KR100907665B1 - Steam generator heat pipe defect repair tool feed push puller device - Google Patents

Abstract

The steam generator heating tube defect repair tool transfer push puller device makes it easy to maintain the level between the device and the tube sheet during repair in the heat pipe, and to accurately move the defect repair tool to the correct position inside the heat pipe. Is initiated. The transfer device includes a coupling portion having a walking tail coupled to a manipulator installed in the channel head of the steam generator; An upper fixing plate mounted horizontally on the front surface of the coupling part and protruding on an upper surface thereof, the upper fixing plate having a plurality of grippers fixed to a heat transfer tube by a lower surface of the tube sheet provided on the channel head; A housing mounted to a lower surface of the upper fixing plate; A cylindrical rotating part mounted to a lower surface of the upper fixing plate to the inside of the housing, and rotating while guiding a movement of a tool for repairing a defect to an upper side through a center of a lower surface of the upper fixing plate; A shanghai part mounted on a lower end of the cylindrical rotating part and moving up and down a tool for repairing defects introduced from the center of the lower surface of the housing to the upper side; A position detecting unit installed on the upper fixing plate and detecting a position of a defect repairing tool while detecting a horizontal state of the upper fixing plate with a lower surface of the tube sheet; Include.

Description

Push-puller device for transferring a tool using to repair defects of heat exchange tubes in a steam generator}

The present invention relates to a transfer device for transferring a heat pipe defect repair mechanism used for repairing a heat pipe of a steam generator for a nuclear power plant into the heat pipe, and more specifically, between the device and the tube sheet during repair in the heat pipe. The present invention relates to a steam generator heating tube defect repair tool transfer push puller device that allows the defect repair tool to be precisely moved to an accurate position inside the heat pipe while making horizontal maintenance easy.

In general, the steam generator of a nuclear power plant generates high-temperature, high-pressure primary coolant containing radiation generated from the reactor by flowing it to the inner surface of the heat pipe, thereby heating the fed water outside the pipe. It is a facility that supplies this steam to a turbine.

The heat generator tube of the steam generator uses Alloy 600 or 690, a Ni-based alloy that has high corrosion resistance at high temperatures and pressures.

However, a large number of defects due to corrosion or external impacts are generated in the heat generator tube of the steam generator during or after long-term operation (years or decades). Since the steam generator is flowing inside the steam generator, if the heat pipe is defective and leaks to the outside, it may lead to an accident at the nuclear power plant. In this case, the heat pipes are temporarily blocked (commonly called "plugging" or "plug"), and if the pipe plugs are usually 10-20% or more, the pipe regeneration repair is performed during the maintenance period of the nuclear power plant. Usually referred to as "sleeving", in order to perform the repair and repair of the tube and the above, a transfer device capable of accurately transferring the defect repairing tool to a heat-transfer tube having a defect is required.

As a conventional repairing and transporting device, the applicant has already filed the contents disclosed in Korean Patent Publication No. 2006-0078055 (2006.07.05), "Transmission device for repairing defective pipes of nuclear steam generators." If specifically described as follows.

As shown in FIG. 9, a manipulator 100 provided on one side of the plurality of heat transfer tubes 11 provided in the tube sheet 12 of the steam generator and an operation to be transportable by the manipulator 100 are performed. Conveying means 200, and is connected to the conveying means 200 is configured to include a repair head for repairing the defects generated in the heat transfer pipe (11).

Here, the manipulator 100 has a support 110 that is installed and fixed to any one of the plurality of heat pipes 11, a connecting table 120 to move along the longitudinal direction of the support 110, and this connecting table ( 120 is formed of an arm 130 is formed to extend from the joint movement is possible.

As shown in FIG. 10, the conventional conveying apparatus 200 includes a connecting member 210 rotatably connected to an arm of a manipulator, and a housing 220 having a predetermined space while being coupled to the connecting member 210. The wire supply unit 230 provided in the housing 220, the first power transmission unit 240 for rotating the wire supply unit 230, and a flexible cable installed in the center to insert various wires 250, a roller unit 260 positioned at the lower portion of the first power transmission unit 240 to facilitate the transfer, a second power transmission unit 270 for rotating the roller unit 260, and The wiring connection part 280 is provided to be rotatable simultaneously with the rotation of the roller unit 260 while preventing various wires from being twisted.

The upper surface of the housing 220 is provided with a guide pin 400 so as to be movable in the vertical direction, respectively, one side is a structure including a clamping means (500, 600) to be fixed in the heat transfer tube. One or more of the clamping means 500 and 600 are provided on the upper surface of the housing 220.

However, the above conventional technology has the following problems.

Conventional conveying device does not maintain horizontal level between conveying device and tube sheet when repairing defects inside the heat pipe, so it is not easy to insert the tool for repairing defects. There is a problem that cannot be moved.

In addition, the conventional conveying device has a problem in that inconvenience in use, such as change the outer diameter of the tool for repairing defects, it is not easy to fix it, and the conveying device itself must be changed.

In addition, the conventional conveying apparatus has a problem that the operation accuracy is significantly lowered since the operator can not remotely monitor the process of the defect repair tool is inserted into the heat transfer tube.

In addition, the conventional conveying device has a friction between the inlet surface of the housing and the tool for repairing defects when the tool for repairing defects is inserted into the inlet of the lower surface of the housing. There is a problem that this becomes unstable.

Accordingly, the present invention has been made to solve the conventional problems as described above,

It is an object of the present invention to easily maintain the level between the device and the tube sheet when repairing the inside of the heat pipe, while the tool for steam generator heat pipe defect repair to accurately move the tool for repairing the defect to the correct position inside the heat pipe. The present invention provides a transfer push puller device.

In addition, another object of the present invention to provide a tool transfer push puller device for steam generator heating tube defect repair to ensure the supply of power stably without twisting the power wiring during rotation or vertical movement.

In addition, another object of the present invention is to provide a steam generator heating tube defect repair tool transfer push puller device to be easily gripped even if the outer diameter of the defect repair tool is changed to make a stable movement up and down.

In addition, another object of the present invention is to monitor the process of the defect repair tool is inserted into the inside of the heat pipe, the steam generator heating tube defect repair tool transfer push to ensure that the insertion of the defect repair tool stable and precise In providing a puller device.

In addition, another object of the present invention is to minimize the friction between the inlet surface of the housing and the defect repair tool when the defect repair tool is inserted into the lower surface of the housing to ensure that the defect repair tool is inserted into the housing stably. It is to provide a tool transfer push puller device for repairing a steam generator heat pipe defect.

In order to achieve the object of the present invention as described above, the tool transfer push puller device for steam generator heat pipe defect repair according to a preferred embodiment of the present invention and the coupling portion having a walking tail coupled to the manipulator installed in the channel head of the steam generator; ; An upper fixing plate mounted horizontally on the front surface of the coupling part and protruding on an upper surface thereof, the upper fixing plate having a plurality of grippers fixed to a heat transfer tube by a lower surface of the tube sheet provided on the channel head; A housing mounted to a lower surface of the upper fixing plate; A cylindrical rotating part mounted to a lower surface of the upper fixing plate to the inside of the housing, and rotating while guiding a movement of a tool for repairing a defect to an upper side through a center of a lower surface of the upper fixing plate; A shanghai part mounted on a lower end of the cylindrical rotating part and moving up and down a tool for repairing defects introduced from the center of the lower surface of the housing to the upper side; A position detecting unit installed on the upper fixing plate and detecting a position of a defect repairing tool while detecting a horizontal state of the upper fixing plate with a lower surface of the tube sheet; It is characterized by including.

In addition, the cylindrical rotating unit guides the movement of a fixing tube mounted on the upper fixing plate in a state where the upper end penetrates in the center of the upper fixing plate, and a defect repair tool rotatably mounted inside the fixing tube and moved inward. A guide tube to be mounted around the lower end of the guide tube and mounted on the lower surface of the shank east portion, and having a hollow cylindrical body, and a rotating driving part installed inside the housing to rotate the cylindrical body. do.

The rotary drive unit may include a rotary gear mounted to an outer circumferential surface of the cylindrical body, a drive gear engaged with the rotary gear, and a rotary motor mounted inside the housing to drive the drive gear. It is done.

The cylindrical rotating unit may further include a power supply unit configured to supply power to the shanghai east side in the state where the cylindrical rotating unit is provided in the cylindrical rotating unit and rotates.

In addition, the power supply unit, the lower end is mounted around the upper surface of the cylindrical body in a state provided around the outer circumferential surface of the fixed tube, the upper and lower sides corresponding to both sides of the slip ring and the east and east of the slip ring, And a pair of supports having an upper end mounted on a lower surface of the fixing plate, and a connection terminal provided on an inner side of the support so as to contact the slip ring.

In addition, the Shanghai East, the vertical plate is mounted on the lower end of the cylindrical rotating portion, a plurality of drive rollers are provided to be arranged up and down on the front of the vertical plate, and installed on the vertical plate to rotate the drive roller A roller driving unit, an idle roller provided on the vertical plate while being spaced corresponding to the driving roller, and installed on the vertical plate so that a defect inspection tool is engaged between the driving roller and the idle roller. It characterized in that it comprises a horizontal moving unit for moving in the direction.

The roller driving unit may include a roller gear mounted on the rear surface of the driving roller, a worm gear meshed with the roller gear and rotatably installed on the vertical plate, and a servo installed on the vertical plate to rotate the worm gear. And a motor.

In addition, the horizontal moving unit, the L guide is horizontally mounted to the upper front and the lower front of the vertical plate, respectively, and is mounted on the front of the LM guide is provided to be movable horizontally and the idle roller on the front A horizontal movable plate rotatably mounted and having an inclined surface formed on one side thereof, a sliding member disposed on one side of the horizontal movable plate having a corresponding inclined surface in close contact with the inclined surface disposed on one side of the vertical plate, and And a Shanghai copper motor for moving the sliding member up and down.

In addition, the position detection unit, a plurality of proximity sensors installed on the upper surface of the upper fixing plate to the same height to detect the horizontal state of the upper fixing plate, and installed on the upper fixing plate to one side of the proximity sensor to the upper fixing plate It characterized in that it comprises a photosensor, for detecting the position of the tool for repairing defects passing.

The position detecting unit may further include a camera installed on the upper surface of the upper fixing plate to photograph the position of the tool for repairing defects.

The housing may further include a lower guide tube having a lower end mounted on the lower surface of the housing and having an upper end positioned at the lower end of the east-east part such that the input of the defect repair tool is guided through the lower surface thereof. .

In addition, the housing, a plurality of support members that are mounted in a circular arrangement around the lower surface of the housing corresponding to the lower end of the lower guide tube, and rotatably mounted on the support member to repair the defects on the lower surface of the housing It further comprises a guide roller for guiding the input of the tool for.

The present invention has an effect that the horizontal maintenance between the device and the tube sheet at the time of repair in the inside of the heat exchanger tube can be easily made, and the defect repair tool can be precisely moved to the correct position inside the heat transfer tube.

In addition, the present invention has the effect that the supply of power is stable without the twist of the power supply wiring during rotation or vertical movement.

In addition, the present invention has the effect that the up and down movement is stable by gripping easily even if the outer diameter of the defect repair tool is changed.

In addition, the present invention can monitor the process of the defect repair tool is inserted into the heat transfer tube has the effect that the insertion of the defect repair tool is stable and precise.

In addition, the present invention has an effect that the insertion of the defect repair tool into the housing is stable by minimizing the friction between the inlet surface of the housing and the defect repair tool when the defect repair tool is inserted into the lower surface of the housing. .

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic side cross-sectional view of the present invention, and FIG. 2 is a schematic front cross-sectional view of the present invention. FIG. 3 is a schematic side cross-sectional view of a cylindrical rotating part according to the present invention.

As shown here, the tool transfer push puller device for steam generator heating tube defect repair is the coupling portion 10 coupled to the arm of the manipulator, the upper fixing plate 20 mounted to the coupling portion 10, and the upper fixing plate A housing 30 mounted on a lower surface of the 20, a cylindrical rotating part 40 provided inside the housing 30, a shanghai east part 50 mounted on a lower end of the cylindrical rotating part 40, and It includes a position detecting unit 60 is installed on the upper surface of the upper fixing plate (20).

The coupling portion 10 has a walking tail 11 coupled to a manipulator installed in the channel head of the steam generator. The walking tail 11 is coupled to the arm of the manipulator, and the transfer device is installed in the manipulator.

The upper fixing plate 20 has a plurality of grippers 21 which are horizontally mounted on the front surface of the coupling part 10 and protruded on the upper surface of the upper fixing plate 20 so as to be fitted into the heat transfer tube and fixed to the lower surface of the tube sheet provided in the channel head.

The upper fixing plate 20 serves to support the cylindrical rotating part 40 including the housing 30 installed as the lower surface and at the same time serves to fix the device to the tube sheet through the gripper 21.

The housing 30 is mounted on the lower surface of the upper fixing plate 20, and serves to protect the cylindrical rotating part 40 and the shanghai east part 50.

The cylindrical rotating portion 40 is mounted on the lower surface of the upper fixing plate 20 into the interior of the housing 30 and rotated while guiding the movement of the tool for repairing defects through the center of the lower surface of the upper fixing plate 20 to the upper side. It serves to rotate the tool for repairing defects inserted inwards according to the operator's operation.

The cylindrical rotating part 40 is fixed to the upper fixed plate 20 in the state in which the upper end is penetrated in the upper fixing plate 20 and the fixed tube 41, the inner side of the fixing tube 41 rotatably mounted A guide tube 42 for guiding the movement of the tool for repairing defects moved to the lower end of the guide tube 42 and having a shank east portion 50 mounted on the lower surface thereof, and having a hollow cylindrical body 43; It is installed in the housing 30 includes a rotary drive portion 44 for rotating the cylindrical body 43.

The fixing tube 41 serves to support the guide tube 42 rotatably installed in the inside in a state where it is mounted on the upper fixing plate 20, and the guide tube 42 is for defect repair inserted into the inside. While rotating the tool with the defect repair tool by the rotary drive unit 44 while guiding the movement of the tool to allow the defect repair tool to be rotated according to the operator's operation.

The cylindrical body 43 is installed in the guide tube 42 so that the shanghai East 50 can be installed on the lower side, the shanghai East 50 together with the rotation of the guide tube 42 It can be rotated.

The rotary drive unit 44 rotates the cylindrical body 43, and serves to rotate the shanghai eastern part 50 together with the guide tube 42 as a whole. The rotary drive unit 44, which serves as described above, includes a rotary gear 441 mounted on an outer circumferential surface of the cylindrical body 43, a drive gear 442 engaged with the rotary gear 441, and the housing 30. It is mounted to the inside of the rotary motor 444 for driving the drive gear 442.

The rotary drive unit 44 is a cylindrical body in which the rotary gear 441 is mounted on an outer circumferential surface of the rotary gear 441 by rotating the rotary gear 441 engaged with the driving gear 442 as the rotary motor 443 is driven. 43).

The cylindrical rotating part 40 further includes a power supply part 45 for supplying power to the east and east parts 50 in a state where the cylindrical rotating part 40 is provided inside the housing 30 and rotates. The power supply 45 serves to stably supply power to the shanghai east part 50 that rotates together with the cylindrical body (43).

The power supply 45 that serves as described above has a lower end mounted on the upper circumference of the cylindrical body 43 in a state provided around the outer circumferential surface of the fixed tube 41, and a slip ring connected to the shanghai eastern part 50 and the power supply ( 451, a pair of supports 452 mounted on the lower surface of the upper fixing plate 20 to correspond to both sides of the slip ring 451, and the support 452 to be in contact with the slip ring 451. It includes a connection terminal 453 provided on the inner side of the.

The power supply unit 45 is installed in a state in which the connection terminal 453 is in contact with the slip ring 451 in a state in which power is connected to the connection terminal 453 installed on the support 452, thereby providing the slip ring ( Power is supplied from the connection terminal 453 in a state in which the 451 is rotated to supply power to the Shanghai East 50 connected to the slip ring 451.

The shanghai eastern part 50 is mounted on the lower end of the cylindrical rotating part 40 and moves up and down the defect repair tool, which is introduced from the center of the lower surface of the housing 30 to the upper side, and moves inwards according to the operator's operation if necessary. It moves the inserted defect repair tool up and down.

The position detecting unit 60 is installed on the upper fixing plate 20, and serves to detect the position of the defect repair tool while detecting the horizontal state of the upper fixing plate 20 with the lower surface of the tube sheet.

The position detecting unit 60, which serves as described above, is installed at the same height on the upper surface of the upper fixing plate 20, and a plurality of proximity sensors 61 for detecting a horizontal state of the upper fixing plate 20, and the proximity One side of the sensor 61 is installed on the upper fixing plate 20 includes a photosensor 62 for detecting the position of the defect repair tool passing through the upper fixing plate 20.

The proximity sensor 61 detects the horizontal state of the upper fixing plate 20 so that the upper fixing plate 20, that is, the device can be fixed in a state where the level is maintained on the lower surface of the tube sheet.

The photosensor 62 detects the position of the defect repair tool that is moved to the upper side through the upper fixing plate 20 to allow the defect repair tool to be inserted at the correct position into the heat pipe.

4 is a schematic plan view of the present invention.

As shown in this figure, the proximity sensor 61 is installed on the upper surface of the upper fixing plate 20 to serve to detect a horizontal state of the upper fixing plate 20, one side of the proximity sensor 61 The photo sensor 62 is installed in the upper fixing plate 20 is installed in a pair to correspond to each other serves to detect the position of the defect repair tool passing through the upper fixing plate 20.

The camera 63 installed on the upper surface of the upper fixing plate 20 photographs the position of the defect repair tool inserted into the heat transfer tube, so that the worker remotely repairs the defect through a monitor connected to the camera 63 from the outside. You can monitor the insertion status of the tool.

Figure 5 is a schematic side cross-sectional view of the east of Shanghai according to the invention, Figure 6 is a schematic front sectional view of the east of Shanghai in accordance with the present invention.

As shown in the drawing, the east part 50 is provided with a vertical plate 51 having an upper end mounted at a lower end of the cylindrical body 43, and a plurality of driving units arranged up and down on the front surface of the vertical plate 51. A roller 52, a roller driving part 53 installed on the vertical plate 51 to rotate the driving roller 52, and provided on the vertical plate 51 so as to be spaced apart from the driving roller 52. The idle roller 54 and the drive roller 52 and the idle roller 54 are installed on the vertical plate 51 so as to engage the tool for defect inspection to move the idle roller 54 in the horizontal direction. It includes a horizontal moving unit 55 to.

The shanghai eastern part 50 is a defect repair tool while the drive roller 52 is driven and rotated by the roller drive unit 53 while the tool for repairing the defect is engaged between the driving roller 52 and the idle roller 54. As the tool is moved to the upper side or to the lower side, the movement of the defect repair tool is performed.

The roller driving part 53, which serves as described above, has a roller gear 531 mounted on the rear surface of the driving roller 52, and a worm gear rotatably installed on the vertical plate 51 in engagement with the roller gear 531. 532 and a servo motor 533 installed on the vertical plate 51 to rotate the worm gear 532.

The roller driver 53 rotates the roller gears 531 meshed with the worm gears 532 as the worm gears 532 rotate as the servomotor 533 is driven, and the roller gears 531 rotate according to the rotation of the roller gears 531. The driving roller 52 mounted thereon is rotated.

The horizontal moving part 55 allows a plurality of idle rollers 54 arranged vertically to move horizontally integrally so as to be inserted between the driving roller 52 and the idle roller 54. Even if the outer diameter of the tool changes, this defect repairing tool can be securely engaged.

In other words, if the outer diameter of the defect repair tool inserted between the driving roller 52 and the idle roller 54 is large, the horizontal moving part 55 moves the idle roller 54 to the outside to provide a tool for repairing the defect. When the outer diameter of the coupling repairing tool is relatively small, on the contrary, the idler 54 is moved inward to stably engage the defect repairing tool.

The horizontal moving part 55 that serves as described above is mounted on the front and bottom of the vertical plate 51 horizontally slidably LM guide 551 and the front of the LM guide 551, respectively. And horizontally movable plate 552 having an inclined surface 552a formed on one side of the idle roller 54 rotatably mounted on the front surface thereof, and a corresponding inclined surface 553a in close contact with the inclined surface 552a. ) And a sliding member 553 disposed on one side of the horizontal movable plate 552 and a lower side of the vertical plate 51 to move the sliding member 553 upward and downward. And 554.

As the horizontal moving part 55 moves the sliding member 553 to the upper side according to the operation of the Shanghai moving motor 554, the corresponding inclined surface 553a of the sliding member 553 is an inclined surface of the horizontal moving plate 552 ( The horizontal moving plate 552 is pushed to one side in contact with 552a, and the horizontal moving plate 552 is guided by the LM guide 551 to move horizontally inward to drive the idle roller 54. By moving the inner side closer to the roller 52, the tool for repairing defects inserted between the idle roller 54 and the driving roller 52 is engaged.

The shankdong motor 554 is a sliding member 553 is connected to the shaft drawn in front of it, and when driven to rotate the rotor therein to move the shaft forward or backward. The shaft is connected to the male and female threads inside the motor, thereby moving the sliding member 553 up and down while the motor shaft is moving forward or backward.

Figure 7 is a schematic side cross-sectional view showing a housing according to the present invention, Figure 8 is a schematic bottom view of the present invention.

As shown in the drawing, the housing 30 has a lower guide tube 31 having a lower end mounted on the lower surface thereof, and a plurality of circular guides mounted around the lower surface corresponding to the lower end of the lower guide tube 31. The support member 32, and the guide roller 33 is rotatably mounted to the support member (32).

The lower guide tube 31 serves to guide the insertion of a tool for repairing defects introduced through the lower surface of the housing 30.

Guide rollers 33 arranged in a circular shape by the support member 32 are arranged around the lower end of the lower guide tube 31 to guide the introduction of a tool for repairing defects introduced through the lower guide tube 31. It serves to reduce the friction generated during the injection between the lower guide tube 31 and the tool for repairing defects.

Therefore, the defect repair tool is stably fed in a state where the guide roller 33 and the lower guide tube 31 are guided smoothly.

1 is a schematic side cross-sectional view of the present invention;

2 is a schematic front cross-sectional view of the present invention;

3 is a schematic side cross-sectional view of a cylindrical rotating part according to the present invention;

4 is a schematic plan view of the present invention;

5 is a schematic side cross-sectional view of the eastern part of Shanghai according to the present invention;

Figure 6 is a schematic front sectional view of the east of Shanghai in accordance with the present invention;

7 is a schematic side cross-sectional view showing a housing according to the present invention;

8 is a schematic bottom view of the present invention;

9 is a side cross-sectional view showing a state in which a conventional transfer device is installed;

Figure 10 is a schematic side cross-sectional view showing a conventional transfer device.

* Explanation of symbols for the main parts of the drawings

10: coupling part

   11: walking tail

20: upper fixing plate

   21: Gripper

30: housing

   31: lower guide tube 32: support member

   33: guide roller

40: cylindrical rotation part

   41: fixed tube 42: guide tube

   43: cylindrical body 44: rotary drive part

50: East Shanghai

   51: vertical plate 52: drive roller

   53: roller driving unit 54: idle roller

   55: horizontal moving part

60: position detection unit

   61: proximity sensor 62: photo sensor

   63: camera

Claims (12)

A coupling part 10 having a walking tail 11 coupled to a manipulator installed in the channel head of the steam generator; An upper fixing plate 20 mounted horizontally on the front surface of the coupling part 10 and protruding on the upper surface, the upper fixing plate 20 having a plurality of grippers 21 fixed to the heat transfer tube by the lower surface of the tube sheet provided in the channel head; A housing (30) mounted on a lower surface of the upper fixing plate (20); A cylindrical rotating part 40 mounted inside the housing 30 on the lower surface of the upper fixing plate 20 and rotating while guiding the movement of the tool for repairing defects through the center of the lower surface of the upper fixing plate 20 to the upper side; ; A shanghai part 50 mounted at a lower end of the cylindrical rotating part 40 to move a tool for repairing defects, which is introduced from the center of the lower surface of the housing 30 to the upper side, up and down; A position detecting unit (60) installed on the upper fixing plate (20) and detecting a position of a defect repair tool while detecting a horizontal state of the upper fixing plate (20) with a lower surface of the tube sheet; Steam generator heating tube defect repair tool transfer push puller device comprising a. According to claim 1, wherein the cylindrical rotating portion 40, A fixing tube 41 mounted to the upper fixing plate 20 in a state where an upper end penetrates in the center of the upper fixing plate 20, A guide tube 42 rotatably mounted inside the fixing tube 41 to guide movement of a tool for repairing defects moved inward; It is mounted around the lower end of the guide tube 42 and the shanghai East 50 is mounted on the lower surface and the hollow cylindrical body 43, The rotary drive unit 44 is installed inside the housing 30 to rotate the cylindrical body 43, Steam generator heating tube defect repair tool transfer push puller device comprising a. According to claim 2, The rotary drive unit 44, A rotary gear 441 mounted on an outer circumferential surface of the cylindrical body 43; A driving gear 442 engaged with the rotary gear 441; A rotary motor 443 mounted inside the housing 30 to drive the drive gear 442; Steam generator heating tube defect repair tool transfer push puller device comprising a. The method of claim 2 wherein the cylindrical rotating portion 40, The power supply unit 45 for supplying power to the Shanghai East 50 in the state that is provided in the cylindrical rotating portion 40 is rotated into the housing 30, Steam generator heat pipe defect repair tool transfer push puller device further comprises. The power supply unit 45 of claim 4, Slip ring 451 is mounted on the upper circumference of the cylindrical body 43 in the state provided around the outer circumferential surface of the fixed tube 41 and the Shanghai East 50 is connected to the power supply; A pair of supporters 452 having an upper end mounted on a lower surface of the upper fixing plate 20 in correspondence to both sides of the slip ring 451; Connection terminal 453 is installed on the inner side of the support 452 to be in contact with the slip ring 451, Steam generator heating tube defect repair tool transfer push puller device comprising a. The method of claim 1 wherein the Shanghai East 50, A vertical plate 51 having an upper end mounted at a lower end of the cylindrical rotating part 40; A plurality of driving rollers 52 arranged up and down on the front surface of the vertical plate 51; A roller driving part 53 installed on the vertical plate 51 to rotate the driving roller 52; An idle roller 54 provided on the vertical plate 51 while being spaced apart from the driving roller 52; The horizontal moving part 55 is installed on the vertical plate 51 so as to engage a tool for defect inspection between the driving roller 52 and the idle roller 54 to move the idle roller 54 in the horizontal direction. , Steam generator heating tube defect repair tool transfer push puller device comprising a. The method of claim 6, wherein the roller drive unit 53, A roller gear 531 mounted on a rear surface of the driving roller 52; A worm gear 532 meshed with the roller gear 531 and rotatably installed on the vertical plate 51; Servo motor 533 is installed on the vertical plate 51 to rotate the worm gear 532, Steam generator heating tube defect repair tool transfer push puller device comprising a. According to claim 6, The horizontal moving part 55, An L guide 551 horizontally mounted to the upper front and lower front of the vertical plate 51 so as to be slidable, respectively; A horizontal movable plate 552 mounted on the front of the LM guide 551 so as to be movable horizontally and mounted on the front of the idle roller 54 and having an inclined surface 552a formed at one side thereof; A sliding member 553 disposed on one side of the horizontal movable plate 552 with a corresponding inclined surface 553a closely attached to the inclined surface 552a, and Shanghai East Motor 554 is mounted to the lower end of the vertical plate 51 to move the sliding member 553 up and down, Steam generator heating tube defect repair tool transfer push puller device comprising a. According to claim 1, wherein the position detection unit 60, A plurality of proximity sensors 61 installed at the same height on the upper surface of the upper fixing plate 20 to detect a horizontal state of the upper fixing plate 20; The photo sensor 62 is installed on the upper fixing plate 20 to one side of the proximity sensor 61 to detect a position of a defect repair tool passing through the upper fixing plate 20. Steam generator heating tube defect repair tool transfer push puller device comprising a. 10. The method of claim 9 wherein the position detection unit 60, The camera 63 is installed on the upper surface of the upper fixing plate 20 to photograph the position of the tool for repairing defects, Steam generator heat pipe defect repair tool transfer push puller device further comprises. The method of claim 1, wherein the housing 30, The lower guide pipe 31 is mounted on the lower surface of the housing 30 so that the input of the defect repair tool through the lower surface thereof and the upper end thereof is located at the lower end of the shanghai eastern part 50. Steam generator heat pipe defect repair tool transfer push puller device further comprises. The method of claim 11, wherein the housing 30, A plurality of support members 32 mounted in a circular arrangement around a lower surface of the housing 30 corresponding to a lower end of the lower guide tube 31; A guide roller 33 rotatably mounted to the support member 32 to guide the insertion of a tool for repairing defects from the lower surface of the housing 30; Steam generator heat pipe defect repair tool transfer push puller device further comprises.

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