Foreign matter processing device for nuclear power plant

Abstract

The application discloses a nuclear power plant foreign matter treatment device which comprises a base, a flow hole positioning mechanism, a lifting mechanism, a tail end positioning mechanism, a pump suction mechanism, a grabbing mechanism and a flexible pipe. The nuclear power plant foreign matter treatment device realizes accurate centering of the foreign matter treatment device and the flow hole through the flow hole positioning mechanism, thereby providing a precise positioning basis for subsequent foreign matter treatment. The lifting mechanism realizes lifting of each executing mechanism, thereby ensuring that the foreign matter treatment device can enter and exit the narrow flow hole. The tail end positioning mechanism realizes posture adjustment of the flexible pipe, thereby adapting to the foreign matter positioning requirement of the limited space. The pump suction mechanism and the grabbing mechanism are cooperatively matched, thereby realizing multi-method foreign matter treatment such as suction, grabbing and blowing, and solving the treatment problem of different types and states of foreign matters. The nuclear power plant foreign matter treatment device has a reasonable overall structural layout, is suitable for a use scene of a limited space of a core upper plate, and realizes full-process coverage of foreign matter from positioning to treatment.

Description

Technical Field

[0001] This invention relates to the field of foreign object handling in the operation and maintenance of nuclear power plant internal components, and more particularly to a foreign object handling device for nuclear power plants. Background Technology

[0002] In response to the problem of a large number of inaccessible areas in the middle region above the core plate of nuclear reactor internals, patent CN121460237B discloses an underwater multi-functional inspection device for the core plate of reactor internals, which can realize video inspection of this area; however, if foreign objects are found in this inspection area, there is no effective means to retrieve them due to their special narrow space structure.

[0003] The following problems currently exist: 1. After a foreign object is found on the reactor core top plate, there is still a lack of means to retrieve it. If the foreign object is reinstalled into the reactor primary circuit, it will affect the safe operation of the unit. 2. There may be foreign objects of different types and locations, and a single foreign object handling method is insufficient to meet the requirements; 3. How to optimize the structural layout and implement a multi-method retrieval solution for foreign objects under flat and confined space conditions; 4. How to ensure that the foreign object handling mechanism can safely recover the foreign object in an emergency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a foreign matter handling device for nuclear power plants.

[0005] The technical solution adopted by the present invention to solve its technical problem is: to construct a foreign matter handling device for nuclear power plants, which includes a base, a water flow hole positioning mechanism, a lifting mechanism, an end positioning mechanism, a pump suction mechanism, a gripping mechanism, and a flexible tube; The water flow hole positioning mechanism is installed on the base and is used to align the foreign matter handling device with the water flow hole on the reactor core upper plate. It includes an XY positioning component and an underwater camera. The underwater camera is used to collect visual images of the water flow hole on the reactor core upper plate and the surrounding area. One end of the lifting mechanism is connected to the XY positioning component, and the other end is connected to the end positioning mechanism. The XY positioning component can drive the lifting mechanism to move in the X or Y direction in the horizontal direction, and the lifting mechanism is used to drive the end positioning mechanism to move up and down in the vertical direction. The end-positioning mechanism is installed in conjunction with the flexible tube to adjust the output length and spatial angle of the flexible tube, and to achieve docking with the gripping mechanism. The gripping mechanism is used to clamp and grab foreign objects inside the reactor core upper plate; The pump suction mechanism is connected to the flexible tube, and the pump suction mechanism can achieve the suction and purging of foreign objects by switching working modes; The gripping mechanism includes a foreign object gripping rotation module, a foreign object gripping opening and closing module, and a foreign object gripping execution module, wherein the foreign object gripping opening and closing module is connected to the foreign object gripping rotation module; The foreign object grasping rotation module is used to drive the foreign object grasping opening and closing module and the foreign object grasping execution module to rotate, so as to enable the foreign object grasping execution module to grasp foreign objects at different angles; The foreign object gripping opening and closing module is used to drive the movement of the foreign object gripping execution module to control the opening and closing of the foreign object gripping execution module, thereby realizing the gripping and releasing of foreign objects.

[0006] In some embodiments, the XY positioning component includes an X-axis moving module and a Y-axis moving module slidably connected to the X-axis moving module, and the underwater camera is mounted on the Y-axis moving module.

[0007] In some embodiments, the lifting mechanism includes a lifting platform, a first lifting module, a second lifting module, and an installation platform connected in sequence, wherein the lifting platform is connected to the Y-axis moving module.

[0008] In some embodiments, the end-positioning mechanism includes a first rotating module, a second rotating module, a guide tube seat, and a guide block connected in sequence; The first rotating module is mounted on the mounting platform and is used to drive the second rotating module to rotate. The second rotating module is used to drive the guide tube seat and the flexible tube passing through it to rotate. The guide tube seat has a hollow cavity inside for the flexible tube to slide through, and the hollow cavity is used to guide and limit the flexible tube. The guide block is disposed at the outlet end of the guide tube seat, and the guide block has a through hole adapted to the flexible tube.

[0009] In some embodiments, the end positioning mechanism further includes a tube feeding module, to which a portion of the flexible tube is connected.

[0010] In some embodiments, the end-positioning mechanism further includes an observation camera mounted on the guide tube seat.

[0011] In some embodiments, the pumping mechanism includes a foreign object suction pump and a foreign object purging pump. Both the foreign object suction pump and the foreign object purging pump are connected to the base via a support frame, and their output ends are connected to the flexible pipe. Both the foreign object suction pump and the foreign object purging pump are connected in series with solenoid valves.

[0012] In some embodiments, the pumping mechanism further includes a filter mounted on the support frame.

[0013] In some embodiments, the gripping mechanism includes a foreign object gripping rotation module, a foreign object gripping opening and closing module, and a foreign object gripping execution module. The foreign object gripping rotation module is mounted on a support frame, and the foreign object gripping opening and closing module is connected to the foreign object gripping rotation module. The foreign object grasping execution module includes a rotatable foreign object clamp, which includes a clamp end, a fixed end, and a connecting wire; The connecting line is installed between the clamp end and the fixed end. The fixed end drives the clamp end to rotate as a whole through the connecting line. The clamp end is installed on the guide block, and the fixed end is installed on the foreign object gripping opening and closing module. The foreign object gripping rotation module is used to drive the foreign object gripping opening and closing module and the connecting line to rotate, so as to enable the clamp end to grip foreign objects at different angles. The foreign object gripping opening and closing module is used to drive the connecting line to move and control the opening and closing of the clamp end to achieve the clamping and releasing of foreign objects.

[0014] In some embodiments, the nuclear power plant foreign matter handling device further includes an omnidirectional mobile chassis, which includes a base, a positioning camera assembly, and an omnidirectional wheel assembly. The positioning camera assembly and the omnidirectional wheel assembly are both mounted on the base, and the base is detachably mounted on the upper surface of the base.

[0015] The implementation of this invention has the following beneficial effects: The nuclear power plant foreign matter handling device achieves precise alignment between the foreign matter handling device and the water flow hole through a water flow hole positioning mechanism, providing a precise positioning basis for subsequent foreign matter handling; the lifting mechanism enables the lifting of each actuator, ensuring access to narrow water flow holes; the end-positioning mechanism allows for the attitude adjustment of the flexible tube, adapting to the foreign matter positioning requirements of confined spaces; the pump suction mechanism and the gripping mechanism work together to achieve multi-method foreign matter handling, including suction, gripping, and purging, solving the problem of handling different types and states of foreign matter. The overall structure of this nuclear power plant foreign matter handling device is rationally laid out, adaptable to the confined space of the reactor core upper plate, and achieves full-process coverage of foreign matter from positioning to handling, effectively preventing foreign matter from being reloaded into the reactor primary loop and ensuring the safe operation of the unit. 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 overall structure of a foreign matter handling device for a nuclear power plant in some embodiments of the present invention. Figure 2 yes Figure 1A schematic diagram of the structure from another direction; Figure 3 This is a schematic diagram of the water flow hole positioning mechanism in some embodiments of the present invention; Figure 4 This is a structural schematic diagram of the lifting mechanism and the end positioning mechanism in some embodiments of the present invention; Figure 5 These are schematic diagrams of the gripping mechanism in some embodiments of the present invention; Figure 6 This is a structural schematic diagram of an omnidirectional mobile chassis in some embodiments of the present invention; Figure 7 This is a schematic diagram of the structure of the foreign object grasping execution module 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] Please see Figures 1 to 7This invention relates to a foreign matter handling device for nuclear power plants, comprising a base 1, a water flow hole positioning mechanism 2, a lifting mechanism 3, an end-positioning mechanism 4, a pump suction mechanism 5, a gripping mechanism 6, and a flexible tube. The water flow hole positioning mechanism 2 is mounted on the base 1 and is used to align the foreign matter handling device with the water flow holes on the reactor core upper plate. It includes an XY positioning component 21 and an underwater camera 22. The underwater camera 22 is used to collect visual images of the water flow holes and surrounding areas on the reactor core upper plate, providing data support for visual recognition and alignment. One end of the lifting mechanism 3 is connected to the XY positioning component 2. One end is connected to the other end, and the other end is connected to the end positioning mechanism 4. The XY positioning component 21 can drive the lifting mechanism 3 to move in the X or Y direction in the horizontal direction. The lifting mechanism 3 is used to drive the end positioning mechanism 4 to move up and down in the vertical direction. The end positioning mechanism 4 is installed in conjunction with the flexible tube to adjust the output length and spatial angle of the flexible tube and to achieve docking with the gripping mechanism 6. The gripping mechanism 6 is used to clamp and grab foreign objects inside the reactor core upper plate. The pump suction mechanism 5 is connected to the flexible tube and realizes the suction and blowing of foreign objects by switching working modes, and works with the gripping mechanism 6 to complete the foreign object handling. The gripping mechanism 6 includes a foreign object gripping rotation module 61, a foreign object gripping opening and closing module 62, and a foreign object gripping execution module 63. The foreign object gripping opening and closing module 62 is connected to the foreign object gripping rotation module 61. The foreign object gripping rotation module 61 is used to drive the foreign object gripping opening and closing module 62 and the foreign object gripping execution module 63 to rotate, so that the foreign object gripping execution module 63 can grip foreign objects at different angles. The foreign object gripping opening and closing module 62 is used to drive the foreign object gripping execution module 63 to control the opening and closing of the foreign object gripping execution module 63, so as to realize the gripping and releasing of foreign objects.

[0020] Understandably, this nuclear power plant's foreign matter handling unit achieves precise alignment between the foreign matter handling device and the water flow hole through a water flow hole positioning mechanism 2, providing a precise positioning basis for subsequent foreign matter handling; a lifting mechanism 3 enables the lifting and lowering of each actuator to ensure access to the narrow water flow hole; an end-positioning mechanism 4 adjusts the attitude of the flexible tube to adapt to the foreign matter positioning requirements in confined spaces; and a pump suction mechanism 5 and a gripping mechanism 6 work together to achieve multi-method foreign matter handling, including suction, gripping, and purging, solving the problem of handling different types and states of foreign matter. The overall structure of this nuclear power plant's foreign matter handling unit is rationally laid out, adaptable to the confined space of the reactor core upper plate, and achieves full-process coverage of foreign matter from positioning to handling, effectively preventing foreign matter from being reloaded into the reactor primary loop and ensuring the safe operation of the unit.

[0021] like Figure 3As shown, the XY positioning component 21 includes an X-axis moving module 211 and a Y-axis moving module 212 slidably connected to the X-axis moving module 211. An underwater camera 22 is mounted on the Y-axis moving module 212 and moves synchronously with it. Through visual recognition feedback signals, the XY positioning component 21 coordinates its actions, driving the entire foreign object handling device to achieve precise horizontal positioning with the water flow holes on the reactor core upper plate. The sliding connection between the X-axis moving module 211 and the Y-axis moving module 212 enables precise bidirectional horizontal adjustment. Furthermore, in conjunction with the underwater camera 22, it can acquire visual images in real time and provide feedback signals, enabling the XY positioning component 21 to coordinate its actions and improving the horizontal positioning accuracy of the foreign object handling device with the water flow holes on the reactor core upper plate. Compared to traditional positioning methods, this structure offers flexible positioning and rapid response, adapting to the positioning requirements of water flow holes in different locations. Both the X-axis moving module 211 and the Y-axis moving module 212 are driven by servo motors, offering advantages such as fast response speed and high positioning accuracy.

[0022] like Figure 4 As shown, the lifting mechanism 3 is a two-stage compact lifting structure, comprising a lifting platform 31, a first lifting module 32, a second lifting module 33, and an installation platform 34 connected in sequence. The lifting platform 31 is connected to the Y-axis moving module 212. Through the staged extension and retraction of the first lifting module 32 and the second lifting module 33, the lifting movement of the end-positioning mechanism 4 is realized, adapting to the spatial requirements of the water flow hole operation on the reactor core upper plate, ensuring that the end-positioning mechanism 4 and the flexible tube can smoothly reach the area where the foreign object is located. Both the first lifting module 32 and the second lifting module 33 are cylinder-type.

[0023] For example Figure 4 As shown, the end positioning mechanism 4 includes a first rotating module 41, a second rotating module 42, a guide tube seat 43, and a guide block 44 connected in sequence. The first rotating module 41 is mounted on the mounting platform 34 and is used to drive the second rotating module 42 to rotate. The second rotating module 42 is used to drive the guide tube seat 43 and the flexible tube inserted therein to rotate. Through the coordinated action of the two-stage rotation, the spatial angle adjustment of the end of the flexible tube is realized. The guide tube seat 43 has a hollow cavity inside for the flexible tube to slide through, which is used to guide and limit the flexible tube. The guide block 44 is set at the outlet end of the guide tube seat 43. The guide block 44 has a through hole 441 that is adapted to the flexible tube, which further guides the output direction of the flexible tube and ensures that the end of the flexible tube can be accurately aligned with the foreign object.

[0024] Furthermore, the end-positioning mechanism 4 also includes a tube delivery module 45. A portion of the flexible tube is connected to the tube delivery module 45. Specifically, the tube delivery module 45 uses a motor-driven friction wheel transmission method. By controlling the rotation of the friction wheel, the flexible tube slides along the hollow cavity of the guide tube seat 43, thereby precisely adjusting the output length of the flexible tube to adapt to the foreign object handling requirements at different locations. Understandably, the tube delivery module 45 can flexibly adjust the length of the flexible tube for foreign objects of different depths and distances inside the reactor core upper plate, ensuring that the end of the flexible tube can accurately reach the location of the foreign object.

[0025] The end-positioning mechanism 4 also includes an observation camera 46, which is mounted on the guide tube seat 43. It is used to collect images of the end of the flexible tube, the gripping mechanism 6 and the surrounding area of ​​the foreign object in real time, providing real-time visual feedback for end-positioning, foreign object identification and processing operations.

[0026] like Figure 1 As shown, the pump suction mechanism 5 includes a foreign object suction pump 51 and a foreign object purging pump 52. Both pumps are connected to the base 1 via a support frame 53, and their output ends are sealed to a flexible tube. The foreign object suction pump 51 generates negative pressure through the flexible tube to suction foreign objects, while the foreign object purging pump 52 outputs high-pressure water through the flexible tube to form an underwater jet, purging attached or remotely located foreign objects for subsequent suction or grabbing. The combined use of these two pumps further improves the multi-method foreign object treatment solution, adapting to different types and states of foreign object treatment needs. The output ends of both pumps can be sealed to the flexible tube via a multi-port connector. This multi-port connector allows for separate connections between the two pumps and the flexible tube, enabling the pumps to perform foreign object suction and underwater jet purging functions respectively through the same flexible tube. Both the foreign object suction pump 51 and the foreign object purging pump 52 are connected in series with a solenoid valve 54. The solenoid valve 54 is used to independently control the opening and closing of the corresponding water circuit, ensuring that the foreign object suction pump 51 and the foreign object purging pump 52 do not work at the same time, avoiding mutual interference when they work, and ensuring the stability and reliability of the pump suction mechanism 5.

[0027] The pump suction mechanism 5 also includes a filter 55, which is mounted on the support frame 53. The filter 55 is used to filter and intercept the foreign objects sucked up, preventing them from entering the pump and causing equipment damage, and also preventing them from flowing back into the reactor core plate.

[0028] like Figure 1 , Figure 5 and Figure 7As shown, the foreign object gripping execution module 63 includes a rotatable foreign object clamp, which includes a clamping end 631, a fixed end 632, and a connecting line 633. The connecting line 633 is installed between the clamping end 631 and the fixed end 632. The fixed end 632 drives the clamping end 631 to rotate as a whole through the connecting line 633. The clamping end 631 is mounted on the guide block 44, and the fixed end 632 is mounted on the foreign object gripping opening and closing module 62. The foreign object gripping rotation module 61 is used to drive the foreign object gripping opening and closing module 62 and the connecting line 633 to rotate, so as to realize the gripping of foreign objects at different angles by the clamping end 631. The foreign object gripping opening and closing module 62 is used to drive the motion of the connecting line 633 to control the opening and closing of the clamping end 631 to realize the clamping and releasing of foreign objects. The foreign object gripping rotation module 61 is preferably a servo motor, and the foreign object gripping opening and closing module 62 is preferably a cylinder. This rotatable foreign object clamp can adopt foreign object clamps with existing mature technology.

[0029] Understandably, the foreign object gripping rotation module 61 is fixedly mounted on the support frame 53, providing rotational drive power for the entire gripping mechanism 6. This allows the foreign object gripping opening and closing module 62 and the flexible connecting line 633 to rotate synchronously, thereby adjusting the angle of the gripper end 631 via the connecting line 633. The foreign object gripping opening and closing module 62, as a power input unit, transmits motion commands by pulling or releasing the flexible connecting line 633, controlling the opening and closing of the gripper end 631. The foreign object gripping execution module 63 uses a rotatable foreign object gripper as the execution terminal. This gripper consists of a gripper end 631, a fixed end 632, and... The flexible connecting line 633 connects the clamping end 631 and the fixed end 632. It can bend, turn and extend with the end positioning mechanism 4 and the guide block 44. The clamping end 631 is assembled on the guide block 44 to achieve precise positioning. The fixed end 632 is connected to the foreign object gripping opening and closing module 62 to ensure stable power transmission. Relying on the dual action of rotational transmission and traction transmission of the flexible connecting line 633, the angle turning of the clamping end 631 and the opening and closing control of the jaws are completed respectively, so as to adapt to the narrow, complex and bendable space environment inside the reactor core upper plate, and accurately align and clamp foreign objects at different positions and angles.

[0030] like Figure 6As shown, the foreign matter handling device for nuclear power plants also includes an omnidirectional mobile chassis 7. The omnidirectional mobile chassis 7 includes a base 71, a positioning camera assembly 72, and an omnidirectional wheel assembly 73. Both the positioning camera assembly 72 and the omnidirectional wheel assembly 73 are mounted on the base 71. The base 1 is detachably mounted on the upper surface of the base 71, achieving a stable assembly of the entire foreign matter handling device with the omnidirectional mobile chassis 7. The positioning camera assembly 72 is used to collect images of the surrounding environment of the reactor core upper plate, providing visual positioning support for the movement of the omnidirectional mobile chassis 7 and assisting in the positioning of the device. The omnidirectional wheel assembly 73 includes multiple omnidirectional wheels and corresponding drive motors. The multiple omnidirectional wheels are evenly distributed at the bottom of the base 71, enabling omnidirectional movement, in-situ rotation, and precise steering. It adapts to the complex working space below the reactor core upper plate, driving the entire foreign matter handling device to move quickly to the target water flow hole, improving operational efficiency. Through the coordinated operation of the base 71, the positioning camera assembly 72, and the omnidirectional wheel assembly 73, the entire foreign object handling device is provided with flexible and precise mobile support, effectively solving the problems of poor mobility and low coarse positioning efficiency of existing devices.

[0031] During operation, the omnidirectional mobile chassis 7 moves the entire nuclear power plant foreign object handling device to below the water flow hole on the reactor core upper plate to complete the coarse positioning. The water flow hole positioning mechanism 2 performs precise positioning based on the visual image collected by the underwater camera 22, achieving precise alignment between the device and the water flow hole. Subsequently, the lifting mechanism 3 rises in stages. With the real-time visual assistance of the observation camera 46, the end positioning mechanism 4 adjusts the spatial angle of the flexible tube and outputs a suitable length through the tube delivery module 45, so that the end of the flexible tube is precisely close to the foreign object. At this time, the suction mode of the pump suction mechanism 5 is activated to perform suction operation on the foreign object.

[0032] 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 foreign matter handling device for nuclear power plants, characterized in that, It includes a base (1), a water flow hole positioning mechanism (2), a lifting mechanism (3), an end positioning mechanism (4), a pump suction mechanism (5), a gripping mechanism (6), and a flexible tube; The water flow hole positioning mechanism (2) is installed on the base (1) and is used to realize the alignment of the foreign matter handling device with the water flow hole of the reactor core plate. It includes an XY positioning component (21) and an underwater camera (22). The underwater camera (22) is used to collect visual images of the water flow hole and the surrounding area of ​​the reactor core plate. One end of the lifting mechanism (3) is connected to the XY positioning component (21), and the other end is connected to the end positioning mechanism (4). The XY positioning component (21) can drive the lifting mechanism (3) to move in the X or Y direction in the horizontal direction. The lifting mechanism (3) is used to drive the end positioning mechanism (4) to move up and down in the vertical direction. The end positioning mechanism (4) is installed in conjunction with the flexible tube to adjust the output length and spatial angle of the flexible tube and to achieve docking with the gripping mechanism (6); The gripping mechanism (6) is used to grip and grab foreign objects inside the reactor core upper plate; The pump suction mechanism (5) is connected to the flexible tube, and the suction and purging of foreign objects are realized by switching the working mode; The gripping mechanism (6) includes a foreign object gripping rotation module (61), a foreign object gripping opening and closing module (62), and a foreign object gripping execution module (63). The foreign object gripping opening and closing module (62) is connected to the foreign object gripping rotation module (61). The foreign object grasping rotation module (61) is used to drive the foreign object grasping opening and closing module (62) and the foreign object grasping execution module (63) to rotate, so as to realize the foreign object grasping execution module (63) to grasp foreign objects at different angles; The foreign object grasping opening and closing module (62) is used to drive the foreign object grasping execution module (63) to control the opening and closing of the foreign object grasping execution module (63) to realize the clamping and releasing of the foreign object.

2. The nuclear power plant foreign matter handling device according to claim 1, characterized in that, The XY positioning component (21) includes an X-axis moving module (211) and a Y-axis moving module (212) slidably connected to the X-axis moving module (211), and the underwater camera (22) is mounted on the Y-axis moving module (212).

3. The nuclear power plant foreign matter handling device according to claim 2, characterized in that, The lifting mechanism (3) includes a lifting platform (31), a first lifting module (32), a second lifting module (33), and an installation platform (34) connected in sequence. The lifting platform (31) is connected to the Y-axis moving module (212).

4. The nuclear power plant foreign matter handling device according to claim 3, characterized in that, The end positioning mechanism (4) includes a first rotating module (41), a second rotating module (42), a guide tube seat (43), and a guide block (44) connected in sequence. The first rotating module (41) is mounted on the mounting platform (34) and is used to drive the second rotating module (42) to rotate. The second rotating module (42) is used to drive the guide tube seat (43) and the flexible tube passing through it to rotate. The guide tube seat (43) has a hollow cavity inside for the flexible tube to slide through, and the hollow cavity is used to guide and limit the flexible tube. The guide block (44) is disposed at the outlet end of the guide tube seat (43), and the guide block (44) has a through hole (441) adapted to the flexible tube.

5. The nuclear power plant foreign matter handling device according to claim 4, characterized in that, The end positioning mechanism (4) also includes a tube feeding module (45), and a portion of the flexible tube is connected to the tube feeding module (45).

6. The nuclear power plant foreign matter handling device according to claim 4, characterized in that, The end positioning mechanism (4) also includes an observation camera (46), which is mounted on the guide tube seat (43).

7. The nuclear power plant foreign matter handling apparatus according to claim 4, characterized in that, The pump suction mechanism (5) includes a foreign object suction pump (51) and a foreign object purging pump (52). Both the foreign object suction pump (51) and the foreign object purging pump (52) are connected to the base (1) through a support frame (53), and the output ends of both are connected to the flexible pipe. Both the foreign object suction pump (51) and the foreign object purging pump (52) are connected in series with a solenoid valve (54).

8. The nuclear power plant foreign matter handling apparatus according to claim 7, characterized in that, The pump suction mechanism (5) also includes a filter (55), which is mounted on the support frame (53).

9. The nuclear power plant foreign matter handling apparatus according to claim 7, characterized in that, The foreign object grasping execution module (63) includes a rotatable foreign object clamp, which includes a clamp end (631), a fixed end (632), and a connecting line (633). The connecting line (633) is installed between the clamp end (631) and the fixed end (632). The fixed end (632) drives the clamp end (631) to rotate as a whole through the connecting line (633). The clamp end (631) is installed on the guide block (44). The fixed end (632) is installed on the foreign object gripping opening and closing module (62). The foreign object gripping rotation module (61) is used to drive the foreign object gripping opening and closing module (62) and the connecting line (633) to rotate, so as to realize the clamp end (631) gripping foreign objects at different angles. The foreign object gripping opening and closing module (62) is used to drive the connecting line (633) to move and control the opening and closing of the clamp end (631) to realize the clamping and releasing of foreign objects.

10. The nuclear power plant foreign matter handling apparatus according to claim 1, characterized in that, The nuclear power plant foreign matter handling device also includes an omnidirectional mobile chassis (7), which includes a base (71), a positioning camera assembly (72), and an omnidirectional wheel assembly (73). The positioning camera assembly (72) and the omnidirectional wheel assembly (73) are both mounted on the base (71), and the base (1) is detachably mounted on the upper surface of the base (71).

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