Nuclear-reactor underwater maintenance robot and method for using same

Abstract

A nuclear-reactor underwater maintenance robot and a method for using same. The nuclear-reactor underwater maintenance robot comprises a connecting mechanism (1), a telescopic positioning mechanism (2), a lifting mechanism (3), a rotating mechanism (4) and a robotic arm (5). The telescopic positioning mechanism (2) of the nuclear-reactor underwater maintenance robot has a telescopic function, and the whole maintenance robot can be positioned on a container wall surface (6) by means of the telescopic positioning mechanism (2). The telescopic positioning mechanism (2) comprises a plurality of telescopic assemblies, and the pose of the underwater maintenance robot is adjusted by means of the plurality of telescopic assemblies, so as to facilitate calibration of the position of the underwater maintenance robot. The position of each telescopic assembly can be finely adjusted separately, thereby facilitating pose adjustment of the underwater maintenance robot. Besides, the lifting mechanism (3) and the rotating mechanism (4) respectively drive the robotic arm (5) to perform lifting and rotating movements, such that the robotic arm (5) can operate better, and by means of the robotic arm (5), a probe support and a probe underwater calibration or maintenance tool support can be automatically replaced, thereby improving the operating efficiency.

Description

Nuclear reactor underwater maintenance robot and method of using same TECHNICAL FIELD

[0001] The present application relates to the field of nuclear power plant reactor maintenance, in particular to a nuclear reactor underwater maintenance robot and method of using same. BACKGROUND

[0002] The inner cavity of a cylindrical metal component such as a nuclear reactor pressure vessel and a lower in-vessel component involves in-service inspection, maintenance, fastener replacement and other operations. Due to the presence of radioactivity, underwater operations are generally performed, and the positioning accuracy and efficiency of underwater robots have always been a concern.

[0003] Existing nuclear reactor pressure vessel in-service inspection devices mainly include support type robots positioned using flange bolt holes, support type robots positioned using keyways and support blocks, and wall-suction type mobile robots, etc., which cannot simultaneously meet the requirements of small device size, whole-body transportation, high underwater positioning accuracy, convenient detection signal calibration, non-occlusion of the inspected area by the device body, and parallel operation of multiple robots. Related pressure vessel and lower in-vessel component maintenance platforms mainly include some fixed lifting racks, which are bulky and have relatively single functions, and cannot meet the needs of miniaturization and multifunctionalization. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a nuclear reactor underwater maintenance robot and method of using same.

[0005] The technical solution adopted by the present application to solve the technical problem is: a nuclear reactor underwater maintenance robot is constructed, which includes a connecting mechanism, an extension positioning mechanism, a lifting mechanism, a rotating mechanism and a mechanical arm.

[0006] The extension positioning mechanism includes a plurality of extension assemblies, each of which includes a support leg connected to the connecting mechanism, an extension drive installed on the support leg, and a lead screw module connected to the output end of the extension drive.

[0007] The lead screw module includes a slider connected to the output end of the extension drive, a lead screw positioning seat movably connected to the slider, and a lead screw drive motor connected to the lead screw positioning seat, and the wall surface of the lead screw positioning seat away from the slider abuts against the vessel wall surface of the nuclear reactor.

[0008] The lifting mechanism is connected to the connecting mechanism and is used to drive the mechanical arm to perform lifting motion; the rotating mechanism is connected to the connecting mechanism and is used to drive the mechanical arm to perform rotating motion; and the mechanical arm is used for underwater maintenance robot operation.

[0009] In some embodiments, the connecting mechanism comprises a base and a connecting frame, one end of each of the plurality of support legs is connected to the base, the lifting mechanism is installed on the base, an output end of the lifting mechanism is connected to the connecting frame, the rotating mechanism is installed on the connecting frame, and an output end of the rotating mechanism is connected to the mechanical arm.

[0010] In some embodiments, the connecting mechanism further comprises a mounting frame, and each of the plurality of support legs is connected to the mounting frame.

[0011] The mounting frame is provided with a plurality of underwater thrusters and a plurality of buoyancy blocks.

[0012] In some embodiments, the base is provided with an inclination sensor.

[0013] In some embodiments, the nuclear reactor underwater maintenance robot further comprises a plurality of functional part accommodating frames, the functional part accommodating frames are connected to the support legs, and the functional part accommodating frames are provided with a laser range finder, an ultrasonic probe, and a maintenance tool.

[0014] In some embodiments, the lifting mechanism comprises a lifting hollow motor, and the rotating mechanism comprises a rotating hollow motor.

[0015] In the present embodiment, a method for using a nuclear reactor underwater maintenance robot is also constructed, which is based on the nuclear reactor underwater maintenance robot, and comprises the following steps:

[0016] S1, the nuclear reactor underwater maintenance robot is made to enter a container of a nuclear reactor by a travelling crane;

[0017] S2, under the assistance of a camera and a depth gauge, the nuclear reactor underwater maintenance robot is made to hover at a target depth position by underwater thrusters, so as to realize coarse positioning;

[0018] S3, initial adjustment of a posture of the nuclear reactor underwater maintenance robot is performed;

[0019] S4, axial direction calibration of the nuclear reactor underwater maintenance robot and an object to be inspected is performed;

[0020] S5, height and circumferential position calibration of the nuclear reactor underwater maintenance robot is performed;

[0021] S6, coordinate mapping between a robot coordinate and an object to be inspected is completed;

[0022] S7, a maintenance tool or a calibration probe is loaded by a mechanical arm to perform work;

[0023] S8, the nuclear reactor underwater maintenance robot is moved as a whole by underwater thrusters, and work of a next stage is continued.

[0024] In some embodiments, step S3 comprises:

[0025] S31, using the telescopic drive to extend the lead screw module to a first fixed position, so that the lead screw positioning seat is in contact with the container wall;

[0026] S32, according to the feedback of the inclination sensor, using the lead screw drive motor to adjust the position of the lead screw positioning seat relative to the container wall, until the nuclear reactor underwater maintenance robot is in a vertical position relative to the container of the nuclear reactor;

[0027] S33, using the telescopic drive to extend the lead screw module to a second fixed position for fixation.

[0028] In some embodiments, step S4 comprises:

[0029] S41, using the mechanical arm to load the laser range finder, moving the laser range finder to a position close to the container wall and keeping the laser range finder perpendicular to the support leg;

[0030] S42, rotating the laser range finder 360 degrees around the base center axis to obtain a first curve measurement graph between the laser ranging sensor data and the rotation angle;

[0031] S43, comparing the bottom structure features of the inspected object at different angles, combining the first curve measurement graph, if the deviation exceeds the required range, adjusting the position of the lead screw positioning seat, so that the data of the bottom structure features of the inspected object at different angles are within the deviation requirement range, to ensure that the nuclear reactor underwater maintenance robot and the axis of the inspected object are consistent.

[0032] In some embodiments, step S5 comprises:

[0033] S51, rotating the laser range finder 360 degrees again around the base center axis to obtain a second curve measurement graph between the laser ranging sensor data and the rotation angle;

[0034] S52, using the distance data of the flat surface of the bottom structure features of the inspected object at different angles to calibrate the height direction of the maintenance robot;

[0035] S53, using the rising edge or falling edge of the second curve measurement graph to calibrate the angle of the circumferential direction of the maintenance robot.

[0036] The nuclear reactor underwater maintenance robot has the following beneficial effects: the telescopic positioning mechanism of the nuclear reactor underwater maintenance robot has a telescopic function, the maintenance robot can be positioned on the container wall as a whole through the telescopic positioning mechanism, the posture of the underwater maintenance robot is adjusted through the plurality of telescopic assemblies, the position of each telescopic assembly can be finely adjusted, and the posture adjustment of the underwater maintenance robot is facilitated. The mechanical arm can be better operated through the lifting mechanism and the rotating mechanism for driving the mechanical arm to perform lifting and rotating movements, the probe holder can be automatically replaced, the probe can be calibrated underwater, or the maintenance tool holder can be automatically replaced through the mechanical arm, and the work efficiency is improved. Meanwhile, the underwater maintenance robot has a small overall space, and a plurality of underwater maintenance robots can simultaneously work in the nuclear reactor container. BRIEF DESCRIPTION OF DRAWINGS

[0037] 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 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 limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0038] Fig. 1 is a schematic diagram of the overall structure of the nuclear reactor underwater maintenance robot in some embodiments of the present application;

[0039] Fig. 2 is a schematic diagram of the application of the nuclear reactor underwater maintenance robot in some embodiments of the present application;

[0040] Fig. 3 is a schematic diagram of the structure of the screw module in some embodiments of the present application. DETAILED DESCRIPTION

[0041] 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 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 limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0042] It should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "arranging" and the like should be understood in a broad sense, 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 "below" another element, the element can be "directly" or "indirectly" above another element, or one or more intervening elements can exist. 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 limited by "first", "second", "third" and the like can be explicitly or implicitly include one or more 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.

[0043] Please refer to FIG. 1 to FIG. 3, which is a kind of nuclear reactor underwater maintenance robot in some embodiments of the present application, the nuclear reactor underwater maintenance robot includes connecting mechanism 1, telescopic positioning mechanism 2, lifting mechanism 3, rotating mechanism 4 and mechanical arm 5. The telescopic positioning mechanism 2 includes a plurality of telescopic components, each telescopic component includes support leg 21 connected with connecting mechanism 1, telescopic drive 22 installed on support leg 21 and lead screw module 23 connected with the output end of telescopic drive 22. As shown in FIG. 3, the lead screw module 23 includes a slider 231 connected with the output end of the telescopic drive 22, a lead screw positioning seat 232 movably connected with the slider 231 and a lead screw drive motor 233 connected with the lead screw positioning seat 232, the wall surface of the lead screw positioning seat 232 away from the slider 231 abuts against the container wall surface 6 of the nuclear reactor. In addition, the lifting mechanism 3 is connected to the connecting mechanism 1 and is used to drive the mechanical arm 5 to move up and down;Rotating mechanism 4 is connected to connecting mechanism 1, and is used to drive mechanical arm 5 to rotate;Mechanical arm 5 is used for underwater maintenance robot operation. In this embodiment, the number of telescopic components is three, and the three telescopic components are uniformly distributed along the central axis of connecting mechanism 1, and the telescopic components can be adjusted in posture.

[0044] It can be understood that the telescopic positioning mechanism 2 of the nuclear reactor underwater maintenance robot has a telescopic function, which can position the maintenance robot on the container wall 6 through the telescopic positioning mechanism 2, and adjust the posture of the underwater maintenance robot through multiple telescopic components to facilitate the calibration of the position of the underwater maintenance robot. The position of each telescopic component can be fine-tuned separately, which facilitates the adjustment of the posture of the underwater maintenance robot. At the same time, the lifting mechanism 3 and the rotating mechanism 4 drive the mechanical arm 5 to lift and rotate, respectively, so that the mechanical arm 5 can better perform the work, and the probe holder can be automatically replaced, the probe can be calibrated underwater, or the tool holder can be automatically replaced, thereby improving the work efficiency. At the same time, the overall underwater maintenance robot occupies a small space, and multiple underwater maintenance robots can work in the nuclear reactor container at the same time. For example, two underwater maintenance robots can work in parallel to improve work efficiency.

[0045] As shown in FIG. 1, the connecting mechanism 1 includes a base 11 and a connecting frame 12. One end of each of the plurality of support legs 21 is connected to the base 11, the lifting mechanism 3 is installed on the base 11, the output end of the lifting mechanism 3 is connected to the connecting frame 12, the rotating mechanism 4 is installed on the connecting frame 12, and the output end of the rotating mechanism 4 is connected to the mechanical arm 5. The lifting mechanism 3 can drive the rotating mechanism 4 and the mechanical arm 5 to lift simultaneously, and the rotating mechanism 4 drives the mechanical arm 5 to rotate, so that the mechanical arm 5 can better move according to different working environments. The mechanical arm 5 is a multi-joint mechanical arm 5, and the number of the multi-joint mechanical arm 5 can be one or more. One end of the multi-joint mechanical arm 5 can be connected to an end quick-change device to realize multifunctional work, such as pressure vessel cylinder girth weld inspection, pressure vessel nozzle safety end weld inspection, underwater cutting of lower in-vessel components, bolt replacement, underwater machining, etc.

[0046] The base 11 is also provided with an inclination sensor to cooperate with the action of the telescopic positioning mechanism 2 to complete the posture adjustment of the underwater maintenance robot.

[0047] Further, the mounting frame 13 is provided with a plurality of underwater thrusters 14 and a plurality of buoyancy blocks 15. In this embodiment, the number of underwater thrusters 14 is three, and the three underwater thrusters 14 are evenly distributed along the central axis of the base 11. Carrying multiple underwater thrusters 14 can realize hovering and stable lifting in water. The number of buoyancy blocks 15 is multiple, and the main function of the buoyancy block 15 is to provide buoyancy to ensure the stability and reliability of the object in water. Through the trim of the buoyancy block 15, the overall underwater maintenance robot can be in zero gravity underwater.

[0048] The nuclear reactor underwater maintenance robot further comprises a plurality of functional part accommodating racks 7 connected to the support legs 21, and a laser range finder, an ultrasonic probe and a maintenance tool are arranged on the functional part accommodating racks 7. When different operations are required, the tools in the functional part accommodating racks 7 can be loaded by the mechanical arm 5.

[0049] The lifting mechanism 3 comprises a lifting hollow motor, and the rotating mechanism 4 comprises a rotating hollow motor, and the cable can be arranged in the hollow motor, so that a large amount of cable is not required, radiation hot spots are reduced, and a high-dose area is difficult to form.

[0050] In the embodiment, a use method of the nuclear reactor underwater maintenance robot is also constructed, which is based on the nuclear reactor underwater maintenance robot and comprises the following steps:

[0051] S1, entering the nuclear reactor underwater maintenance robot into a container of a nuclear reactor by using a travelling crane;

[0052] S2, hovering the nuclear reactor underwater maintenance robot at a target depth position by using the underwater thruster 14 under the assistance of the camera and the depth gauge, so as to realize coarse positioning;

[0053] S3, performing initial adjustment of a posture of the nuclear reactor underwater maintenance robot;

[0054] S4, performing axial direction calibration of the nuclear reactor underwater maintenance robot and a detected object;

[0055] S5, performing height and circumferential position calibration of the nuclear reactor underwater maintenance robot;

[0056] S6, completing coordinate mapping between a robot coordinate and a detected object coordinate;

[0057] S7, loading a maintenance tool or a calibration probe by using the mechanical arm 5 to perform an operation;

[0058] S8, moving the nuclear reactor underwater maintenance robot as a whole by using the underwater thruster 14, and continuing work of a next stage.

[0059] Specifically, in the step S1, the nuclear reactor underwater maintenance robot is entered into the container of the nuclear reactor by using the travelling crane, so that the maintenance robot enters water and is unhooked.

[0060] The step S3 comprises:

[0061] S31, extending the screw rod module 23 to a first fixed position by using the telescopic drive 22, so that the screw rod positioning seat 232 is in contact with the container wall 6;

[0062] S32, adjusting the position of the screw rod positioning seat 232 relative to the container wall surface 6 by using the feedback of the inclination sensor, until the whole nuclear reactor underwater maintenance robot is in a vertical position relative to the container of the nuclear reactor;

[0063] S33, extending the screw module 23 to a second fixed position for fixation by using the telescopic drive 22.

[0064] Specifically, in step S31, when the screw rod positioning seat 232 is in contact with the container wall surface 6, the supporting force is relatively small, and the preliminary positioning is completed. In step S32, the slider 231 is driven to move by the screw rod driving motor 233, so that the screw rod positioning seat 232 can move up and down relative to the support leg 21, to adjust the position of the screw rod positioning seat 232 relative to the container wall surface 6, until the positions of the three screw rod positioning seats 232 can make the whole nuclear reactor underwater maintenance robot be in a vertical position relative to the container of the nuclear reactor. In step S33, when the screw module 23 is extended to the second fixed position for fixation, the supporting force between the screw rod positioning seat 232 and the container wall surface 6 is relatively large, and the posture adjustment of the underwater maintenance robot is completed, thereby establishing a stable base point for the underwater maintenance robot.

[0065] Step S4 includes:

[0066] S41, loading the laser range finder by using the mechanical arm 5, and moving the laser range finder to a position close to the container wall surface 6 and making the laser range finder keep vertical to the support leg 21;

[0067] S42, rotating the laser range finder 360 degrees around the central axis of the base 11 to obtain a first curve measurement graph between the laser ranging sensor data and the rotation angle;

[0068] S43, comparing the bottom structure features of the detected object at different angles, combining the first curve measurement graph, and if the deviation exceeds the required range, adjusting the position of the screw rod positioning seat 232 until the data of the bottom structure features of the detected object at different angles are within the deviation requirement range, so as to ensure that the nuclear reactor underwater maintenance robot and the axis of the detected object keep consistent.

[0069] Specifically, in step S4, the axial direction calibration of the nuclear reactor underwater maintenance robot and the detected object is performed, and in step S43, the bottom structure features of the detected object at different angles are taken as a reference according to the design drawing model of the detected object. If the deviation exceeds the required range, the method similar to step S3 can be adopted to adjust by adjusting the screw module 23 until the data of the bottom structure features of the detected object at different angles are within the deviation requirement range, so as to ensure that the nuclear reactor underwater maintenance robot and the axis of the detected object keep consistent. The detected object can be a support block or a lower core plate.

[0070] Step S5 includes:

[0071] S51, rotate the laser range finder around the center axis of the base 11 again by 360 degrees to obtain a second curve measurement graph between the laser ranging sensor data and the rotation angle;

[0072] S52, calibrate the height direction of the maintenance robot using the distance data of the flat surface of the bottom structure features of the detected object at different angles;

[0073] S53, calibrate the angle of the circumferential direction of the maintenance robot using the rising edge or falling edge of the second curve measurement graph.

[0074] Wherein, the bottom structure features of the detected object at different angles can be used as a reference according to the design drawing model of the detected object, and the height direction calibration of the maintenance robot is performed using the distance data of the flat surface of the bottom structure features of the detected object at different angles, and the angle calibration of the circumferential direction of the maintenance robot is performed using the rising edge or falling edge of the second curve measurement graph.

[0075] In step S7, the mechanical arm 5 loads the maintenance tool or the calibration probe to perform the work, and the relevant non-destructive testing or maintenance and replacement work can be performed.

[0076] In step S8, after the underwater maintenance robot finishes working in the area, the underwater thruster 14 is used to displace, and steps S2 to S6 are repeated to complete the position re-calibration.

[0077] The underwater maintenance robot for nuclear reactors and the method thereof have the following beneficial effects:

[0078] 1. The underwater maintenance robot uses the underwater thruster 14 to facilitate movement underwater, reduces the use of rowing resources, saves time, avoids unnecessary partition detection work, helps to improve work efficiency, and saves on-site resource occupation;

[0079] 2. The underwater maintenance robot has a small overall space, and multiple underwater maintenance robots can work in the nuclear reactor container at the same time;

[0080] 3. The posture adjustment of the underwater maintenance robot is performed by the multiple lead screw modules 23 in cooperation with the inclination sensor, and the circumferential and height positions are calibrated by the laser range finder, which overcomes the problem of low positioning accuracy caused by the lack of mechanical feature points;

[0081] 4. The lifting hollow motor and the rotating hollow motor are used, the cables can be stored, a large number of wire winding is not needed, the hollow cable is designed to be built-in in the equipment, the use of cable winding or drag chain components is reduced, a large amount of cable adsorption of radioactive stains is avoided, thereby reducing the collective dose of the operation and maintenance personnel, reducing the radiation hot spot, and difficult to form a high-dose area.

[0082] 5. The underwater inspection robot has certain adaptability, and the detection and inspection operation can be performed in a container with similar structure by using the setting of the mechanical arm 5, such as inspection of lower internal component basket girth weld and replacement of baffle bolt, etc.

[0083] 6. The positioning method of the underwater inspection robot is direct, fast and accurate, and overcomes the dependence of the underwater inspection robot on specific installation position of the inspected object, and high-precision positioning is realized.

[0084] It can be understood that the above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the patent scope of the present application; it should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and several modifications and improvements can be made, which belong to the protection scope of the present application; therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. A nuclear reactor in-service underwater inspection robot, characterized by, It comprises a connecting mechanism (1), a telescopic positioning mechanism (2), a lifting mechanism (3), a rotating mechanism (4) and a mechanical arm (5); The telescopic positioning mechanism (2) comprises a plurality of telescopic assemblies, each of which comprises a support leg (21) connected with the connecting mechanism (1), a telescopic drive (22) mounted on the support leg (21), and a lead screw module (23) connected with the output end of the telescopic drive (22); The lead screw module (23) comprises a slider (231) connected with the output end of the telescopic drive (22), a lead screw positioning seat (232) movably connected with the slider (231), and a lead screw drive motor (233) connected with the lead screw positioning seat (232), and the wall surface of the lead screw positioning seat (232) away from the slider (231) abuts against the container wall surface (6) of the nuclear reactor; The lifting mechanism (3) is connected to the connecting mechanism (1) and is used to drive the mechanical arm (5) to move up and down; the rotating mechanism (4) is connected to the connecting mechanism (1) and is used to drive the mechanical arm (5) to rotate; and the mechanical arm (5) is used for the operation of the underwater maintenance robot.

2. The nuclear reactor in-containment maintenance robot of claim 1, wherein, The connecting mechanism (1) comprises a base (11) and a connecting frame (12), one end of each of the plurality of support legs (21) is connected to the base (11), the lifting mechanism (3) is mounted on the base (11), the output end of the lifting mechanism (3) is connected to the connecting frame (12), the rotating mechanism (4) is mounted on the connecting frame (12), and the output end of the rotating mechanism (4) is connected to the mechanical arm (5).

3. The nuclear reactor in-containment maintenance robot of claim 2, wherein, The connecting mechanism (1) further comprises a mounting frame (13), and each of the plurality of support legs (21) is connected to the mounting frame (13). A plurality of underwater thrusters (14) and a plurality of buoyancy blocks (15) are arranged on the mounting frame (13).

4. The nuclear reactor in-containment maintenance robot of claim 2, wherein, An inclination sensor is arranged on the base (11).

5. The nuclear reactor in-containment maintenance robot of claim 4, wherein, The underwater maintenance robot for nuclear reactor further comprises a plurality of functional part accommodating frames (7), the functional part accommodating frames (7) are connected to the support legs (21), and a laser range finder, an ultrasonic probe and a maintenance tool are arranged on the functional part accommodating frames (7).

6. The nuclear reactor in-containment maintenance robot of claim 1, wherein, The lifting mechanism (3) comprises a lifting hollow motor, and the rotating mechanism (4) comprises a rotating hollow motor.

7. A method of using a nuclear reactor in- service underwater robot based on the nuclear reactor in-service underwater robot of any one of claims 1 to 6, characterized in that, The method comprises the following steps: S1, using the travelling crane to make the underwater maintenance robot for nuclear reactor enter the container of the nuclear reactor; S2, under the assistance of a camera and a depth gauge, using the underwater thrusters (14) to make the underwater maintenance robot for nuclear reactor hover at a target depth position to realize coarse positioning; S3, performing initial adjustment of the posture of the underwater maintenance robot for nuclear reactor; S4, performing axial direction calibration of the underwater maintenance robot for nuclear reactor and the object to be inspected; S5, performing height and circumferential position calibration of the underwater maintenance robot for nuclear reactor; S6, completing coordinate mapping between the robot coordinate and the object to be inspected; S7, using the mechanical arm (5) to load a maintenance tool or a calibration probe to perform operation. S8, the nuclear reactor underwater maintenance robot is displaced as a whole by the underwater thruster (14) to continue the next stage of work.

8. The method of using a nuclear reactor subsea intervention robot according to claim 7, characterized in that, Step S3 includes: S31, the lead screw module (23) is extended to a first fixed position by the telescopic drive (22), so that the lead screw positioning seat (232) is in contact with the container wall (6); S32, according to the feedback of the inclination sensor, the position of the lead screw positioning seat (232) relative to the container wall (6) is adjusted by the lead screw drive motor (233) until the nuclear reactor underwater maintenance robot is in a vertical position relative to the container of the nuclear reactor; S33, the lead screw module (23) is fixed by the telescopic drive (22) extended to a second fixed position.

9. The method of using a nuclear reactor subsea intervention robot according to claim 7, characterized in that, Step S4 includes: S41, the laser range finder is loaded by the mechanical arm (5), and the laser range finder is moved to a position close to the container wall (6) and kept vertical with the support leg (21); S42, the laser range finder is rotated 360 degrees around the center axis of the base (11) to obtain a first curve measurement diagram between the laser ranging sensor data and the rotation angle; S43, the bottom structure features of the detected object at different angles are compared, and the first curve measurement diagram is combined, if the deviation exceeds the required range, the position of the lead screw positioning seat (232) is adjusted, and the data of the bottom structure features of the detected object at different angles is within the deviation requirement range, so that the axis of the nuclear reactor underwater maintenance robot and the detected object is kept consistent.

10. The method of using a nuclear reactor subsea intervention robot of claim 7, wherein, Step S5 includes: S51, the laser range finder is rotated 360 degrees again around the center axis of the base (11) to obtain a second curve measurement diagram between the laser ranging sensor data and the rotation angle; S52, the height direction of the maintenance robot is calibrated by using the distance data of the flat surface of the bottom structure features of the detected object at different angles; S53, the angle calibration of the circumferential direction of the maintenance robot is performed by using the rising edge or falling edge of the second curve measurement diagram.

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