Underwater mechanical arm for ultrasonic video inspection of reactor equipment of nuclear power station

Abstract

The invention discloses an underwater mechanical arm for ultrasonic video inspection of reactor equipment in a nuclear power station. The underwater mechanical arm comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint, the inner cavities of the first joint, the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint, the first hollow connecting assembly and the second hollow connecting assembly are arranged in a communicating mode, so that cable wiring is facilitated, and compared with an independent sealing joint structure, it is not needed to arrange an independent interface at each joint; the problem that cable interfaces and cables are numerous and disordered can be effectively solved, interference of the cables on operation of the mechanical arm can be effectively avoided, in addition, the mechanical arm is provided with multiple cavities, the buoyancy of the mechanical arm can be improved, arrangement of parts such as a buoyancy block can be reduced, and the irradiation dose borne by technicians can be effectively reduced and even avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power, in particular to an underwater mechanical arm for ultrasonic video inspection of nuclear power plant reactor equipment. BACKGROUND

[0002] The nuclear reactor pressure vessel is still highly radioactive inside due to the presence of activated products even after the unit is shut down, and manual detection of the entire range for a long time cannot be performed on the vessel at close range by manpower, so safe and reliable automated inspection equipment is an essential key element for reactor pressure vessel inspection.

[0003] The existing mechanical arm for reactor pressure vessel inspection mostly uses independent sealed joints, and the joints are connected through solid connecting rods, and the buoyancy blocks are tied at the solid connecting rods to increase the load capacity underwater. The disadvantages of such design are: first, each joint has multiple wiring ports, which need to be configured with independent cables, etc., resulting in cable disorder and interference with the operation of the mechanical arm. Second, during equipment debugging and use, the buoyancy blocks need to be manually tied and removed, increasing the radiation dose received by personnel. SUMMARY

[0004] The technical problem to be solved by the present application is to provide an underwater mechanical arm for ultrasonic video inspection of nuclear power plant reactor equipment, to solve the technical problem of more cable interfaces and cables and increased radiation dose received by personnel caused by multiple independent sealed joints in the related art.

[0005] The technical solution adopted by the present application to solve the technical problem is: constructing an underwater mechanical arm for ultrasonic video inspection of nuclear power plant reactor equipment, comprising a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint; The first joint is connected with the second joint, the axis of the first joint and the axis of the second joint are perpendicular to each other, the second joint is connected with the third joint, the axis of the second joint and the axis of the third joint are perpendicular to each other, the third joint is connected with the fourth joint through a first hollow connecting assembly, the axis of the third joint and the axis of the fourth joint are arranged in parallel, the fourth joint is connected with the fifth joint through a second hollow connecting assembly, the axis of the fourth joint and the axis of the fifth joint are arranged in parallel; the fifth joint is connected with the sixth joint, the axis of the fifth joint and the axis of the sixth joint are perpendicular to each other, the output end of the sixth joint is provided with a connecting structure for connecting with a detection device; the inner cavities of the first joint, the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint, the first hollow connecting assembly and the second hollow connecting assembly are in communication.

[0006] In some embodiments, the first joint comprises a first housing, a first joint module and a first rotating seat, one end of the first housing is provided with a limiting hole, an inner end wall of the limiting hole is provided with a first mounting flange, a first fixed part of the first joint module is connected and fixed with the first mounting flange; the first rotating seat is installed in the limiting hole, the first rotating seat comprises a first main part, an inner wall surface of the first main part is provided with a first connecting part, a first rotating part of the first joint module is connected with the first connecting part.

[0007] In some embodiments, the first joint further comprises a mounting base, the mounting base is located outside the first housing, and the mounting base is connected with an end surface of the first main part.

[0008] In some embodiments, the second joint comprises a second housing, a second joint module and a second rotating seat, the second housing is a hollow tubular structure, a first end of the second housing is connected with a circumferential side surface of the first housing, and the second housing is arranged in communication with an inner cavity of the first housing; an inner wall surface of the second housing close to a second end thereof is provided with a second mounting flange, a second fixed part of the second joint module is connected and fixed with the second mounting flange; the second rotating seat comprises a second main part, axial two ends of the second main part are respectively provided with a first annular part and a second annular part, an inner side wall of the second main part is further provided with a second connecting part; the second end of the second housing is located outside the first annular part, and a second rotating part of the second joint module is connected with the second connecting part.

[0009] In some embodiments, the third joint comprises a third housing, a third joint module and a third rotating seat; the third housing is a hollow tubular structure, a circumferential side surface of the third housing is provided with a first shell part, the first shell part is sleeved outside the second annular part, and an end surface of the first shell part is connected with an end surface of the second main part; the third housing, the first shell part and an inner cavity of the second housing are arranged in communication; an inner wall surface of an upper end of the third housing is provided with a third mounting flange, a third fixed part of the third joint module is connected and fixed with the third mounting flange; the third rotating seat comprises a third main part, an inner side wall of the third main part is further provided with a third connecting part; a third rotating part of the third joint module is connected with the third connecting part; The first hollow connection assembly includes a first power plate, a first non-power plate, and a first connecting rod. The first power plate and the first non-power plate are arranged in parallel and spaced apart. The first power plate includes a first power plate body, and an inner side surface of the first power plate body is provided with a first cylindrical portion and a second cylindrical portion. The first non-power plate includes a first non-power plate body, and an inner side surface of the first non-power plate body is provided with a first cavity. The first cavity is provided with a first cylindrical portion and a second cylindrical portion on the side facing the first power plate. The inner cavities of the first cavity, the first cylindrical portion, and the second cylindrical portion are arranged in communication. The first cylindrical portion is arranged opposite to the first cylindrical portion, and the second cylindrical portion is arranged opposite to the second cylindrical portion. The first connecting rod is in a hollow columnar shape. A first end of the first connecting rod is provided with a first connecting cylinder, and a second end of the first connecting rod is provided with a second connecting cylinder. The first cylindrical portion is connected with the third body portion, and the second cylindrical portion is connected with an upper end of the first connecting cylinder. The first cylindrical portion is located inside a lower end of the third shell. A first bearing seat is arranged between an outer periphery of the first cylindrical portion and an inner wall surface of the third shell. The first bearing seat is connected with the third shell. The first bearing seat has a first bearing groove. A first bearing is arranged in the first bearing groove. The first bearing is sleeved on the outer periphery of the first cylindrical portion. The second cylindrical portion is connected with a lower end of the first connecting cylinder.

[0010] In some embodiments, the first hollow connection assembly includes a second power plate and a second non-power plate. The second power plate and the second non-power plate are arranged in parallel and spaced apart. The second power plate includes a second power plate body, and an inner side surface of the second power plate body is provided with a third cylindrical portion and a fourth cylindrical portion. The second non-power plate includes a second non-power plate body, and an inner side surface of the second non-power plate body is provided with a second cavity. The second cavity is provided with a third cylindrical portion and a fourth cylindrical portion on the side facing the second power plate. The inner cavities of the second cavity, the third cylindrical portion, and the fourth cylindrical portion are arranged in communication. The third cylindrical portion is arranged opposite to the third cylindrical portion, and the fourth cylindrical portion is arranged opposite to the fourth cylindrical portion. The third cylindrical portion is connected with an upper end of the second connecting cylinder, and the fourth cylindrical portion is connected with a lower end of the second connecting cylinder. The fourth joint includes a fourth shell, a fourth joint module, and a fourth rotating seat. The fourth shell is in a hollow tubular structure. An inner wall surface of an upper end of the fourth shell is provided with a fourth mounting flange. A fourth fixed portion of the fourth joint module is connected and fixed with the fourth mounting flange. The fourth rotating seat includes a fourth body portion, and an inner side wall of the fourth body portion is further provided with a fourth connecting portion. A fourth rotating portion of the fourth joint module is connected with the fourth connecting portion. The fourth cylindrical part is connected with the fourth body part, the fourth cylindrical part is located inside the lower end of the fourth shell, a second bearing seat is arranged between the outer periphery of the fourth cylindrical part and the inner wall surface of the fourth shell, the second bearing seat is connected with the fourth shell, the second bearing seat has a second bearing groove, a second bearing is arranged in the second bearing groove, and the second bearing is sleeved on the outer periphery of the fourth cylindrical part.

[0011] In some embodiments, the circumferential side of the fourth shell is provided with a second shell part, and the inner cavity of the fourth shell is in communication with the second shell part; The second hollow connecting assembly comprises a second connecting rod, a third power plate and a third non-power plate; the third power plate and the third non-power plate are arranged in parallel and at intervals; the third power plate comprises a third power plate body, and the inner side of the third power plate body is provided with a fifth cylindrical part and a sixth cylindrical part; the third non-power plate comprises a third non-power plate body, and the inner side of the third non-power plate body is provided with a third cavity; the third cavity is provided with a fifth cylindrical part and a sixth cylindrical part towards the side of the third power plate; the inner cavities of the third cavity, the fifth cylindrical part and the sixth cylindrical part are in communication; the fifth cylindrical part is arranged opposite to the fifth cylindrical part, and the sixth cylindrical part is arranged opposite to the sixth cylindrical part; the second connecting rod is in a hollow columnar shape; a connecting flange is arranged at the first end of the second connecting rod; and a third connecting cylinder is arranged at the second end of the second connecting rod; the connecting flange is connected with the second shell part; The fifth cylindrical part is connected with the upper end of the third connecting cylinder, and the fifth cylindrical part is connected with the lower end of the third connecting cylinder; The fifth joint comprises a fifth shell, a fifth joint module and a fifth rotating seat; the fifth shell is in a hollow tubular structure; the inner wall surface of the upper end of the fifth shell is provided with a fifth mounting flange; the fifth fixed part of the fifth joint module is connected and fixed with the fifth mounting flange; the fifth rotating seat comprises a fifth body part, and the inner side wall of the fifth body part is further provided with a fifth connecting part; the fifth rotating part of the fifth joint module is connected with the fifth connecting part; The sixth cylindrical part is connected with the fifth body part, the sixth cylindrical part is located inside the lower end of the fifth shell, a third bearing seat is arranged between the outer periphery of the sixth cylindrical part and the inner wall surface of the fifth shell, the third bearing seat is connected with the fifth shell, the third bearing seat has a third bearing groove, a third bearing is arranged in the third bearing groove, and the third bearing is sleeved on the outer periphery of the sixth cylindrical part.

[0012] In some embodiments, the circumferential side of the fifth shell is provided with a third shell part, and the fifth shell is in communication with the third shell part; The sixth joint comprises a sixth shell, a sixth joint module and a sixth rotating seat, the sixth shell is a hollow tubular structure, a first end of the sixth shell is connected with a circumferential side of the third shell part, and the sixth shell is arranged in communication with the inner cavity of the fifth shell; An inner wall surface of the sixth shell close to a second end thereof is provided with a sixth mounting flange, a sixth fixed part of the sixth joint module is connected and fixed with the sixth mounting flange, and the sixth rotating seat comprises a sixth main part, and an inner side wall of the sixth main part is further provided with a sixth connecting part; a sixth rotating part of the sixth joint module is connected with the sixth connecting part. The connecting structure comprises a flange barrel and a connecting plate connected with the flange barrel, and the flange barrel is connected with the sixth main part.

[0013] In some embodiments, the underwater mechanical arm for ultrasonic video inspection of nuclear power plant reactor equipment further comprises a protective sleeve sleeved on the outer periphery of the first joint, the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint, the first hollow connecting assembly and the second hollow connecting assembly.

[0014] In some embodiments, the first shell is provided with a plurality of waterproof sealing interfaces.

[0015] The underwater mechanical arm for ultrasonic video inspection of nuclear power plant reactor equipment comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint; the first joint is connected with the second joint, the axis of the first joint and the axis of the second joint are perpendicular to each other, the second joint is connected with the third joint, the axis of the second joint and the axis of the third joint are perpendicular to each other, the third joint is connected with the fourth joint through a first hollow connecting assembly, the axis of the third joint and the axis of the fourth joint are arranged in parallel, the fourth joint is connected with the fifth joint through a second hollow connecting assembly, the axis of the fourth joint and the axis of the fifth joint are arranged in parallel; the fifth joint is connected with the sixth joint, the axis of the fifth joint and the axis of the sixth joint are perpendicular to each other, and the output end of the sixth joint is provided with a connecting structure for connecting with a detection device; the inner cavities of the first joint, the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint, the first hollow connecting assembly and the second hollow connecting assembly are arranged in communication, so as to facilitate cable wiring; compared with an independent sealing joint structure, the underwater mechanical arm does not need to be provided with independent interfaces at each joint, can effectively avoid the problem of numerous and messy cable interfaces and cables, can effectively avoid the interference of the cables on the operation of the mechanical arm, in addition, the mechanical arm has more cavities, can improve the buoyancy of the mechanical arm itself, can reduce the setting of a buoyancy block and other components, and can effectively reduce or even avoid the radiation dose of a technician. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present application, the present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings: Figure 1 is a schematic diagram of an underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in some embodiments of the present application; Figure 2 is a structural schematic diagram of an underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in some embodiments of the present application; Figure 3 is a structural schematic diagram of an underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in some embodiments of the present application; Figure 4 is a perspective sectional view of an underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in some embodiments of the present application; Figure 5 is Figure 4 a part of the details of the underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in Figure 6 is Figure 4 a second part of the details of the underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in Figure 7 is a planar sectional view of an underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in some embodiments of the present application; Figure 8 is Figure 7 a part of the details of the planar sectional view of the underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in Figure 9 is Figure 7 a second part of the details of the planar sectional view of the underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in Figure 10 is Figure 7 a third part of the details of the planar sectional view of the underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in Figure 11 is a structural schematic diagram of a first joint module in some embodiments of the present application; Figure 12 is a structural schematic diagram of a first joint module in some embodiments of the present application. DETAILED DESCRIPTION

[0017] In order to make the technical features, objectives and effects of the present application clearer, the specific embodiments of the present application will be described in detail with reference to the drawings. In the following description, it should be understood that the "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and other indications of orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, constructed and operated in a particular orientation, and are only for the convenience of describing the technical solutions, and do not indicate that the devices or elements referred to must have a particular orientation, therefore, it cannot be understood as a limitation on the present application.

[0018] It should also be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "setting" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there can be one or more intervening elements. The terms "first", "second", "third" and the like are only for the convenience of describing the technical solutions, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features, therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly included one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0019] In the following description, specific details such as specific system structures, techniques, etc. are presented for the purpose of illustration, not for the purpose of limitation, so as to thoroughly understand the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed description of well-known systems, devices, circuits and methods is omitted to avoid unnecessary details that hinder the description of the present application.

[0020] Reference Figures 1 to 12The application shows a kind of underwater mechanical arm for nuclear power plant reactor equipment ultrasonic video inspection, arm spread is more than 2.5 meters, load capacity can be greater than 15 kg.It can adapt to full underwater working condition.The underwater mechanical arm for nuclear power plant reactor equipment ultrasonic video inspection can be used in high radioactivity, boron water filled underwater 20 meters application environment, to the key components of reactor pressure vessel (RPV), such as inner wall, weld, core area, etc., carries out automatic ultrasonic scanning (UT) detection and video visual inspection (VT), to ensure its structural integrity and operation safety, belongs to the technical field of nuclear facility operation robot and special operation equipment.

[0021] Reference Figures 1 to 12 The underwater mechanical arm for nuclear power plant reactor equipment ultrasonic video inspection includes first joint 10, second joint 20, third joint 30, fourth joint 40, fifth joint 50 and sixth joint 60.

[0022] As Figure 1 The first joint 10 is connected with the second joint 20, the axis of the first joint 10 and the axis of the second joint 20 are perpendicular, the second joint 20 is connected with the third joint 30, the axis of the second joint 20 and the axis of the third joint 30 are perpendicular, the third joint 30 is connected with the fourth joint 40 through first hollow connection assembly 70, the axis of the third joint 30 and the axis of the fourth joint 40 are parallel, the fourth joint 40 is connected with the fifth joint 50 through second hollow connection assembly 80, the axis of the fourth joint 40 and the axis of the fifth joint 50 are parallel;The fifth joint 50 is connected with the sixth joint 60, the axis of the fifth joint 50 and the axis of the sixth joint 60 are perpendicular, the output end of the sixth joint 60 is provided with connecting structure 90 for connecting with detection device.The detection device includes but is not limited to video probe holder and / or ultrasonic probe holder, video probe holder is used for video inspection, and ultrasonic probe holder is used for ultrasonic inspection.Preferably, the detection device includes but is not limited to video probe holder and ultrasonic probe holder.

[0023] The inner cavities of the first joint 10, the second joint 20, the third joint 30, the fourth joint 40, the fifth joint 50, the sixth joint 60, the first hollow connection assembly 70 and the second hollow connection assembly 80 are communicated, so as to facilitate cable wiring, compared with independent sealing joint structure, it does not need to set independent interface at each joint, can effectively avoid the problem of numerous and messy cable interface and cable, can effectively avoid the interference of cable to mechanical arm operation, in addition, the mechanical arm has more cavities, can improve the buoyancy of the mechanical arm itself, can reduce the setting of buoyancy block and other components, can effectively reduce or even avoid the radiation dose of technical personnel.

[0024] In some embodiments, the first joint 10, the second joint 20, the third joint 30, the fourth joint 40, the fifth joint 50, and the sixth joint 60 are arranged in a straight line, and all six joints are connected. After entering from the first joint 10, the cable is completely inserted inside the underwater robotic arm used for ultrasonic video inspection of nuclear power plant reactor equipment. The underwater robotic arm used for ultrasonic video inspection of nuclear power plant reactor equipment maintains a symmetrical structure, which facilitates the use of an elastic rubber sleeve to encapsulate the underwater robotic arm used for ultrasonic video inspection of nuclear power plant reactor equipment.

[0025] like Figure 1 As shown, in some embodiments, the axis of the first joint 10 is arranged perpendicular to the horizontal plane, reducing the driving force requirements of the robotic arm on the first joint 10 and the second joint 20.

[0026] The third joint 30 and the fourth joint 40 are connected by the first hollow connecting component 70, and the fourth joint 40 and the fifth joint 50 are connected by the second hollow connecting component 80. The hollow structure increases the buoyancy of the robotic arm underwater.

[0027] In some embodiments, the second joint 20 and the third joint 30 may be designed as an integral structure.

[0028] like Figure 2 , Figure 4 , Figure 5 As shown, in some embodiments, the first joint 10 includes a first housing 11, a first joint module 12, and a first rotating seat 13. The first housing 11 is generally a cylindrical or tubular structure, with one end sealed and the other open. Further, one end of the first housing 11 has a limiting hole, and the inner wall of the limiting hole has a first mounting flange 111. The first fixing part 121 of the first joint module 12 is connected and fixed to the first mounting flange 111. The first rotating seat 13 is installed in the limiting hole and can seal the limiting hole. The first rotating seat 13 includes a first main body 131, and the inner wall of the first main body 131 has a first connecting part 132. The first connecting part 132 can be a flange structure, and the first rotating part 122 of the first joint module 12 is connected to the first connecting part 132.

[0029] like Figure 2 , Figure 4 , Figure 5 As shown, in some embodiments, a static sealing structure and / or a dynamic sealing structure may be provided between the first housing 11, the first joint module 12, and the first rotating seat 13. The static sealing structure includes, but is not limited to, a sealing ring, and the dynamic sealing structure includes, but is not limited to, a sealing ring. The sealing ring may be a rubber O-ring.

[0030] As shown in Figure 2 , Figure 4 , Figure 5 , in some embodiments, the first joint 10 further comprises a mounting base 14 located outside the first housing 11, the mounting base 14 is connected with the end face of the first body part 131. The mounting base 14 can be connected with the first body part 131 through a flange structure, and the mounting base 14 can seal the limiting hole.

[0031] As shown in Figure 2 , in some embodiments, the first housing 11 is provided with a plurality of waterproof sealing interfaces. The waterproof sealing interface can be provided at the bottom of the first housing 11 near the first fixed part 121 of the first joint module 12. The waterproof sealing interface can include a control communication line interface 112, an air sealing interface 113, and a power line interface 114. The control communication line interface 112 can be used for control and sensing (low voltage) line connection, the air sealing interface 113 can be used for sealing air pipe connection, and the power line interface 114 can be used for power (high voltage) line connection.

[0032] As shown in Figure 2 , Figure 4 , Figure 5 , Figure 7 and Figure 8 , in some embodiments, the second joint 20 comprises a second housing 21, a second joint module 22 and a second rotating seat 23, the second housing 21 is a hollow tubular structure, the first end of the second housing 21 is connected with the circumferential side of the first housing 11, and the second housing 21 is arranged in communication with the inner cavity of the first housing 11. The second housing 21 is generally a circular tubular structure. In some embodiments, the connection between the second housing 21, the second joint module 22 and the second rotating seat 23 can also be provided with static sealing structure and / or dynamic sealing structure, the static sealing structure includes but is not limited to sealing ring, and the dynamic sealing structure includes but is not limited to sealing ring. The sealing ring can be rubber O-shaped sealing ring.

[0033] The inner wall surface of the second housing 21 near the second end is provided with a second mounting flange 211, and the second fixed part 221 of the second joint module 22 is connected and fixed with the second mounting flange 211; the second rotating seat 23 comprises a second body part 231, the axial both ends of the second body part 231 are respectively provided with a first annular part 232 and a second annular part 233, and the inner side wall of the second body part 231 is further provided with a second connecting part 234; the second end of the second housing 21 is located outside the periphery of the first annular part 232, and the second rotating part 222 of the second joint module 22 is connected with the second connecting part 234. The second connecting part 234 can be a flange structure.

[0034] As shown in Figure 2 ,Figure 4 、 Figure 5 、 Figure 7 and Figure 8 As shown in

[0035] As shown in Figure 2 、 Figure 4 、 Figure 5 、 Figure 7 and Figure 8 In some embodiments, the third joint 30 further comprises a third static seal structure and / or a third dynamic seal structure at the connection between the third shell 31, the third joint module 32 and the third rotating seat 33. The third static seal structure includes but is not limited to a sealing ring. The third dynamic seal structure includes but is not limited to a sealing ring. The sealing ring can be a rubber O-shaped sealing ring.

[0036] As shown in Figure 2 、 Figure 4 、 Figure 5 、 Figure 7 and Figure 8 The first hollow connection assembly 70 comprises a first power plate 71, a first non-power plate 72 and a first connecting rod 73. The first power plate 71 and the first non-power plate 72 are arranged in parallel and spaced apart. The first power plate 71 comprises a first power plate body 711, which can be an elliptical plate structure. The inner side of the first power plate body 711 is provided with a first cylindrical portion 712 and a second cylindrical portion 713. The first cylindrical portion 712 and the second cylindrical portion 713 are arranged in parallel and spaced apart along the length direction of the first power plate body 711.

[0037] The first non-powered plate 72 comprises a first non-powered plate body 721 which can be an elliptical plate structure, an inner side of the first non-powered plate body 721 is provided with a first cavity 722, the first cavity 722 is provided with a first cylindrical portion 723 and a second cylindrical portion 724 towards a side of the first powered plate 71, the first cylindrical portion 723 and the second cylindrical portion 724 can be arranged at intervals along a length direction of the first non-powered plate body 721.

[0038] The first cavity 722, the first cylindrical portion 723 and the second cylindrical portion 724 are communicated; the first cylindrical portion 723 is arranged opposite to the first cylindrical portion 712, and the second cylindrical portion 724 is arranged opposite to the second cylindrical portion 713; the first connecting rod 73 is a hollow column, which can be a hollow circular tube column structure, a first end of the first connecting rod 73 is provided with a first connecting cylinder 731, and a second end of the first connecting rod 73 is provided with a second connecting cylinder 732; the first connecting cylinder 731 and the second connecting cylinder 732 are arranged in parallel at intervals. The first connecting rod 73, the first connecting cylinder 731 and the second connecting cylinder 732 jointly form a structure shape of approximately H type.

[0039] Further, the first cylindrical portion 712 is connected with the third body portion 331, and the second cylindrical portion 713 is connected with an upper end of the first connecting cylinder 731, which can be fixed and connected by a threaded connection mode; the first cylindrical portion 723 is located inside a lower end of the third shell 31, a first bearing seat 7231 is arranged between an outer periphery of the first cylindrical portion 723 and an inner wall surface of the third shell 31, the first bearing seat 7231 is connected with the third shell 31, the first bearing seat 7231 has a first bearing groove 7232, a first bearing 7233 is arranged in the first bearing groove 7232, and the first bearing 7233 is sleeved on the outer periphery of the first cylindrical portion 723; the second cylindrical portion 724 is connected with a lower end of the first connecting cylinder 731.

[0040] As shown in Figure 2 , Figure 4 , Figure 5 , Figure 7 , Figure 8 , Figure 2 In some embodiments, the first hollow connecting assembly 70 comprises a second powered plate 74 and a second non-powered plate 75; the second powered plate 74 and the second non-powered plate 75 are arranged in parallel at intervals.

[0041] The second power plate 74 comprises a second power plate body 741, which is substantially an elliptical plate structure. The inner side of the second power plate body 741 is provided with a third cylindrical portion 742 and a fourth cylindrical portion 743, which can be spaced apart along the length direction of the second power plate body 741.

[0042] The second non-power plate 75 comprises a second non-power plate body 751, and the inner side of the second non-power plate body 751 is provided with a second cavity 752, which is provided with a third cylindrical portion 753 and a fourth cylindrical portion 754 towards the side of the second power plate 74, and the inner cavities of the second cavity 752, the third cylindrical portion 753 and the fourth cylindrical portion 754 are communicated. The second non-power plate body 751 is substantially an elliptical plate structure, and the third cylindrical portion 753 and the fourth cylindrical portion 754 can be spaced apart along the length direction of the second non-power plate body 751.

[0043] The third cylindrical portion 753 is arranged opposite to the third cylindrical portion 742, and the fourth cylindrical portion 754 is arranged opposite to the fourth cylindrical portion 743. The third cylindrical portion 742 is connected to the upper end of the second connecting cylinder 732, and the third cylindrical portion 753 is connected to the lower end of the second connecting cylinder 732, which can be connected and fixed by fastening bolts or fastening screws.

[0044] As shown in Figure 4 , Figure 5 , Figure 7 , Figure 8 , Figure 2 , Figure 4 Further, the fourth joint 40 comprises a fourth housing 41, a fourth joint module 42 and a fourth rotating seat 43. The fourth housing 41 is a hollow tubular structure, and is substantially a circular tubular structure. The inner wall surface of the upper end of the fourth housing 41 is provided with a fourth mounting flange 411, and the fourth fixed portion 421 of the fourth joint module 42 is connected and fixed to the fourth mounting flange 411. The fourth mounting flange 411 can be a flange structure, and the connection and fixing mode can be a threaded connection mode. The fourth rotating seat 43 comprises a fourth main body portion 431, and the inner side wall of the fourth main body portion 431 is further provided with a fourth connecting portion 432. The fourth rotating portion 422 of the fourth joint module 42 is connected to the fourth connecting portion 432. The fourth connecting portion 432 can be a flange connection structure, and the connection and fixing mode can be a threaded connection mode. In some embodiments, a static sealing structure and / or a dynamic sealing structure can be further arranged at the connection between the fourth housing 41, the fourth joint module 42 and the fourth rotating seat 43. The static sealing structure includes but is not limited to a sealing ring, and the dynamic sealing structure includes but is not limited to a sealing ring. The sealing ring can be a rubber O-shaped sealing ring.

[0045] The fourth cylindrical portion 743 is connected with the fourth body portion 431, the fourth cylindrical portion 754 is located inside the lower end of the fourth shell 41, a second bearing seat 7541 is arranged between the outer periphery of the fourth cylindrical portion 754 and the inner wall surface of the fourth shell 41, the second bearing seat 7541 is connected with the fourth shell 41, the second bearing seat 7541 has a second bearing groove 7542, a second bearing 7543 is arranged in the second bearing groove 7542, and the second bearing 7543 is sleeved on the outer periphery of the fourth cylindrical portion 754.

[0046] As shown in Figure 5 , Figure 7 , Figure 8 , Figure 2 , Figure 4 , Figure 5 , Figure 7 In some embodiments, the circumferential side of the fourth shell 41 is provided with a second shell portion 412, and the inner cavity of the fourth shell 41 is in communication with the second shell portion 412.

[0047] The second hollow connecting assembly 80 includes a second connecting rod 81, a third power plate 82 and a third non-power plate 83; the third power plate 82 and the third non-power plate 83 are arranged in parallel and spaced apart; the third power plate 82 includes a third power plate body 821, which is substantially an elliptical plate structure, and the inner side of the third power plate body 821 is provided with a fifth cylindrical portion 822 and a sixth cylindrical portion 823; the fifth cylindrical portion 822 and the sixth cylindrical portion 823 are arranged in spaced apart along the length direction of the third power plate body 821.

[0048] The third non-power plate 83 includes a third non-power plate body 831, and the inner side of the third non-power plate body 831 is provided with a third cavity 832, the third cavity 832 is provided with a fifth cylindrical portion 833 and a sixth cylindrical portion 834 towards the third power plate 82 side, and the inner cavities of the third cavity 832, the fifth cylindrical portion 833 and the sixth cylindrical portion 834 are in communication; the third non-power plate body 831 is substantially an elliptical plate structure, and the fifth cylindrical portion 833 and the sixth cylindrical portion 834 are arranged in spaced apart along the length direction of the third non-power plate body 831.

[0049] The fifth cylindrical portion 833 is arranged opposite to the fifth cylindrical portion 822, and the sixth cylindrical portion 834 is arranged opposite to the sixth cylindrical portion 823; the second connecting rod 81 is in a hollow columnar shape, and can be a hollow columnar structure, the first end of the second connecting rod 81 is provided with a connecting flange 811, and the second end of the second connecting rod 81 is provided with a third connecting cylinder 812; the connecting flange 811 is connected with the second shell portion 412. The fifth cylindrical portion 822 is connected with the upper end of the third connecting cylinder 812, and the fifth cylindrical portion 833 is connected with the lower end of the third connecting cylinder 812.

[0050] As shown in Figure 8 , Figure 2 , Figure 4 , Figure 5 , Figure 7 , Figure 8 , Figure 2 The fifth joint 50 includes a fifth housing 51, a fifth joint module 52, and a fifth rotating seat 53. The fifth housing 51 has a hollow tubular structure. An inner wall surface of an upper end of the fifth housing 51 is provided with a fifth mounting flange 511. A fifth fixed part 521 of the fifth joint module 52 is connected and fixed with the fifth mounting flange 511. The fifth rotating seat 53 includes a fifth main body part 531. An inner side wall of the fifth main body part 531 is further provided with a fifth connecting part 532, which can be a flange structure. A fifth rotating part 522 of the fifth joint module 52 is connected with the fifth connecting part 532, which can be connected and fixed by a fastening bolt or a fastening screw. In some embodiments, a static sealing structure and / or a dynamic sealing structure can be further provided between the fifth housing 51, the fifth joint module 52, and the fifth rotating seat 53. The static sealing structure includes but is not limited to a sealing ring. The dynamic sealing structure includes but is not limited to a sealing ring. The sealing ring can be a rubber O-shaped sealing ring.

[0051] The sixth cylindrical part 823 is connected with the fifth main body part 531. The sixth cylindrical part 834 is located inside a lower end of the fifth housing 51. A third bearing seat 8341 is provided between an outer periphery of the sixth cylindrical part 834 and an inner wall surface of the fifth housing 51. The third bearing seat 8341 is connected with the fifth housing 51. The third bearing seat 8341 has a third bearing groove 8342. A third bearing 8343 is provided in the third bearing groove 8342. The third bearing 8343 is sleeved on the outer periphery of the sixth cylindrical part 834.

[0052] As shown in Figure 4 , Figure 5 , Figure 7 , Figure 8 , Figure 2 , Figure 4 , Figure 5 In some embodiments, a third housing part 512 is provided on a circumferential side surface of the fifth housing 51. The fifth housing 51 is provided in communication with the third housing part 512.

[0053] The sixth joint 60 comprises a sixth shell 61, a sixth joint module 62 and a sixth rotating seat 63. The sixth shell 61 is a hollow tubular structure, which can be a circular tubular structure. The first end of the sixth shell 61 is connected to the circumferential side of the third shell part 512, and the sixth shell 61 is arranged in communication with the inner cavity of the fifth shell 51. In some embodiments, static sealing structures and / or dynamic sealing structures can be arranged between the sixth shell 61, the sixth joint module 62 and the sixth rotating seat 63. The static sealing structures include but are not limited to sealing rings, and the dynamic sealing structures include but are not limited to sealing rings. The sealing ring can be a rubber O-shaped sealing ring.

[0054] The inner wall surface of the second end of the sixth shell 61 is provided with a sixth mounting flange 611. The sixth fixed part 621 of the sixth joint module 62 is connected and fixed to the sixth mounting flange 611. The sixth mounting flange 611 can be a flange structure, and the connection and fixing mode can be a threaded connection mode. The sixth rotating seat 63 comprises a sixth main body part 631. The inner side wall of the sixth main body part 631 is further provided with a sixth connecting part 632. The sixth rotating part 622 of the sixth joint module 62 is connected to the sixth connecting part 632. The sixth connecting part 632 can be a flange structure.

[0055] The connecting structure 90 comprises a flange barrel 91 and a connecting plate 92 connected to the flange barrel 91. The flange barrel 91 is connected to the sixth main body part 631, and can be fixed by threaded connection.

[0056] In some embodiments, the underwater mechanical arm for ultrasonic video inspection of nuclear power plant reactor equipment further comprises a protective sleeve sleeved on the outer periphery of the first joint 10, the second joint 20, the third joint 30, the fourth joint 40, the fifth joint 50, the sixth joint 60, the first hollow connecting assembly 70 and the second hollow connecting assembly 80. Specifically, the first joint 10, the second joint 20, the third joint 30, the fourth joint 40, the fifth joint 50, the sixth joint 60, the first hollow connecting assembly 70 and the second hollow connecting assembly 80 jointly form a mechanical arm body. The protective sleeve is used to be sleeved on the mechanical arm body, and the protective sleeve is an integral structure.

[0057] The protective sleeve is a rubber sleeve, which can encapsulate the underwater mechanical arm for ultrasonic video inspection of nuclear power plant reactor equipment as a whole. The rubber sleeve is a straight cylindrical rubber sleeve with good elasticity. The two ends of the rubber sleeve are glued to the first shell 11 of the first joint 10 and the sixth shell 61 of the sixth joint 60, respectively. The protective sleeve is arranged to avoid a large number of exposed structures and screws, which is conducive to decontamination and foreign object protection.

[0058] In some embodiments, the inner cavities of the first housing 11, the second housing 21, the third housing 31, the fourth housing 41, the fifth housing 51, the sixth housing 61, the first hollow connecting assembly 70 and the second hollow connecting assembly 80 are in communication, so as to facilitate cable routing.

[0059] In some embodiments, the first joint module 12, the second joint module 22, the third joint module 32, the fourth joint module 42, the fifth joint module 52 and the sixth joint module 62 can be selected motor, for example, brushless servo motor, and the rotating part can be the output end cover of the motor, as shown in Figure 7 and Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure 8 Figure 2 Figure 4 Figure 5 Figure 7 Figure Further, the first joint module 12, the second joint module 22, the third joint module 32, the fourth joint module 42, the fifth joint module 52 and the sixth joint module 62 have hollow cavities, which can be used for cable routing.

[0060] In some embodiments, the first power plate 71, the second power plate 74 and the third power plate 82 are on the same side, and the first non-power plate 72, the second non-power plate 75 and the third non-power plate 83 are on the same side.

[0061] In some embodiments, the outer diameter of the first connecting rod 73 is greater than the outer diameter of the second connecting rod 81. The axial length of the first connecting rod 73 is the same as or similar to the axial length of the second connecting rod 81, which is not specifically limited here.

[0062] In some embodiments, the underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment forms a large number of cavities inside, for example, the first hollow connecting assembly 70 and the second hollow connecting assembly 80 provide hollow structure, which can increase the buoyancy of the underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment in water, reduce the setting of external floating structure, and even can not set additional floating structure (such as buoyancy block), and can reduce the radiation dose of personnel.

[0063] In this application, the connection between each connecting part of the first joint 10, the second joint 20, the third joint 30, the fourth joint 40, the fifth joint 50, the sixth joint 60, the first hollow connecting assembly 70, the second hollow connecting assembly 80 and the second hollow connecting assembly 80 can be provided with static sealing structure and / or dynamic sealing structure to improve the sealing performance. The static sealing structure includes but is not limited to sealing ring, and the dynamic sealing structure includes but is not limited to sealing ring. The sealing ring can be rubber O-shaped sealing ring. Here is not specifically limited.

[0064] It can be understood that the above embodiments only express the preferred embodiments of the present application, which are described more specifically and in detail, but cannot be understood as a limitation to the patent scope of the present application; it should be pointed out that the above technical features can be freely combined without departing from the concept of the present application for those skilled in the art, and several modifications and improvements can be made, which all belong to the protection scope of the present application; therefore, any equivalent transformation and modification made to the patent claim scope of the present application shall belong to the coverage of the patent claim of the present application.

Claims

1. An underwater robotic arm for ultrasonic video inspection of nuclear power plant reactor equipment, characterized in that, The first joint (10), the second joint (20), the third joint (30), the fourth joint (40), the fifth joint (50) and the sixth joint (60) are connected; The first joint (10) is connected with the second joint (20), the axis of the first joint (10) and the axis of the second joint (20) are perpendicular to each other, the second joint (20) is connected with the third joint (30), the axis of the second joint (20) and the axis of the third joint (30) are perpendicular to each other, the third joint (30) is connected with the fourth joint (40) through the first hollow connecting assembly (70), the axis of the third joint (30) and the axis of the fourth joint (40) are arranged in parallel, the fourth joint (40) is connected with the fifth joint (50) through the second hollow connecting assembly (80), the axis of the fourth joint (40) and the axis of the fifth joint (50) are arranged in parallel, the fifth joint (50) is connected with the sixth joint (60), the axis of the fifth joint (50) and the axis of the sixth joint (60) are perpendicular to each other, the output end of the sixth joint (60) is provided with a connecting structure (90) for connecting with a detection device, and the first joint (10), the second joint (20), the third joint (30), the fourth joint (40), the fifth joint (50), the sixth joint (60), the first hollow connecting assembly (70) and the second hollow connecting assembly (80) are in communication.

2. The underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment according to claim 1, characterized in that, The first joint (10) comprises a first shell (11), a first joint module (12) and a first rotating seat (13), one end of the first shell (11) is provided with a limiting hole, the inner end wall of the limiting hole is provided with a first mounting flange (111), the first fixed part (121) of the first joint module (12) is connected and fixed with the first mounting flange (111), the first rotating seat (13) is installed in the limiting hole, the first rotating seat (13) comprises a first main body part (131), the inner wall surface of the first main body part (131) is provided with a first connecting part (132), and the first rotating part (122) of the first joint module (12) is connected with the first connecting part (132).

3. The underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment according to claim 2, characterised in that, The first joint (10) further comprises a mounting base (14), the mounting base (14) is located outside the first shell (11), and the mounting base (14) is connected with the end face of the first main body part (131).

4. The underwater robotic arm for ultrasonic video inspection of nuclear power plant reactor equipment of claim 2, wherein, The second joint (20) comprises a second shell (21), a second joint module (22) and a second rotating seat (23), the second shell (21) is a hollow tubular structure, the first end of the second shell (21) is connected with the circumferential side surface of the first shell (11), and the second shell (21) is arranged in communication with the inner cavity of the first shell (11); The inner wall surface of the second shell (21) near the second end thereof is provided with a second mounting flange (211), and the second fixed part (221) of the second joint module (22) is connected and fixed with the second mounting flange (211); the second rotating seat (23) comprises a second main body part (231), the axial two ends of the second main body part (231) are respectively provided with a first annular part (232) and a second annular part (233), and the inner side wall of the second main body part (231) is further provided with a second connecting part (234); the second end of the second shell (21) is located at the outer periphery of the first annular part (232), and the second rotating part (222) of the second joint module (22) is connected with the second connecting part (234).

5. The underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment according to claim 4, characterized in that, The third joint (30) comprises a third shell (31), a third joint module (32) and a third rotating seat (33); the third shell (31) is in a hollow tubular structure, the circumferential side surface of the third shell (31) is provided with a first shell part (311), the first shell part (311) is sleeved on the outer periphery of the second annular part (233), and the end surface of the first shell part (311) is connected with the end surface of the second main body part (231); the third shell (31), the first shell part (311) and the inner cavity of the second shell (21) are in communication; the inner wall surface of the upper end of the third shell (31) is provided with a third mounting flange (312), the third fixed part (321) of the third joint module (32) is connected and fixed with the third mounting flange (312); the third rotating seat (33) comprises a third main body part (331), and the inner side wall of the third main body part (331) is further provided with a third connecting part (332); the third rotating part (322) of the third joint module (32) is connected with the third connecting part (332); The first hollow connecting assembly (70) comprises a first power plate (71), a first non-power plate (72) and a first connecting rod (73); the first power plate (71) and the first non-power plate (72) are arranged in parallel and spaced apart; the first power plate (71) comprises a first power plate body (711), and an inner side surface of the first power plate body (711) is provided with a first cylindrical portion (712) and a second cylindrical portion (713); the first non-power plate (72) comprises a first non-power plate body (721), and an inner side surface of the first non-power plate body (721) is provided with a first cavity (722), the first cavity (722) is provided with a first cylindrical portion (723) and a second cylindrical portion (724) on a side facing the first power plate (71), and inner cavities of the first cavity (722), the first cylindrical portion (723) and the second cylindrical portion (724) are arranged in communication; the first cylindrical portion (723) is arranged opposite to the first cylindrical portion (712), and the second cylindrical portion (724) is arranged opposite to the second cylindrical portion (713); the first connecting rod (73) is in a hollow columnar shape, a first end of the first connecting rod (73) is provided with a first connecting cylinder (731), and a second end of the first connecting rod (73) is provided with a second connecting cylinder (732); The first cylindrical portion (712) is connected with the third body portion (331), and the second cylindrical portion (713) is connected with an upper end of the first connecting cylinder (731); the first cylindrical portion (723) is located inside a lower end of the third shell (31), a first bearing seat (7231) is arranged between an outer periphery of the first cylindrical portion (723) and an inner wall surface of the third shell (31), the first bearing seat (7231) is connected with the third shell (31), the first bearing seat (7231) has a first bearing groove (7232), a first bearing (7233) is arranged in the first bearing groove (7232), and the first bearing (7233) is sleeved on the outer periphery of the first cylindrical portion (723); and the second cylindrical portion (724) is connected with a lower end of the first connecting cylinder (731).

6. The underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment according to claim 5, characterized in that, The first hollow connecting assembly (70) comprises a second power plate (74) and a second non-power plate (75); the second power plate (74) and the second non-power plate (75) are arranged in parallel and spaced apart; the second power plate (74) comprises a second power plate body (741), and an inner side surface of the second power plate body (741) is provided with a third cylindrical portion (742) and a fourth cylindrical portion (743); the second non-power plate (75) comprises a second non-power plate body (751), and an inner side surface of the second non-power plate body (751) is provided with a second cavity (752), the second cavity (752) is provided with a third cylindrical portion (753) and a fourth cylindrical portion (754) on the side of the second power plate (74), and the second cavity (752), the third cylindrical portion (753) and the fourth cylindrical portion (754) are arranged in communication; the third cylindrical portion (753) is arranged opposite to the third cylindrical portion (742), and the fourth cylindrical portion (754) is arranged opposite to the fourth cylindrical portion (743); the third cylindrical portion (742) is connected with the upper end of the second connecting cylinder (732), and the third cylindrical portion (753) is connected with the lower end of the second connecting cylinder (732); The fourth joint (40) comprises a fourth shell (41), a fourth joint module (42) and a fourth rotating seat (43); the fourth shell (41) is in a hollow tubular structure; an inner wall surface of the upper end of the fourth shell (41) is provided with a fourth mounting flange (411), a fourth fixed portion (421) of the fourth joint module (42) is connected and fixed with the fourth mounting flange (411); the fourth rotating seat (43) comprises a fourth main body portion (431), and an inner side wall of the fourth main body portion (431) is further provided with a fourth connecting portion (432); a fourth rotating portion (422) of the fourth joint module (42) is connected with the fourth connecting portion (432); The fourth cylindrical portion (743) is connected with the fourth main body portion (431), the fourth cylindrical portion (754) is located inside the lower end of the fourth shell (41), a second bearing seat (7541) is arranged between the outer periphery of the fourth cylindrical portion (754) and the inner wall surface of the fourth shell (41), the second bearing seat (7541) is connected with the fourth shell (41), the second bearing seat (7541) has a second bearing groove (7542), a second bearing (7543) is arranged in the second bearing groove (7542), and the second bearing (7543) is sleeved on the outer periphery of the fourth cylindrical portion (754).

7. The underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment according to claim 6, characterized in that, A second shell portion (412) is arranged on the circumferential side surface of the fourth shell (41), and the inner cavity of the fourth shell (41) is arranged in communication with the second shell portion (412); The second hollow connecting assembly (80) comprises a second connecting rod (81), a third power plate (82) and a third non-power plate (83); the third power plate (82) and the third non-power plate (83) are arranged in parallel and are spaced apart; the third power plate (82) comprises a third power plate main body (821), and the inner side surface of the third power plate main body (821) is provided with a fifth cylindrical portion (822) and a sixth cylindrical portion (823); the third non-power plate (83) comprises a third non-power plate main body (831), and the inner side surface of the third non-power plate main body (831) is provided with a third cavity (832), the third cavity (832) is provided with a fifth cylindrical portion (833) and a sixth cylindrical portion (834) on the side facing the third power plate (82), and the inner cavities of the third cavity (832), the fifth cylindrical portion (833) and the sixth cylindrical portion (834) are arranged in communication; the fifth cylindrical portion (833) is arranged opposite to the fifth cylindrical portion (822), and the sixth cylindrical portion (834) is arranged opposite to the sixth cylindrical portion (823); the second connecting rod (81) is in a hollow columnar shape, the first end of the second connecting rod (81) is provided with a connecting flange (811), and the second end of the second connecting rod (81) is provided with a third connecting cylinder (812); the connecting flange (811) is connected with the second shell portion (412); The fifth cylindrical portion (822) is connected with the upper end of the third connecting cylinder (812), and the fifth cylindrical portion (833) is connected with the lower end of the third connecting cylinder (812); The fifth joint (50) comprises a fifth shell (51), a fifth joint module (52) and a fifth rotating seat (53); the fifth shell (51) is in a hollow tubular structure; the inner wall surface of the upper end of the fifth shell (51) is provided with a fifth mounting flange (511), the fifth fixed portion (521) of the fifth joint module (52) is connected and fixed with the fifth mounting flange (511); the fifth rotating seat (53) comprises a fifth main body portion (531), and the inner side wall of the fifth main body portion (531) is further provided with a fifth connecting portion (532); the fifth rotating portion (522) of the fifth joint module (52) is connected with the fifth connecting portion (532); The sixth cylindrical portion (823) is connected with the fifth main body portion (531), the sixth cylindrical portion (834) is located inside the lower end of the fifth shell (51), a third bearing seat (8341) is arranged between the outer periphery of the sixth cylindrical portion (834) and the inner wall surface of the fifth shell (51), the third bearing seat (8341) is connected with the fifth shell (51), the third bearing seat (8341) has a third bearing groove (8342), a third bearing (8343) is arranged in the third bearing groove (8342), and the third bearing (8343) is sleeved on the outer periphery of the sixth cylindrical portion (834).

8. The underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment according to claim 7, characterised in that, The circumferential side of the fifth shell (51) is provided with a third shell part (512), and the fifth shell (51) is in communication with the third shell part (512); The sixth joint (60) comprises a sixth shell (61), a sixth joint module (62) and a sixth rotating seat (63), the sixth shell (61) is a hollow tubular structure, the first end of the sixth shell (61) is connected with the circumferential side of the third shell part (512), and the sixth shell (61) is in communication with the inner cavity of the fifth shell (51); The inner wall surface of the sixth shell (61) close to the second end is provided with a sixth mounting flange (611), the sixth fixed part (621) of the sixth joint module (62) is connected and fixed with the sixth mounting flange (611); the sixth rotating seat (63) comprises a sixth main body part (631), and the inner side wall of the sixth main body part (631) is further provided with a sixth connecting part (632); the sixth rotating part (622) of the sixth joint module (62) is connected with the sixth connecting part (632); The connecting structure (90) comprises a flange barrel (91) and a connecting plate (92) connected with the flange barrel (91), and the flange barrel (91) is connected with the sixth main body part (631).

9. The underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment according to any of claims 1 to 8, characterized in that, The underwater mechanical arm for ultrasonic video inspection of nuclear power plant reactor equipment further comprises a protective sleeve sleeved outside the first joint (10), the second joint (20), the third joint (30), the fourth joint (40), the fifth joint (50), the sixth joint (60), the first hollow connecting assembly (70) and the second hollow connecting assembly (80).

10. The underwater manipulator for ultrasonic video inspection of nuclear power plant reactor equipment according to any of claims 2 to 8, characterized in that, The first shell (11) is provided with a plurality of waterproof sealing interfaces.

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