Underwater narrow gap video inspection equipment for nuclear power plant

Abstract

The utility model discloses an underwater narrow-gap video inspection device for a nuclear power plant. An underwater connector is used for connecting external parts; the pitching assembly comprises a first shell, a pitching motion assembly, a transmission piece and a groove cover, the first shell is provided with a mounting groove, a mounting hole and a through hole communicated with the mounting groove, and the first end of the camera assembly penetrates through the through hole through a driving shaft and is connected with the transmission piece; a second end, opposite to the first end, of the camera assembly is rotationally connected with the mounting hole through a driven shaft; the pitching motion assembly is arranged in the first shell and connected with the transmission part to drive the transmission part to rotate, and the groove cover covers the mounting groove in a sealed mode through the sealing part; the rotating assembly comprises a second shell, a rotating motion assembly and a rotating frame, the rotating motion assembly is partially installed in the second shell and connected with the rotating frame and the underwater connector, and the rotating frame is fixedly connected with the second shell. The device can extend into an underwater narrow gap area in nuclear power plant reactor internals and carry out video inspection on the internals.

Description

Technical Field

[0001] The utility model relates to the technical field of non-destructive testing of nuclear power plants, in particular to underwater narrow gap video inspection equipment for nuclear power plants. Background Art

[0002] Core internals are a key component of a nuclear reactor. Installed within the reactor pressure vessel, they work together with the reactor pressure vessel, control rod drive mechanism, fuel assemblies, and related components to realize reactor functions. Their long-term reliability and stability are key factors affecting the safety and economic viability of nuclear power plant operations. Core internals are exposed to harsh environments such as high temperature, high-pressure water flow, high radiation exposure, and vibration. Different parts of these components are subject to failure risks from radiation-induced stress corrosion cracking (IASCC), wear, and fatigue cracking. Failure of these components poses significant risks to primary circuit equipment and the core fuel assemblies.

[0003] Because reactor components emit high levels of radiation, they are stored in component pools. These pools are filled with water, which acts as a radiation shield. Therefore, underwater radiation-resistant pan-tilt cameras are typically used for video inspection of reactor components. However, the complex structure and confined space surrounding the circumferential weld seam of the upper hanging basket of the reactor components make currently available pan-tilt cameras impractical. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide an underwater narrow gap video inspection device for a nuclear power plant.

[0005] The technical solution adopted by the utility model to solve the technical problem is: an underwater narrow gap video inspection device for a nuclear power plant, comprising a camera assembly, a pitch assembly, a rotation assembly and an underwater connector for connecting external components;

[0006] The pitch assembly includes a first housing, a pitch motion assembly, a transmission member, and a slot cover. The first housing is provided with a mounting slot, a mounting hole, and a through-hole communicating with the mounting slot. A first end of the camera assembly passes through the through-hole via a driving shaft and is connected to the transmission member. A second end of the camera assembly, opposite to the first end, is rotatably connected to the mounting hole via a driven shaft. The pitch motion assembly is disposed within the first housing and is connected to the transmission member to drive the transmission member to rotate. The slot cover is sealed over the mounting slot via a sealing member.

[0007] The rotating assembly includes a second shell, a rotating motion assembly and a rotating frame. The rotating motion assembly is partially installed inside the second shell and is respectively connected to the rotating frame and the underwater connector. The rotating frame is fixedly connected to the second shell.

[0008] In some embodiments, the total axial length of the camera assembly, the first shell, the second shell, the rotary motion assembly, and the rotating frame is less than 300 mm, and the maximum outer diameter is less than 50 mm.

[0009] In some embodiments, the pitch motion assembly includes a pitch motor, a pitch absolute encoder, a pitch bracket and a pitch gear set, the pitch motor and the pitch absolute encoder are respectively connected to the pitch gear set, the pitch gear set is connected to the transmission member, and the pitch bracket is fixedly connected to the first shell.

[0010] In some embodiments, the pitch gear group includes a pitch motor gear, a pitch transmission gear and a synchronous wheel connected to the transmission member, the pitch motor gear is connected to the motor shaft of the pitch motor, the pitch transmission gear is meshed with the pitch motor gear and connected to the rotating shaft of the pitch absolute encoder, and the synchronous wheel is coaxially connected to the pitch transmission gear.

[0011] In some embodiments, the slot cover includes a lower slot cover and an upper slot cover, the lower slot cover is sealed to the bottom of the mounting slot, and the upper slot cover is sealed to the lower slot cover;

[0012] A sealed space is formed among the lower tank cover, the upper tank cover and the first shell.

[0013] In some embodiments, the rotary motion assembly includes a rotary shaft, a rotary gear set, a rotary bracket, a rotary motor and a rotary absolute encoder. The rotary motion assembly includes a rotary shaft, a rotary gear set, a rotary bracket, a rotary motor and a rotary absolute encoder. The rotary motor is mounted on the rotary bracket and connected to the rotary gear set. The rotary absolute encoder is mounted on the rotary bracket and connected to the rotary gear set. The rotary bracket is fixedly mounted on the rotary bracket. The rotary shaft is respectively connected to the rotary gear set, connected to the rotary bracket through a bearing, fixedly connected to the rotary bracket and connected to the underwater connector.

[0014] In some embodiments, the rotating gear set includes a rotating motor gear, a rotating main gear and an encoder gear, the rotating motor gear is respectively connected to the motor shaft of the rotating motor and meshed with the rotating main gear, the encoder gear is respectively meshed with the rotating main gear and connected to the rotating shaft of the rotary absolute encoder, and the rotating main gear is fixedly connected to the rotating shaft.

[0015] In some embodiments, the camera assembly includes a mounting shell, a camera, and a lighting assembly, wherein the camera and the lighting assembly are mounted inside the mounting shell;

[0016] The installation shell is provided with a window opposite to the camera and two connection holes. A glass sheet is covered on the window and fixedly connected through a pressing member. The lighting component is arranged on the outer periphery of the window, and the light of the lighting component is in the same direction as the line of sight of the window; the two connection holes are oppositely arranged on the outer wall of the installation shell, and the shortest connecting line of the two connection holes is perpendicular to the line of sight of the window.

[0017] In some embodiments, the lighting component includes a plurality of LED lamp beads, a sealing plate and an adjustable non-stroboscopic constant current power supply. The sealing plate is fixedly connected inside the installation shell and connected to the LED lamp beads, and the LED lamp beads are electrically connected to the adjustable non-stroboscopic constant current power supply.

[0018] In some embodiments, the camera includes a distortion-free lens, an imaging module and a voice coil motor. The distortion-free lens is respectively connected to the voice coil motor and the imaging module;

[0019] The distortion-free lens is a lens made of optical glass.

[0020] By implementing the present utility model, the following beneficial effects are achieved:

[0021] The underwater narrow-gap video inspection device of the nuclear power plant of the present utility model includes a camera assembly, a pitching assembly, a rotating assembly and an underwater connector for connecting external components; the pitching assembly includes a first shell, a pitching motion assembly, a transmission member and a groove cover. The first shell is provided with an installation groove, an installation hole and a through hole communicating with the installation groove. The first end of the camera assembly passes through the through hole through a driving shaft and is connected to the transmission member, and the second end of the camera assembly opposite to the first end is rotatably connected to the installation hole through a driven shaft; the pitching motion assembly is arranged inside the first shell and connected to the transmission member to drive the transmission member to rotate, and the groove cover is hermetically covered on the installation groove through a sealing member; the rotating assembly includes a second shell, a rotating motion assembly and a rotating frame. The rotating motion assembly is partially installed inside the second shell and is respectively connected to the rotating frame and the underwater connector, and the rotating frame is fixedly connected to the second shell. The underwater narrow-gap video inspection device of the nuclear power plant of the present utility model can extend into the narrow-gap area of the in-core components of the nuclear power plant and perform video inspection on the in-core components. It is connected to external components through the underwater connector to realize the support for the underwater narrow-gap video inspection device to be lowered into the narrow gap. The rotating function of the camera assembly is realized through the rotating assembly, and the pitching function of the camera assembly is realized through the pitching assembly to perform video inspection on the in-core components within the largest range. Description of the Drawings

[0022] The present utility model will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0023] Figure 1 It is an exploded structural schematic diagram of an underwater narrow-gap video inspection device for a nuclear power plant according to an embodiment of the present utility model;

[0024] Figure 2 is Figure 1 an exploded structural schematic diagram of the pitching component in

[0025] Figure 3 is Figure 1 an exploded structural schematic diagram of the rotating component in

[0026] Figure 4 is Figure 1 an exploded structural schematic diagram of the camera component in Detailed implementation manners

[0027] For a clearer understanding of the technical features, objectives, and effects of the present utility model, the specific implementation manners of the present utility model will now be described in detail with reference to the accompanying drawings.

[0028] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments may be combined with each other.

[0029] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0030] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, a chemical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0031] Refer to Figures 1 to 4, an embodiment of the present utility model discloses an underwater narrow-gap video inspection device for nuclear power plants, which includes a camera assembly 1, a pitching assembly 2, a rotating assembly 3, and an underwater connector 4 for connecting external components. The pitching assembly 2 includes a first housing 21, a pitching motion assembly, a transmission member 26, and a groove cover. The first housing 21 is provided with a mounting groove 211, a mounting hole 212, and a through hole 213 communicating with the mounting groove 211. The first end of the camera assembly 1 passes through the through hole 213 through the driving shaft 17 and is connected to the transmission member 26. The second end of the camera assembly 1 opposite to the first end is rotatably connected to the mounting hole 212 through the driven shaft 18. The pitching motion assembly is arranged inside the first housing 21 and is connected to the transmission member 26 to drive the transmission member 26 to rotate. The groove cover is hermetically covered on the mounting groove 211 through a sealing member 29. The rotating assembly 3 includes a second housing 31, a rotating motion assembly 32, and a rotating frame 33. The rotating motion assembly 32 is partially installed inside the second housing 31 and is respectively connected to the rotating frame 33 and the underwater connector 4. The rotating frame 33 is fixedly connected to the second housing 31. Preferably, the driving shaft 17 is sleeved with a sealing ring and is hermetically connected to the through hole 213 to prevent leakage of the through hole 213.

[0032] In some embodiments, the axial total length of the camera assembly 1, the first housing 21, the second housing 31, the rotating motion assembly 32, and the rotating frame 33 is less than 300 mm, and the maximum outer diameter is less than 50 mm. Among them, the overlapping parts between the camera assembly 1, the first housing 21, the second housing 31, and the rotating frame 33 are not included in the total length.

[0033] In some embodiments, as Figure 2 shown, the pitching motion assembly includes a pitching motor 22, a pitching absolute encoder 23, a pitching bracket 24, and a pitching gear set. The pitching motor 22 and the pitching absolute encoder 23 are respectively connected to the pitching gear set. The pitching gear set is connected to the transmission member 26. The pitching bracket 24 is fixedly connected to the first housing 21. Among them, the pitching absolute encoder 23 can realize the feedback of the position. The pitching motor 22 and the pitching absolute encoder 23 are paired with a PID controller to realize the position and speed closed-loop motion of the pitching motion. The PID controller is a prior art and is not the key content of the present utility model, so it will not be elaborated here.

[0034] In some embodiments, the pitch gear assembly includes a pitch motor gear 251, a pitch transmission gear 252, and a synchronous pulley 253 connected to the transmission member 26. The pitch motor gear 251 is connected to the motor shaft of the pitch motor 22. The pitch transmission gear 252 meshes with the pitch motor gear 251 and is connected to the rotating shaft of the pitch absolute encoder 23. The synchronous pulley 253 is coaxially connected to the pitch transmission gear 252. The pitch motor 22 drives the pitch motor gear 251, which in turn drives the synchronous pulley 253. The synchronous pulley 253 drives the transmission member 26, which in turn rotates the driving shaft 17, thereby achieving pitch motion of the camera assembly 1. Preferably, the transmission member 26 is a transmission belt, meshing with the synchronous pulley 253 and the driving shaft 17, respectively. It is understood that in other embodiments, the transmission member 26 may be a transmission rack, and correspondingly, the synchronous pulley 253 and the driving shaft 17 are provided with meshing teeth.

[0035] In some embodiments, to achieve sealing, the slot cover may include a lower slot cover 28 and an upper slot cover 27. The lower slot cover 28 is sealed to the bottom of the mounting slot 211, and the upper slot cover 27 is sealed to the lower slot cover 28. A sealed space is formed between the lower slot cover 28, the upper slot cover 27, and the first housing 21 to prevent water from entering the transmission member 26 and the pitch motion assembly. To enhance the fastening effect, the upper slot cover 27, the lower slot cover 28, and the mounting slot 211 can be screwed together using fasteners. Preferably, the lower slot cover 28 and the bottom of the mounting slot 211, and the upper slot cover 27 and the lower slot cover 28, are sealed and abutted by seals 29.

[0036] In some embodiments, as Figure 3 As shown, the rotary motion assembly 32 includes a rotary shaft 321, a rotary gear set, a rotary bracket 325, a rotary motor 326, and a rotary absolute encoder 327. The rotary motor 326 is mounted on the rotary bracket 325 and connected to the rotary gear set. The rotary absolute encoder 327 is mounted on the rotary bracket 325 and connected to the rotary gear set. The rotary bracket 325 is fixedly mounted on the rotary frame 33. The rotary shaft 321 is connected to the rotary gear set, which can drive the rotary shaft 321 to rotate. The rotary shaft 321 is connected to the rotary bracket 325 via a bearing 328, which not only fixes the rotary shaft 321 but also prevents the rotary bracket 325 from affecting its rotation. The rotary shaft 321 is fixedly connected to the rotary frame 33 and to the underwater connector 4. Rotation of the rotary shaft 321 drives the rotary frame 33, thereby ultimately rotating the camera assembly 1. The rotary absolute encoder 327 provides position feedback. The rotary motor 326 and the rotary absolute encoder 327 are combined with a PID controller to achieve closed-loop position and velocity control of the rotary motion. The PID controller is a prior art and is not the focus of this utility model, so it will not be described in detail here.

[0037] In some embodiments, the rotating gear set includes a rotating motor gear 322, a rotating main gear 323, and an encoder gear 324. The rotating motor gear 322 is respectively connected to the motor shaft of the rotating motor 326 and meshes with the rotating main gear 323. The encoder gear 324 respectively meshes with the rotating main gear 323 and is connected to the rotating shaft of the rotating absolute encoder 327. The rotating main gear 323 is fixedly connected to the rotating shaft 321.

[0038] Understandably, when it is necessary to implement the rotation function of the camera assembly 1, the rotating motor 326 is started to drive the rotating motor gear 322 to rotate. The rotating motor gear 322 drives the rotating main gear 323 to rotate. The rotating main gear 323 drives the rotating shaft 321 to rotate. The rotating shaft 321 drives the rotating bracket 33 to rotate. The rotating bracket 33 drives the second housing 31 and the first housing 21 to rotate, and finally drives the camera assembly 1 to rotate, realizing the rotation function of the camera assembly 1. Generally, the rotation amplitude can reach 360°.

[0039] In some embodiments, as Figure 4 shown, the camera assembly 1 includes a mounting shell 11, a camera 12, and a lighting assembly. The camera 12 and the lighting assembly are installed inside the mounting shell 11. The mounting shell 11 is provided with a window 111 opposite to the camera 12 and two connection holes 112. A glass sheet 15 is covered on the window 111 and fixedly connected through a pressing member 16. The lighting assembly is arranged on the outer periphery of the window 111, and the light of the lighting assembly is in the same direction as the line of sight of the window 111. The two connection holes 112 are oppositely opened on the outer wall of the mounting shell 11, and the shortest connecting line of the two connection holes 112 is perpendicular to the line of sight of the window 111. Preferably, for the convenience of assembly, the mounting shell 11 is composed of two parts of the housing, and the two parts of the housing are hermetically connected through a sealing structure.

[0040] In some embodiments, the lighting assembly includes a plurality of LED lamp beads 13, a sealing plate 14, and an adjustable non-stroboscopic constant current power supply. The sealing plate 14 is fixedly connected inside the mounting shell 11 and is connected to the LED lamp beads 13. The LED lamp beads 13 are electrically connected to the adjustable non-stroboscopic constant current power supply. Among them, the adjustable non-stroboscopic constant current power supply realizes the driving and remote control adjustment of the LED lamp beads 13, and the adjustable non-stroboscopic constant current power supply is not shown in the figure. Correspondingly, the mounting shell 11 is also provided with a plurality of lamp holes for installing the LED lamp beads 13. The sealing plate 14 presses the LED lamp beads 13 on the lamp holes and realizes sealing.

[0041] In some embodiments, the camera 12 includes a distortion-free lens, an imaging module, and a voice coil motor. The distortion-free lens is respectively connected to the voice coil motor and the imaging module. The distortion-free lens is an optical glass lens. For example, it is a lens made of quartz glass or a lens made of radiation-resistant lead glass to prevent the lens from browning during irradiation. The voice coil motor is used to implement the remote focusing function of the distortion-free lens. Preferably, the imaging module has the ability to perform 1080P imaging. It can be understood that the distortion-free lens, the imaging module, and the voice coil motor are prior arts and are not shown in the figure, and will not be elaborated herein for the present utility model.

[0042] Preferably, the underwater narrow-gap video inspection equipment of the present utility model needs to work in an underwater high-temperature radiation environment. The seal 29, the sealing ring, the sealing plate 14, and other structural components that need to be sealed respectively adopt radiation-resistant and high-temperature-resistant materials to ensure that the underwater narrow-gap video inspection equipment of the nuclear power plant does not fail and does not leak in a high-temperature and high-radiation environment. For example, the seal 29, the sealing ring, and the sealing plate 14 are respectively made of materials such as polytetrafluoroethylene or silica gel.

[0043] By implementing the present utility model, the following beneficial effects are achieved:

[0044] The underwater narrow-gap video inspection equipment of the present utility model can extend into the narrow-gap area of the in-core components of the nuclear power plant and perform video inspection on the in-core components. It is connected to external components through the underwater connector 4 to realize the support for the underwater narrow-gap video inspection equipment to be lowered into the narrow gap. The rotation function of the camera assembly 1 is realized through the rotation assembly 3, and the pitching function of the camera assembly 1 is realized through the pitching assembly 2 to perform video inspection on the in-core components within the largest range.

[0045] It can be understood that the above embodiments only represent the preferred embodiments of the present utility model, and the description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, the above embodiments or technical features can be freely combined, and several deformations and improvements can also be made, which all belong to the protection scope of the present utility model, that is, the embodiments described in "in some embodiments" can be freely combined with any of the above and below embodiments; therefore, all equivalent transformations and modifications made to the scope of the claims of the present utility model should fall within the scope covered by the claims of the present utility model.

Claims

1. An underwater narrow-gap video inspection device for nuclear power plants, characterized in that, It includes a camera assembly (1), a pitching assembly (2), a rotating assembly (3), and an underwater connector (4) for connecting external components. The pitching assembly (2) includes a first housing (21), a pitching motion assembly, a transmission member (26), and a groove cover. The first housing (21) is provided with a mounting groove (211), a mounting hole (212), and a through hole (213) communicating with the mounting groove (211). The first end of the camera assembly (1) passes through the through hole (213) through a driving shaft (17) and is connected to the transmission member (26). The second end of the camera assembly (1) opposite to the first end is rotatably connected to the mounting hole (212) through a driven shaft (18). The pitching motion assembly is arranged inside the first housing (21) and is connected to the transmission member (26) to drive the transmission member (26) to rotate. The groove cover is hermetically covered on the mounting groove (211) through a seal (29). The rotating assembly (3) includes a second housing (31), a rotating motion assembly (32), and a rotating frame (33). The rotating motion assembly (32) is partially installed inside the second housing (31) and is respectively connected to the rotating frame (33) and the underwater connector (4). The rotating frame (33) is fixedly connected to the second housing (31).

2. The underwater narrow-gap video inspection device for nuclear power plants according to claim 1, characterized in that The axial total length of the camera assembly (1), the first housing (21), the second housing (31), the rotating motion assembly (32), and the rotating frame (33) is less than 300 mm, and the maximum outer diameter is less than 50 mm.

3. The underwater narrow-gap video inspection device for nuclear power plants according to claim 1, characterized in that, The pitching motion assembly includes a pitching motor (22), a pitching absolute encoder (23), a pitching bracket (24), and a pitching gear set. The pitching motor (22) and the pitching absolute encoder (23) are respectively connected to the pitching gear set. The pitching gear set is connected to the transmission member (26). The pitching bracket (24) is fixedly connected to the first housing (21).

4. The underwater narrow-gap video inspection device for nuclear power plants according to claim 3, characterized in that, The pitching gear set includes a pitching motor gear (251), a pitching transmission gear (252), and a synchronous pulley (253) connected to the transmission member (26). The pitching motor gear (251) is connected to the motor shaft of the pitching motor (22). The pitching transmission gear (252) meshes with the pitching motor gear (251) and is connected to the rotating shaft of the pitching absolute encoder (23). The synchronous pulley (253) is coaxially connected to the pitching transmission gear (252).

5. The underwater narrow-gap video inspection device for nuclear power plants according to claim 1, characterized in that, The groove cover includes a lower groove cover (28) and an upper groove cover (27). The lower groove cover (28) is hermetically connected to the bottom of the mounting groove (211). The upper groove cover (27) is hermetically connected to the lower groove cover (28). A sealed space is formed among the lower groove cover (28), the upper groove cover (27), and the first housing (21).

6. The underwater narrow-gap video inspection equipment for nuclear power plants according to claim 1, characterized in that, The rotary motion assembly (32) includes a rotary shaft (321), a rotary gear set, a rotary bracket (325), a rotary motor (326), and a rotary absolute encoder (327). The rotary motor (326) is mounted on the rotary bracket (325) and connected to the rotary gear set. The rotary absolute encoder (327) is mounted on the rotary bracket (325) and connected to the rotary gear set. The rotary bracket (325) is fixedly mounted on the rotary frame (33). The rotary shaft (321) is respectively connected to the rotary gear set, connected to the rotary bracket (325) through a bearing (328), fixedly connected to the rotary frame (33), and connected to the underwater connector (4).

7. The underwater narrow-gap video inspection device for nuclear power plants according to claim 6, characterized in that, The rotary gear set includes a rotary motor gear (322), a rotary main gear (323), and an encoder gear (324). The rotary motor gear (322) is respectively connected to the motor shaft of the rotary motor (326) and meshed with the rotary main gear (323). The encoder gear (324) is respectively meshed with the rotary main gear (323) and connected to the rotary shaft of the rotary absolute encoder (327). The rotary main gear (323) is fixedly connected to the rotary shaft (321).

8. The underwater narrow-gap video inspection equipment for nuclear power plants according to claim 1, characterized in that The camera assembly (1) includes a mounting shell (11), a camera (12), and a lighting assembly. The camera (12) and the lighting assembly are mounted inside the mounting shell (11). The mounting shell (11) is provided with a window (111) opposite to the camera (12) and two connecting holes (112). A glass sheet (15) is covered on the window (111) and fixedly connected through a pressing member (16). The lighting assembly is arranged on the outer periphery of the window (111), and the light of the lighting assembly is in the same direction as the line of sight of the window (111). The two connecting holes (112) are oppositely opened on the outer wall of the mounting shell (11), and the shortest connecting line of the two connecting holes (112) is perpendicular to the line of sight of the window (111).

9. The underwater narrow-gap video inspection equipment for nuclear power plants according to claim 8, characterized in that, The lighting assembly includes a plurality of LED lamp beads (13), a sealing plate (14), and an adjustable non-stroboscopic constant current power supply. The sealing plate (14) is fixedly connected inside the mounting shell (11) and connected to the LED lamp beads (13). The LED lamp beads (13) are electrically connected to the adjustable non-stroboscopic constant current power supply.

10. The underwater narrow-gap video inspection equipment for nuclear power plants according to claim 8, characterized in that The camera (12) includes a distortion-free lens, an imaging module, and a voice coil motor. The distortion-free lens is respectively connected to the voice coil motor and the imaging module. The distortion-free lens is a lens made of optical glass.

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