hole 325b, the third through hole 325c, the fourth through hole 325d, the fifth through hole 325e, the sixth through hole 325f, the seventh through hole 325g, the eighth through hole 325h, and the ninth through hole 325i can be selected according to actual needs, and no specific limitation is made here.

[0075] The third drive assembly 322 includes a first pull rope 3225, a second pull rope 3226, and a third pull rope 3227. There are three first pull ropes 3225, 3226, and 3227. The three first pull ropes 3225 are respectively threaded through a first through hole 325a, a fourth through hole 325d, and a seventh through hole 325g, and their ends are connected to the first connector 3254. The three second pull ropes 3226 are respectively threaded through a second through hole 325b, a fifth through hole 325e, and an eighth through hole 325h, and their ends are connected to the second connector 3255. The three third pull ropes 3227 are respectively threaded through a third through hole 325c, a sixth through hole 325f, and a ninth through hole 325i, and their ends are connected to the third connector 3256. It should be explained that the distinction between the first pull rope 3225, the second pull rope 3226, and the third pull rope 3227 is only for ease of understanding. The size and material of the first pull rope 3225, the second pull rope 3226, and the third pull rope 3227 can all be the same. Preferably, the first pull rope 3225, the second pull rope 3226, and the third pull rope 3227 are steel wire ropes.

[0076] In some embodiments, the first arm 3251, the second arm 3252, and the third arm 3253 may be made of PEEK material. Of course, the first arm 3251, the second arm 3252, and the third arm 3253 may also be made of metal material, and no specific limitation is made here.

[0077] like Figure 40 and Figure 41 As shown, in some embodiments, the first connector 3254 has an annular columnar structure. The highest point of the upper surface of the first connector 3254 has two symmetrically arranged seventh arc-shaped recesses 32541, and the lowest point of the lower surface of the first connector 3254 has two symmetrically arranged eighth arc-shaped recesses 32542. The line connecting the two seventh arc-shaped recesses 32541 is perpendicular to the line connecting the two eighth arc-shaped recesses 32542. The second arc-shaped protrusion 325112 cooperates with the seventh arc-shaped recesses 32541, and the third arc-shaped protrusion 325211 cooperates with the eighth arc-shaped recesses 32542. Here, "cooperating" means that they overlap and contact each other.

[0078] like Figure 42 and Figure 43As shown, the second connector 3255 has an annular columnar structure. The highest point of the upper surface of the second connector 3255 has two symmetrically arranged ninth arc-shaped recesses 32551, and the lowest point of the lower surface of the second connector 3255 has two symmetrically arranged tenth arc-shaped recesses 32552. The line connecting the two ninth arc-shaped recesses 32551 is perpendicular to the line connecting the two tenth arc-shaped recesses 32552. The fourth arc-shaped protrusion 325212 cooperates with the ninth arc-shaped recesses 32551, and the fifth arc-shaped protrusion 325311 cooperates with the tenth arc-shaped recesses 32552. Here, "cooperating" means that they overlap and contact each other.

[0079] like Figure 44 As shown, the third connector 3256 has an annular columnar structure. The highest point of the upper surface of the third connector 3256 has two symmetrically arranged eleventh arc-shaped recesses 32561. The sixth arc-shaped protrusion 325312 cooperates with the eleventh arc-shaped recesses 32561. The lower end of the third connector 3256 is connected to the rotating assembly 331.

[0080] Similarly, the first connector 3254, the second connector 3255 and the third connector 3256 are provided with a first through hole 325a, a second through hole 325b, a third through hole 325c, a fourth through hole 325d, a fifth through hole 325e, a sixth through hole 325f, a seventh through hole 325g, an eighth through hole 325h and a ninth through hole 325i.

[0081] like Figures 40 to 44 As shown, in some embodiments, the circumferential sidewall of the first connector 3254 is provided with a plurality of first limiting through grooves, the circumferential sidewall of the second connector 3255 is provided with a plurality of second limiting through grooves, and the circumferential sidewall of the third connector 3256 is provided with a plurality of third limiting through grooves. The first limiting through grooves, the second limiting through grooves, and the third limiting through grooves are arranged opposite to and connected to the first through hole 325a, the second through hole 325b, the third through hole 325c, the fourth through hole 325d, the fifth through hole 325e, the sixth through hole 325f, the seventh through hole 325g, the eighth through hole 325h, and the ninth through hole 325i.

[0082] Among them, the three first pull ropes 3225 are located in the corresponding first limiting through grooves, and the ends of the three first pull ropes 3225 are provided with first limiting blocks to prevent the three first pull ropes 3225 from coming out of the first connector 3254. Of course, the ends of the three first pull ropes 3225 can be welded and fixed to the first connector 3254.

[0083] The three second pull ropes 3226 are located in the corresponding second limiting through grooves, and the ends of the three second pull ropes 3226 are provided with second limiting blocks to prevent the three second pull ropes 3226 from coming out of the second connector 3255. Of course, the ends of the three second pull ropes 3226 can be welded and fixed to the second connector 3255.

[0084] The three third pull ropes 3227 are located in the corresponding third limiting through grooves, and the ends of the three third pull ropes 3227 are provided with third limiting blocks to prevent the three third pull ropes 3227 from coming out of the third connector 3256. Of course, the ends of the three third pull ropes 3227 can be welded and fixed to the third connector 3256.

[0085] In some embodiments, the first connector 3254, the second connector 3255, and the third connector 3256 may be made of PEEK material. Of course, the first connector 3254, the second connector 3255, and the third connector 3256 may also be made of metal material, and no specific limitation is made here.

[0086] like Figures 45 to 46 As shown, in some embodiments, the rotating assembly 331 includes a fixed cylinder 3311, a sliding transmission shaft 3312, a mounting base 3313, a rotating shaft 3314, a sliding sleeve shaft 3315, a sliding sleeve 3316, a first elastic element 3317, an adapter plate 3318, and a plurality of ball screws 3319.

[0087] The mounting base 3313 connects the upper end of the fixed cylinder 3311 to the lower end of the third connecting member 3256, which can be fixed by screws. The sliding drive shaft 3312 is movably inserted through the mounting base 3313. The sliding drive shaft 3312 may have multiple shafts, and the mounting base 3313 may have multiple sliding holes for the shafts to pass through. The top of the sliding drive shaft 3312 may have a first limiting seat, and the bottom of the sliding drive shaft 3312 may have a second limiting seat 33121 to prevent the sliding drive shaft 3312 from coming off the mounting base 3313. The first limiting seat and the second limiting seat 33121 may be detachably connected to the shaft, or the first limiting seat may be an integral structure with the shaft.

[0088] The rotating shaft 3314 is connected to the lower end of the sliding transmission shaft 3312, and the rotating shaft 3314 is located inside the fixed cylinder 3311. The sliding sleeve 3316 is located inside the fixed cylinder 3311 and is used to fit around the outer circumference of the rotating shaft 3314. The outer circumference of the rotating shaft 3314 is provided with a plurality of spirally continuous grooves 33141. The axial sidewall of the sliding sleeve 3316 is provided with a plurality of ball screws 3319, the ends of which are located within the grooves 33141. There can be four grooves 33141 and four ball screws 3319, which are arranged in a cross-shaped symmetrical arrangement. Both the rotating shaft 3314 and the sliding transmission shaft 3312 are hollow columnar structures.

[0089] The upper end of the sliding sleeve shaft 3315 passes through the rotating shaft 3314 and the upper end of the sliding sleeve shaft 3315 cooperates with the mounting base 3313. The lower end of the sliding sleeve shaft 3315 passes through the lower end of the sliding sleeve 3316 and the lower end of the sliding sleeve shaft 3315 is connected to the adapter plate 3318.

[0090] The first elastic element 3317 is sleeved on the outer periphery of the portion of the sliding sleeve shaft 3315 that protrudes from the rotating shaft 3314, and the two ends of the first elastic element 3317 respectively abut against the lower surface of the mounting base 3313 and the upper surface of the rotating shaft 3314. The first elastic element 3317 is a helical columnar spring.

[0091] The third drive assembly 322 also includes two fourth pull ropes 3228, which are threaded through the arm assembly 325 and connected to the upper end of the sliding drive shaft 3312. The fourth pull ropes 3228 may be connected to the first limiting seat.

[0092] When the two fourth pull ropes 3228 are pulled, the first elastic element 3317 is compressed, the sliding transmission shaft 3312 connected to the rotating shaft 3314 slides upward along the sliding sleeve shaft 3315, and the ball screw 3319 slides along the sliding groove 33141, thereby driving the sliding sleeve 3316 and the sliding sleeve shaft 3315 to rotate, which in turn causes the rotating adapter plate 3318 to rotate, and the adapter plate 3318 drives the gripping component 332 to rotate. When the two fourth pull ropes 3228 are released, under the self-restoring force of the first elastic element 3317, the sliding transmission shaft 3312 connected to the rotating shaft 3314 slides downward along the sliding sleeve shaft 3315, and the ball screw 3319 slides along the sliding groove 33141, thereby driving the sliding sleeve 3316 and the sliding sleeve shaft 3315 to rotate in the opposite direction, which in turn causes the adapter plate 3318 to rotate in the opposite direction, thus restoring the initial state.

[0093] like Figures 45 to 46As shown, in some embodiments, the mounting base 3313 is provided with a first limiting groove, the upper end of the sliding sleeve shaft 3315 is located in the first limiting groove, and a first bearing 33132 is provided on the outer periphery of the upper end of the sliding sleeve shaft 3315; the bottom wall of the fixed cylinder 3311 is provided with a second limiting groove, and a second bearing 33112 is provided in the second limiting groove, the second bearing 33112 being sleeved on the outer periphery of the portion of the sliding sleeve shaft 3315 located in the second limiting groove. Further, a limiting plate 33151 can be connected to the bottom of the sliding sleeve shaft 3315, and the adapter plate 3318 is connected and fixed to the limiting plate 33151.

[0094] like Figures 47 to 48 As shown, in some embodiments, the gripping assembly 332 includes a housing 3321, a positioning piston 3322, a first connecting rod 3323, a second connecting rod 3324, a first gripper 3325, a second gripper 3326, and a second elastic element 3327. The housing 3321 may be a cylindrical structure, and the bottom of the housing 3321 is fixed by a base plate 3329. The base plate 3329 may be provided with an elongated limiting groove to limit the movement of the first gripper 3325 and the second gripper 3326.

[0095] The top of the outer casing 3321 is connected to the adapter plate 3318. A sliding groove 33211 is provided inside the outer casing 3321, coaxially arranged with the outer casing 3321. The second elastic member 3327 is located within the sliding groove 33211, with its upper end abutting against the inner surface of the top of the outer casing 3321, and its lower end abutting against the upper surface of the positioning piston 3322. The lower end of the positioning piston 3322 is provided with a positioning groove 33221. The upper end of the first connecting rod 3323 is connected to the second... The upper end of the connecting rod 3324 is rotatably mounted in the positioning groove 33221; the upper end of the first gripper 3325 is rotatably connected to the lower end of the first connecting rod 3323, the upper end of the second gripper 3326 is rotatably connected to the lower end of the second connecting rod 3324, and the middle parts of the first gripper 3325 and the second gripper 3326 are connected together by a rotating shaft 3328; the clamping ends of the first gripper 3325 and the second gripper 3326 protrude from the lower end of the housing 3321; the second elastic element 3327 can be a helical columnar spring.

[0096] The third drive assembly 322 also includes a fifth pull rope 3229, the lower end of which is connected to the upper end face of the positioning piston 3322.

[0097] Pulling the fifth pull rope 3229 causes the positioning piston 3322 to move upward along the sliding groove 33211 of the outer shell 3321. The second elastic element 3327 is compressed and moves through the first connecting rod 3323 and the second connecting rod 3324, causing the first gripper 3325 and the second gripper 3326 to close. When the fifth pull rope 3229 is released, the positioning piston 3322 moves downward under the self-restoring force of the second elastic element 3327, and the first gripper 3325 and the second gripper 3326 open.

[0098] like Figure 30 and Figure 31 As shown, in some embodiments, the second mounting bracket 321 includes a mounting plate 3211 having two opposing surfaces, each surface having six guide rails 3212.

[0099] The third drive assembly 322 further includes a drive motor 3221, a lead screw 3222, and a second lead screw nut 3223. There are twelve drive motors 3221, twelve lead screws 3222, and twelve second lead screw nuts 3223. The drive motor 3221 is mounted on the second mounting bracket 321. The lead screw 3222 is mounted on the second mounting bracket 321 and is opposite to the guide rail 3212. The output end of the drive motor 3221 is connected to the upper end of the lead screw 3222. The second lead screw nut 3223 is mounted on the lead screw 3222 and is correspondingly connected to the guide rail 3212 via a slider 3224. In some embodiments, the third drive assembly 322 also includes a protective cover covering the drive motor 3221.

[0100] The second lead screw nut 3223 is correspondingly connected to the first pull rope 3225, the second pull rope 3226, the third pull rope 3227, the fourth pull rope 3228 and the fifth pull rope 3229.

[0101] like Figure 49 As shown, in some embodiments, the second bracket 324 includes a first plate 3241 and a second body 3242 arranged perpendicularly to each other; the first plate 3241 is connected to the upper end of the first arm 3251; the second mounting bracket 321 is provided with a guide plate 3213 arranged opposite to the second body 3242; the guide plate 3213 is provided with a slide rail 32131 on the side facing the second body 3242, and the second body 3242 is provided with a sliding block 32421 cooperating with the slide rail 32131 on the side facing the guide plate 3213; the second mounting bracket 321 is also provided with a mounting support plate 3214; the fourth drive assembly 323 includes a second drive component 3231, the second drive component 3231 is mounted on the mounting support plate 3214, and the drive rod of the second drive component 3231 is connected to the first plate 3241, and the second drive component 3231 includes a pneumatic cylinder or a hydraulic cylinder.

[0102] In some embodiments, the fourth drive assembly 323 further includes a second ranging sensor 3232 mounted on the mounting support plate 3214 and / or on the drive member.

[0103] The fourth drive assembly 323 is configured such that when the third drive assembly 322 fails, the fourth drive assembly 323 can lift the second support 324, allowing the drive rope to be released vertically, so that the arm assembly 325 and the rotation assembly 331 can be restored to a vertical or perpendicular state, so that the detection assembly 327 will not interfere with the reactor's lower in-core components, and the arm assembly 325 and the rotation assembly 331 can be disengaged from the reactor's lower in-core components.

[0104] In some embodiments, the second lifting mechanism 31 includes a second positioning frame 311, a lifting drive motor 312, a second transmission screw 313, and a transmission screw nut 314. The lifting drive motor 312 is mounted on the second positioning frame 311, and the output end of the fifth drive motor 3221 is connected to the upper end of the second transmission screw 313. The transmission screw nut 314 is mounted on the second transmission screw 313 and connected to the second mounting frame 321. The second mounting frame 321 may be provided with a fixing plate 3215 (e.g., for fixing the transmission screw nut 314) to the transmission screw nut 314. Figure 8 (As shown).

[0105] like Figure 6 and Figure 7 As shown, in some embodiments, the frame 10 is further provided with a second cable chain frame 60, on which a second cable chain 61 is provided. One end of the second cable chain 61 is connected to the second mounting frame 321. The upper and lower ends of the second mounting frame 321, the second positioning frame 311 and / or the second cable chain frame 60 may also be provided with a second position sensor 70 to detect the height position of the video inspection mechanism 22 and the video inspection mechanism 32, so as to improve safety.

[0106] The application of this reactor lower in-core component core support plate full-area foreign object (FOO) video inspection and retrieval equipment allows for FAO inspection and retrieval of the core support plate while the in-core components are in place. This effectively avoids damage to components and the pressure vessel body caused by in-core component hoisting and reduces the number of hoisting steps, thus significantly improving the overall efficiency of FAO inspection and retrieval operations. Furthermore, using machinery for FAO detection and retrieval further enhances operational efficiency.

[0107] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A video inspection and capture device for foreign objects across the entire reactor core support plate of the lower reactor internals, characterized in that, It includes a frame, a video inspection device and a foreign object grasping device. The bottom of the frame is provided with several positioning pins that match the position of the drainage holes on the lower grid plate. The frame is also provided with a storage slot for storing foreign objects. The video inspection device is movably mounted on the frame along the height direction, and the video inspection device includes a video inspection mechanism for performing foreign object video inspection; The foreign object gripping device is movably mounted on the frame along the height direction, and the foreign object gripping device includes a foreign object gripping mechanism for gripping foreign objects.

2. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 1, characterized in that, The bottom of the frame is provided with a first through hole, including a first lifting mechanism (21) and a video inspection mechanism (22) connected to the first lifting mechanism (21). The video inspection mechanism (22) includes a first mounting bracket (221), a first drive assembly (222), a second drive assembly (223), a first bracket (224), a connecting arm (225), a rotating assembly (226), and a detection assembly (227); The first mounting bracket (221) is used to connect with the first lifting mechanism (21), the first drive assembly (222) is mounted on the first mounting bracket (221), the second drive assembly (223) is connected to the first mounting bracket (221) and the drive rod of the second drive assembly (223) is connected to the first bracket (224); The connecting arm (225) connects the first bracket (224) and the rotating assembly (226), the first driving assembly (222) is connected to the rotating assembly (226), and the detection assembly (227) is connected to the rotating assembly (226). The detection assembly (227) includes an underwater radiation-resistant camera (2272). The connecting arm (225), the rotating assembly (226), and the detection assembly (227) enter and exit the first through hole to perform foreign object video inspection.

3. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 2, characterized in that, The first drive assembly (222) and the rotation assembly (226) are connected by a drive member (228); The first mounting bracket (221) includes an upper plate (2211), a lower plate (2212), and a support plate (2213). The upper plate (2211) and the lower plate (2212) are arranged parallel to each other and spaced apart. The support plate (2213) connects the upper plate (2211) and the lower plate (2212). The first mounting bracket (221) also includes a support base (2214) mounted on the upper plate (2211). The support plate (2213) has a first surface facing away from the upper plate. The second surface; the first surface is provided with a first guide rail (22131) and a second guide rail (22132), the first guide rail (22131) and the second guide rail (22132) extending along the height direction of the support plate (2213); the second surface is provided with a third guide rail (22133) and a fourth guide rail (22134), the third guide rail (22133) and the fourth guide rail (22134) extending along the height direction of the support plate (2213); The first drive assembly (222) includes a first drive motor (2221), a second drive motor (2222), a third drive motor (2223), a fourth drive motor (2224), a first lead screw (2225), a second lead screw (2226), a third lead screw (2227), a fourth lead screw (2228), a first nut (2229), a second nut (22210), a third nut (22211), a fourth nut (22212), a first slider (22213), a second slider (22214), a third slider (22215), and a fourth slider (22216). The first drive motor (2221), the second drive motor (2222), the third drive motor (2223), and the fourth drive motor (2224) are mounted on the support base (2214); The first lead screw (2225) and the second lead screw (2226) are arranged parallel to each other at intervals, and the first lead screw (2225) and the second lead screw (2226) are installed on one side of the first surface; the third lead screw (2227) and the fourth lead screw (2228) are arranged parallel to each other at intervals, and the third lead screw (2227) and the fourth lead screw (2228) are installed on one side of the first surface; the upper end of the first lead screw (2225) is connected to the output end of the first drive motor (2221), the upper end of the second lead screw (2226) is connected to the output end of the second drive motor (2222), the upper end of the third lead screw (2227) is connected to the output end of the third drive motor (2223), and the upper end of the fourth lead screw (2228) is connected to the output end of the fourth drive motor (2224); The first nut (2229) is mounted on the first lead screw (2225), and the first nut (2229) is connected to the first guide rail (22131) via the first slider (22213); the second nut (22210) is mounted on the second guide rail (22132), and the second nut (22210) is connected to the second guide rail (22132) via the second slider (22214); the third nut (22211) is mounted on the third lead screw (2227), and the third nut (22211) is connected to the third guide rail (22133) via the third slider (22215); the fourth nut (22212) is mounted on the fourth lead screw (2228), and the fourth nut (22212) is connected to the fourth guide rail (22134) via the fourth slider (22216); The driving component (228) includes a first driving rope (2281), a second driving rope (2282), a third driving rope (2283), and a fourth driving rope (2284). The upper end of the first driving rope (2281) is connected to the first nut (2229), and the lower end of the first driving rope (2281) is connected to the rotating assembly (226). The upper end of the second driving rope (2282) is connected to the second nut (22210), and the lower end of the third driving rope (2283) is connected to the rotating assembly (226). The upper end of the third driving rope (2283) is connected to the third nut (22211), and the lower end of the third driving rope (2283) is connected to the rotating assembly (226). The upper end of the fourth driving rope (2284) is connected to the fourth nut (22212), and the lower end of the fourth driving rope (2284) is connected to the rotating assembly (226).

4. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 3, characterized in that, The connecting arm (225) includes a hollow cylindrical rigid arm; the upper end of the rigid arm is connected to the first bracket (224); The rotating assembly (226) includes a first end cap (2261), a second end cap (2262), an annular body (2263), and an elastic element (2264); the first end cap (2261) and the second end cap (2262) are arranged parallel to each other and spaced apart. The first end cap (2261) is connected to the lower end of the rigid arm. The lower surface of the first end cap (2261) is provided with a first connecting part (22611) and a second connecting part (22612), which are arranged parallel to each other and spaced apart. The upper surface of the second end cap (2262) is provided with a third connecting portion (22621) and a fourth connecting portion (22622), the third connecting portion (22621) and the fourth connecting portion (22622) being arranged parallel and spaced apart; the annular body (2263) is disposed between the first connecting portion (22611) and the second connecting portion (22612), and the annular body (2263) is arranged parallel and spaced apart from the first end cap (2261); The first connecting part (22611) and the second connecting part (22612) are both rotatably connected to the annular body (2263), and the third connecting part (22621) and the fourth connecting part (22622) are both rotatably connected to the annular body (2263); the line connecting the first connecting part (22611) and the second connecting part (22612) is the first connecting line, and the line connecting the third connecting part (22621) and the fourth connecting part (22622) is the second connecting line; the first connecting line and the second connecting line are arranged perpendicularly; the elastic member (2264) passes through the inner cavity of the annular body (2263), and the two ends of the elastic member (2264) abut against the first end cap (2261) and the second end cap (2262) respectively. The second end cap (2262) is provided with a first connecting hole (22623), a second connecting hole (22624), a third connecting hole (22625), and a fourth connecting hole (22626). The first connecting hole (22623) and the second connecting hole (22624) are located near the third connecting part (22621), and the third connecting hole (22625) and the fourth connecting hole (22626) are located near the fourth connecting part (22622). The first drive rope (2281) and the second connecting hole (22624) are provided with a first connecting hole (22623), a second connecting hole (22624), a third connecting hole (22625), and a fourth connecting hole (22626). The second drive rope (2282), the third drive rope (2283), and the fourth drive rope (2284) are threaded through the rigid arm. The lower end of the first drive rope (2281) is connected to the first connecting hole (22623), the lower end of the second drive rope (2282) is connected to the second connecting hole (22624), the lower end of the third drive rope (2283) is connected to the third connecting hole (22625), and the lower end of the fourth drive rope (2284) is connected to the fourth connecting hole (22626).

5. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 4, characterized in that, The detection component (227) includes a mounting sleeve (2271), the upper end of which is connected to the second end cap (2262), and the underwater radiation-resistant camera (2272) is installed in the mounting sleeve (2271).

6. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 4, characterized in that, The first support (224) includes a first plate (2241) and a second plate (2242) arranged perpendicularly to each other; the first plate (2241) is connected to the upper end of the rigid arm; The first mounting bracket (221) further includes a guide plate (2215) connected to the lower plate (2212); the guide plate (2215) is disposed opposite to the second plate (2242) at a distance; The guide plate (2215) is provided with a fifth guide rail (22151) on the side facing the second plate (2242), and the second plate (2242) is provided with a fifth slider (22152) that cooperates with the fifth guide rail (22151) on the side facing the guide plate (2215). The first mounting bracket (221) further includes a mounting plate (2216) connected to the upper plate (2211) and / or the lower plate (2212), the mounting plate (2216) being connected to the first lifting mechanism (21); the first mounting bracket (221) further includes a fixing plate (2217) connected to the lower plate (2212) and / or the mounting plate (2216). The second drive assembly (223) includes a first drive component (2231), which is mounted on the fixed plate (2217), and the drive rod of the first drive component (2231) is connected to the first plate body (2241). The first drive component (2231) includes a pneumatic cylinder or a hydraulic cylinder. The second drive assembly (223) further includes a first ranging sensor (2232) mounted on the fixed plate (2217) and / or the drive member (228).

7. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 1, characterized in that, The foreign object grasping device includes a second lifting mechanism (31), a driving mechanism (32), and a foreign object grasping mechanism (33). The drive mechanism (32) includes a second mounting bracket (321), a third drive assembly (322), a fourth drive assembly (323), a second bracket (324), and an arm assembly (325); the foreign object gripping mechanism (33) includes a rotating assembly (331) and a gripping assembly (332) connected to each other. The second mounting bracket (321) is used to connect with the second lifting mechanism (31), the third drive assembly (322) is mounted on the second mounting bracket (321), the fourth drive assembly (323) is connected to the second mounting bracket (321) and the drive rod of the fourth drive assembly (323) is connected to the second bracket (324); The upper end of the arm assembly (325) is connected to the second bracket (324), and the lower end of the arm assembly (325) is connected to the rotating assembly (331). The third drive assembly (322) is connected to the arm assembly (325) to drive the arm assembly (325) to swing. The third drive assembly (322) is also connected to the rotating assembly (331) to drive the rotating assembly (331) to rotate, thereby driving the gripping assembly (332) to rotate. The third drive assembly (322) is also connected to the gripping assembly (332) to drive the gripping assembly (332) to grip foreign objects.

8. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 7, characterized in that, The arm assembly (325) includes a first arm (3251), a second arm (3252), a third arm (3253), a first connector (3254), a second connector (3255), and a third connector (3256); the upper end of the first arm (3251) is connected to the second bracket (324), the lower end of the first arm (3251) is connected to the upper end of the second arm (3252) through the first connector (3254), the lower end of the second arm (3252) is connected to the upper end of the third arm (3253) through the second connector (3255), and the lower end of the third arm (3253) is connected to the upper end of the rotating assembly (331) through the third connector (3256); The first arm body (3251) includes a plurality of first joint portions (32511) and a plurality of second joint portions (32512), which are staggered. The highest point of the upper surface of the first joint portion (32511) has two symmetrically arranged first arc-shaped protrusions (325111), and the lowest point of the lower surface of the first joint portion (32511) has two symmetrically arranged second arc-shaped protrusions (325112). The line connecting the two first arc-shaped protrusions (325111) is perpendicular to the line connecting the two second arc-shaped protrusions (325112). The highest point of the upper surface of the second joint portion (32512) has two symmetrically arranged first arc-shaped concave portions (325121). The lowest point of the lower surface of the first joint portion (32511) has two symmetrically arranged second arc-shaped recesses (325122), and the line connecting the two first arc-shaped recesses (325121) is perpendicular to the line connecting the two second arc-shaped recesses (325122); the first arc-shaped protrusion (325111) and the first arc-shaped recess (325121) cooperate with each other, the second arc-shaped protrusion (325112) and the second arc-shaped recess (325122) cooperate with each other, and the lower surface of the first joint portion (32511) and the upper surface of the second joint portion (32512) form a first deformation space, and the upper surface of the first joint portion (32511) and the lower surface of the second joint portion (32512) form a second deformation space; The second arm body (3252) includes a plurality of third joint portions (32521) and a plurality of fourth joint portions (32522), the third joint portions (32521) and the fourth joint portions (32522) being staggered; the highest point of the upper surface of the third joint portion (32521) has two symmetrically arranged third arc-shaped protrusions (325211), and the lowest point of the lower surface of the third joint portion (32521) has two symmetrically arranged fourth arc-shaped protrusions (325212), the line connecting the two third arc-shaped protrusions (325211) is perpendicular to the line connecting the two fourth arc-shaped protrusions (325212); the highest point of the upper surface of the fourth joint portion (32522) has two symmetrically arranged third arc-shaped concave portions (325221). The lowest point of the lower surface of the third joint portion (32521) has two symmetrically arranged fourth arc-shaped recesses (325222), and the line connecting the two third arc-shaped recesses (325221) is perpendicular to the line connecting the two fourth arc-shaped recesses (325222); the third arc-shaped protrusion (325211) and the third arc-shaped recess (325221) cooperate with each other, the fourth arc-shaped protrusion (325212) and the fourth arc-shaped recess (325222) cooperate with each other, and the lower surface of the third joint portion (32521) and the upper surface of the fourth joint portion (32522) form a third deformation space, and the upper surface of the third joint portion (32521) and the lower surface of the fourth joint portion (32522) form a fourth deformation space; The third arm (3253) includes a plurality of fifth joint portions (32531) and a plurality of sixth joint portions (32532), the fifth joint portions (32531) and the sixth joint portions (32532) being staggered; the highest point of the upper surface of the fifth joint portion (32531) has two symmetrically arranged fifth arc-shaped protrusions (325311), and the lowest point of the lower surface of the fifth joint portion (32531) has two symmetrically arranged sixth arc-shaped protrusions (325312), the line connecting the two fifth arc-shaped protrusions (325311) is perpendicular to the line connecting the two sixth arc-shaped protrusions (325312); the highest point of the upper surface of the sixth joint portion (32532) has two symmetrically arranged fifth arc-shaped concave portions (325321). The lowest point of the lower surface of the fifth joint portion (32531) has two symmetrically arranged sixth arc-shaped recesses (325322), and the line connecting the two fifth arc-shaped recesses (325321) is perpendicular to the line connecting the two sixth arc-shaped recesses (325322); the fifth arc-shaped protrusion (325311) and the fifth arc-shaped recess (325321) cooperate with each other, the sixth arc-shaped protrusion (325312) and the sixth arc-shaped recess (325322) cooperate with each other, and the lower surface of the fifth joint portion (32531) and the upper surface of the sixth joint portion (32532) form a fifth deformation space, and the upper surface of the fifth joint portion (32531) and the lower surface of the sixth joint portion (32532) form a sixth deformation space; The first joint portion (32511), the second joint portion (32512), the third joint portion (32521), the fourth joint portion (32522), the fifth joint portion (32531), and the sixth joint portion (32532) are each provided with a first through hole (325a), a second through hole (325b), a third through hole (325c), a fourth through hole (325d), a fifth through hole (325e), a sixth through hole (325f), a seventh through hole (325g), an eighth through hole (325h), and a ninth through hole (325i) that penetrate their upper and lower surfaces. The third drive assembly (322) includes a first pull rope (3225), a second pull rope (3226), and a third pull rope (3227). There are three first pull ropes (3225), three second pull ropes (3226), and three third pull ropes (3227). The three first pull ropes (3225) are respectively threaded through a first through hole (325a), a fourth through hole (325d), and a seventh through hole (325g). The ends of the three first pull ropes (3225) are connected to the first connector (3254). The three second pull ropes (3226) are respectively passed through the second through hole (325b), the fifth through hole (325e) and the eighth through hole (325h), and the ends of the three second pull ropes (3226) are connected to the second connector (3255); the three third pull ropes (3227) are respectively passed through the third through hole (325c), the sixth through hole (325f) and the ninth through hole (325i), and the ends of the three third pull ropes (3227) are connected to the third connector (3256).

9. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 8, characterized in that, The first connector (3254) has an annular columnar structure. The highest point of the upper surface of the first connector (3254) has two symmetrically arranged seventh arc-shaped recesses (32541), and the lowest point of the lower surface of the first connector (3254) has two symmetrically arranged eighth arc-shaped recesses (32542). The line connecting the two seventh arc-shaped recesses (32541) is perpendicular to the line connecting the two eighth arc-shaped recesses (32542). The second arc-shaped protrusion (325112) cooperates with the seventh arc-shaped recesses (32541), and the third arc-shaped protrusion (325211) cooperates with the eighth arc-shaped recesses (32542). The second connector (3255) has an annular columnar structure. The highest point of the upper surface of the second connector (3255) has two symmetrically arranged ninth arc-shaped recesses (32551), and the lowest point of the lower surface of the second connector (3255) has two symmetrically arranged tenth arc-shaped recesses (32552). The line connecting the two ninth arc-shaped recesses (32551) is perpendicular to the line connecting the two tenth arc-shaped recesses (32552). The fourth arc-shaped protrusion (325212) cooperates with the ninth arc-shaped recesses (32551), and the fifth arc-shaped protrusion (325311) cooperates with the tenth arc-shaped recesses (32552). The third connector (3256) has an annular columnar structure. The highest point of the upper surface of the third connector (3256) has two symmetrically arranged eleventh arc-shaped recesses (32561). The sixth arc-shaped protrusion (325312) cooperates with the eleventh arc-shaped recesses (32561). The lower end of the third connector (3256) is connected to the rotating assembly (331).

10. The reactor lower in-core component core support plate full-area foreign object video inspection and capture device according to claim 9, characterized in that, The rotating assembly (331) includes a fixed cylinder (3311), a sliding transmission shaft (3312), a mounting base (3313), a rotating shaft (3314), a sliding sleeve shaft (3315), a sliding sleeve (3316), a first elastic element (3317), an adapter plate (3318), and a plurality of ball screws (3319). The mounting base (3313) connects the upper end of the fixed cylinder (3311) to the lower end of the third connector (3256). The sliding transmission shaft (3312) is movably inserted through the mounting base (3313). The rotating shaft (3314) is connected to the lower end of the sliding transmission shaft (3312), and the rotating shaft (3314) is located inside the fixed cylinder (3311). The sliding sleeve (3316) is located inside the fixed cylinder (3311) and is used to be sleeved on the outer periphery of the rotating shaft (3314). The outer periphery of the rotating shaft (3314) is provided with a plurality of spirally continuous sliding grooves (33141). The axial sidewall of the sliding sleeve (3316) is provided with a plurality of ball screws (3319), and the ends of the ball screws (3319) are located in the sliding grooves (33141). The upper end of the sliding sleeve shaft (3315) passes through the rotating shaft (3314) and the upper end of the sliding sleeve shaft (3315) cooperates with the mounting base (3313). The lower end of the sliding sleeve shaft (3315) passes through the lower end of the sliding sleeve (3316) and the lower end of the sliding sleeve shaft (3315) is connected to the adapter plate (3318). The first elastic element (3317) is sleeved on the outer periphery of the portion of the sliding sleeve shaft (3315) that protrudes from the rotating shaft (3314), and the two ends of the first elastic element (3317) respectively abut against the lower surface of the mounting base (3313) and the upper surface of the rotating shaft (3314). The third drive assembly (322) also includes two fourth pull ropes (3228), which are connected to the upper end of the sliding drive shaft (3312); The gripping assembly (332) includes a housing (3321), a positioning piston (3322), a first connecting rod (3323), a second connecting rod (3324), a first gripper (3325), a second gripper (3326), and a second elastic element (3327). The top of the outer shell (3321) is connected to the adapter plate (3318). A sliding groove (33211) is provided inside the outer shell (3321), and the sliding groove (33211) is coaxially arranged with the outer shell (3321). The second elastic member (3327) is located within the sliding groove (33211), and the upper end of the second elastic member (3327) abuts against the inner surface of the top of the outer shell (3321), while the lower end of the second elastic member (3327) abuts against the upper surface of the positioning piston (3322). The lower end of the positioning piston (3322) is provided with a positioning groove (33221). The first connecting... The upper end of the rod (3323) and the upper end of the second connecting rod (3324) are rotatably mounted in the positioning groove (33221); the upper end of the first gripper (3325) is rotatably connected to the lower end of the first connecting rod (3323), the upper end of the second gripper (3326) is rotatably connected to the lower end of the second connecting rod (3324), and the middle parts of the first gripper (3325) and the second gripper (3326) are connected together by a rotating shaft (3328); the clamping ends of the first gripper (3325) and the second gripper (3326) protrude from the lower end of the outer shell (3321); The third drive assembly (322) further includes a fifth pull rope (3229), the lower end of which is connected to the upper end face of the positioning piston (3322).

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