The invention provides an TV automatic checkout equipment for the water chamber inner surface of a nuclear steam generator, comprising a guide rail, a support platform, a large arm, a telescopic boom, a forearm, a rotating arm, a yawing arm, a ribbed slab, a support and a steel plate; two ends of the support are supported on the surface of the guide rail and the inner surface of a manhole respectively; the guide rail is connected with a flange; one end of the guide rail is arranged on the ribbed slab; a monaural on the side wall of the other end of the guide rail is connected with one end of the steel plate; the other end of the steel plate is connected with a monaural on the other location of the corresponding side of the support platform; the other side of the support platform is connected with one end of the large arm, the other end of the large arm is connected with the telescopic boom, the forearm, the rotating arm and the yawing arm in sequence. The device of the invention can have an overall inspection on the stainless overlaying layer of the water chamber surface of the steam generator so as to find if crackles, collision tracks, scratches, corrosive defects, abnormal indication or foreign objects exist.