Foreign matter removal device for steam generator and foreign matter removal method using the device for steam generator.

Abstract

This invention provides a foreign object removal device and method for a steam generator, comprising: a universal unit inserted into the interior of a heat-conducting pipe, which moves to the outside through an opening formed in the heat-conducting pipe to hold the foreign object; a connecting rod unit inserted into the interior of the heat-conducting pipe, which moves the universal unit and includes an end connecting rod and a connecting rod portion connected thereto; a connecting rod moving unit that supplies connecting rod units from the outside of the heat-conducting pipe to the inside of the heat-conducting pipe; a connecting rod supply unit that sequentially supplies multiple connecting rods to the connecting rod moving unit; a photographing unit that moves through the heat-conducting pipe to the location of the foreign object and photographs the position of the foreign object and the approach of the universal unit to the foreign object; and a control unit. Therefore, it is possible to remove large foreign objects located on the upper part of the heat-conducting pipe bundle that cannot be removed by conventional methods, thus preventing damage to the heat-conducting pipe and preventing quality-related problems that may affect the steam generator and the heat-conducting pipe during operation.

Description

Technical Field

[0001] This invention relates to a foreign matter removal device for a steam generator and a method for removing foreign matter from a steam generator using the same. More specifically, it relates to a foreign matter removal device for a steam generator for removing foreign matter from the upper part of the heat-conducting tube bundle of a steam generator used in a nuclear power plant and a method for removing foreign matter from the upper part of the heat-conducting tube bundle of a steam generator using the same. Background Technology

[0002] Referring to the background technology described in Korean Patent No. 10-1086344, the steam generator in a nuclear power plant is usually one of the most important core devices for generating steam needed to produce electricity from steam turbines and generators.

[0003] Specifically, the steam generator is equipped with a plurality of heat-conducting pipes consisting of tube bundles. These heat-conducting pipes serve to provide heat exchange between the primary system water (which includes radiant energy) and the secondary system water (which is driven by a rotating turbine), and to separate the primary system water from the secondary system water.

[0004] Studies of the steam generation process show that the primary system water, heated during the reactor process, flows through pipes inside the heat pipes of the steam generator. The secondary system water supplied to the outside of the heat pipes crosses with the outside of the heat pipes, thus exchanging heat between the primary and secondary system waters through the pipe walls. Through this heat exchange, the primary system water is recirculated back to the reactor through the closed-loop pipes, while the secondary system water is converted into steam.

[0005] In other words, high-temperature, high-pressure radioactive water (primary system water) flows inside the heat pipe, while non-radioactive water (secondary system water) flows outside. Therefore, when the heat pipe is damaged, the radioactive water (primary system water) flowing through the heat pipe will leak to the outside and mix with the non-radioactive water (secondary system water), causing contamination. As a result, the area supplied with steam after the non-radioactive water (secondary system water) is converted into steam may be contaminated by radiation. Therefore, ensuring the integrity of the heat pipe is the most important issue for nuclear power plants.

[0006] The attached image Figure 1 This is a cross-sectional view showing this steam generator. Figure 2 yes Figure 1 A front sectional view of a steam generator. Figure 3 This is a schematic cross-sectional view illustrating the principle of a steam generator, see reference. Figures 1 to 3The steam generator 10 consists of an inlet nozzle 1, a heat-conducting pipe 3, and an outlet nozzle 5. The inlet nozzle 1 supplies primary system water, and the heat-conducting pipe 3 allows the primary system water entering through the inlet nozzle 1 to move and exchange heat with the secondary system water flowing into the steam generator. The outlet nozzle 5 discharges the primary system water, after it has entered through the inlet nozzle 1, moved through the heat-conducting pipe 3, and exchanged heat with the secondary system water, into the reactor. The heat-conducting pipe 3 is placed on a tube sheet 4 and supported by tube support plates 6 at fixed vertical height intervals. A donut-shaped flow distribution plate 8 is placed between the lower tube support plate 6 and the tube sheet 4 to support the heat-conducting pipe 3. Multiple tube support plates 6 and heat-conducting pipes 3, spaced at fixed vertical intervals, are arranged inside an inner sleeve 20 that is open at the bottom and has a steam outlet 21 at the top. The inner sleeve 20 receives water from the bottom, and the water is heated by the heat pipe and discharged upward as steam.

[0007] In a steam generator constructed in this way, the primary system water enters from the inlet nozzle 1 and flows into the inner side of multiple heat-conducting tubes 3 while transferring heat to the secondary system water located outside the heat-conducting tubes 3, at which point steam is generated.

[0008] Here, in the steam generator 10, the section where the reactor cooling material flows is called the primary side, and the section where the supply water and steam flow is called the secondary side. The secondary system consists of the main steam system, the turbine system, and the return water and supply water systems.

[0009] Therefore, the steam generated on the secondary side of the steam generator 10 moves along the main steam pipe, causing the turbine to rotate.

[0010] In existing steam generators, thousands of U-shaped heat-conducting tubes 3 form a tube bundle. The two ends of these heat-conducting tubes 3 are fixed to the tube sheet 4 at the bottom of the heat-conducting tube bundle, and... Figure 2 and Figure 3 As shown, the heat pipe 3 is supported by seven tube support plates 6 arranged at approximately 1m intervals up to the top of the heat pipe. With increasing years of operation, impurities flowing in or forming through various paths accumulate on the outer surface of the heat pipe 3, forming scale, which reduces heat exchange capacity. Furthermore, if deposits solidify between the heat pipe 3 and the tube support plates 6, denting occurs, damaging the heat pipe 3. Therefore, removing scale from the surface of the heat pipe 3, removing deposits from the tube support plates 6, and removing foreign objects located between the heat pipe bundles are essential to ensuring the efficiency of the steam generator and the integrity of the heat pipe 3.

[0011] In the existing foreign object inspection and removal operation of steam generators, the gaps on the upper part of the tube sheet inside the heat conduction tube bundle are inspected for foreign objects, and removal is performed when foreign objects are found. However, when the foreign object is located on the upper part of the heat conduction tube bundle (heat conduction tube support plate; upper part of the partition box (Full Egg-Crate), there is a problem that the foreign object inspection and removal operation cannot be performed using the existing technology. Summary of the Invention

[0012] The present invention is proposed to solve the problems described above, and its object is to provide a foreign matter removal device for a steam generator that can remove foreign matter located on the upper part of the heat-conducting tube bundle of a steam generator that cannot be removed by existing removal methods, and a foreign matter removal method for a steam generator using the device to remove foreign matter.

[0013] To achieve the aforementioned objective, the present invention provides a foreign object removal device for a steam generator, which removes foreign objects near the heat-conducting pipe of the steam generator. The device includes: a universal motor unit, which is inserted into the interior of the heat-conducting pipe and, after moving within the heat-conducting pipe, moves to the outside of the heat-conducting pipe through an opening formed in the heat-conducting pipe to hold the foreign object; a connecting rod unit, one end of which is connected to the universal motor unit, inserted into the interior of the heat-conducting pipe, and moving while simultaneously moving the universal motor unit, and includes an end connecting rod for connection to the universal motor unit, and a connecting rod portion for connection to a plurality of connecting rods and connected to the end connecting rod; and a connecting rod moving unit. The connecting rod unit is supplied from the outside of the heat pipe to the inside of the heat pipe, and the connecting rod unit is moved; the connecting rod supply unit is configured to be adjacent to the connecting rod moving unit and supplies the plurality of connecting rods to the connecting rod moving unit in sequence; the imaging unit moves through the heat pipe to the location of the foreign object and takes pictures of the location of the foreign object and the approach of the general-purpose machine unit to the foreign object so that the operator can confirm it; and the control unit is connected to the general-purpose machine unit, the connecting rod moving unit and the connecting rod supply unit and controls the operation of the general-purpose machine unit, the connecting rod moving unit and the connecting rod supply unit.

[0014] In the foreign matter removal device of the steam generator according to the present invention, the universal unit may include: a first universal unit mounted on the end connecting rod, the end connecting rod being located at the end of the connecting rod unit supplied to the interior of the heat-conducting pipe; and a second universal unit connected to the first universal unit, which holds foreign matter near the heat-conducting pipe by moving outward through an opening formed in the heat-conducting pipe.

[0015] The first universal machine may include: a first mounting body with a mounting end protruding from one end and mounted on the end connecting rod; a first servo motor disposed on the first mounting body and connected to the control unit; a first planetary gear reducer connected to the first servo motor via a rotating shaft; a first worm gear connected to the first planetary gear reducer; and a first rotating finger connected to the first worm gear, rotating up and down by the movement of the first worm gear, and connected to the second universal machine. A connecting end connected to the mounting end may protruding from one end of the end connecting rod, and a connector terminal groove may protruding from the other end of the end connecting rod. A connector terminal protrusion connected to the connector terminal groove may protruding from one end of the connecting rod for connection to the end connecting rod, and a connector terminal groove for connection to the connector terminal protrusion may protruding from the other end of the connecting rod.

[0016] The second universal machine may include: a second mounting body, with a connecting end at one end of the second mounting body that is connected to the first rotating finger protruding outward, and a gripping end protruding outward at the other end of the second mounting body; a second servo motor, disposed at one end of the second mounting body and connected to the control unit; a second planetary gear reducer, connected to the second servo motor via a rotating shaft; a second worm gear, connected to the second planetary gear reducer; and a second rotating finger, connected to the second worm gear, rotating up and down by the movement of the second worm gear, and gripping foreign objects in conjunction with the gripping end.

[0017] The connecting rod moving unit may include: a first support frame mounted on the tube sheet of the steam generator and having a through hole for the connecting rod to pass through; a second support frame separated from the first support frame; a plurality of connecting frames connecting the first support frame and the second support frame; a lifting body positioned between the first support frame and the second support frame, capable of lifting and lowering, and having fastening components for securing the connecting rod supplied from the connecting rod supply unit; a guide rod disposed between the first support frame and the second support frame, connected to the lifting body, and guiding the movement of the lifting body; and a lifting body moving part mounted on the second support frame, connected to the lifting body, and causing the lifting body to lift and lower on the guide rod.

[0018] The second support frame may have a through hole through which the moving part of the lifting body passes. The moving part of the lifting body may include: a hydraulic rod connected to the lifting body, which slides while raising and lowering the lifting body; and a hydraulic motor connected to the other end of the hydraulic rod and providing power to move the hydraulic rod.

[0019] The connecting rod supply unit may include: a connecting rod storage section, rotatably disposed in the connecting rod moving unit, storing multiple connecting rods and having multiple placement grooves for accommodating the stored connecting rods; a motor for rotating the storage section, connected to the connecting rod storage section, and providing power to rotate the connecting rod storage section circumferentially; and a connecting rod supply section, disposed inside the connecting rod storage section and rotating therein, which, during rotation, causes the connecting rods placed in the multiple placement grooves to move towards the connecting rod insertion point of the connecting rod moving unit. The device includes a motor for rotating the supply section, connected to the connecting rod supply section, and causing the connecting rod supply section to rotate along the circumferential direction of the connecting rod storage section; and a mounting frame, configured to be separated from the connecting rod storage section and connected to the connecting rod moving unit, and having mounting grooves for mounting the connecting rod moving in the connecting rod storage section to the connecting rod insertion point, wherein the connecting rod storage section may have a cylindrical shape with a hollow central portion, and the mounting grooves may be formed in multiple equally spaced sections along the circumferential direction of the connecting rod storage section.

[0020] The connecting rod supply unit includes: a supply rotating rod disposed inside the connecting rod storage unit, which rotates while being disassembled from the mounting groove and supplied to the mounting groove of the mounting frame by means of a power source supplied from the outside; and a rotating rod rotating unit connected to the supply rotating rod, which causes the supply rotating rod to rotate while moving up and down inside the connecting rod storage unit.

[0021] Multiple mounting protrusions may be formed on the circumferential surface of the supply rotating rod to place the connecting rod in the mounting groove. When the supply rotating rod rises through the rotating part of the rotating rod, the connecting rod can be placed in the mounting groove; when the supply rotating rod descends through the rotating part of the rotating rod, the connecting rod can be detached from the mounting groove.

[0022] The imaging unit may include: an endoscope camera that approaches the foreign object through the mounting hole and takes an image; a camera control unit that is connected to the endoscope camera and controls the movement of the endoscope camera; and a monitoring unit that allows the operator to confirm the images captured by the endoscope camera.

[0023] Furthermore, according to another aspect, the present invention provides a method for removing foreign objects from a steam generator. This method utilizes a foreign object removal device of the steam generator to remove foreign objects near the heat-conducting pipe of the steam generator. The foreign object removal device of the steam generator includes a general-purpose unit, a connecting rod unit including an end connecting rod and multiple connecting rods, a connecting rod moving unit, a camera unit, and a control unit. The method for removing foreign objects from the steam generator includes: a first connecting rod installation step, in which an end connecting rod connected to the general-purpose unit at one end is inserted into the heat-conducting pipe, and the connecting rod supply unit is activated by the control unit to install the connecting rod onto the connecting rod moving unit; a first connecting rod supply step, in which the connecting rod moving unit is activated by the control unit to supply the connecting rod installed on the connecting rod moving unit to the interior of the heat-conducting pipe in a manner connected to the end connecting rod; and a second connecting rod installation step. The process includes: a first installation step, in which the control unit activates the connecting rod supply unit to install the connecting rod onto the connecting rod moving unit; a second connecting rod supply step, in which the control unit activates the connecting rod moving unit to supply the connecting rod installed on the connecting rod moving unit to the interior of the heat-conducting pipe in a manner connected to the connecting rod supplied to the interior of the heat-conducting pipe; a general-purpose unit moving step, in which the first installation step, the first supply step, the second installation step, and the second supply step are executed sequentially to supply multiple connecting rods to the interior of the heat-conducting pipe, thereby moving the general-purpose unit to the location of the foreign object; a camera unit moving step, in which the camera unit is moved to the location of the foreign object via the heat-conducting pipe; and a foreign object removal step, in which the camera unit is checked while the general-purpose unit removes the foreign object.

[0024] According to the foreign object removal device and the foreign object removal method of the steam generator using the same, large foreign objects such as bolts located on the upper part of the heat-conducting tube bundle of the steam generator that cannot be removed by conventional methods can be removed to prevent damage to the heat-conducting tubes and prevent quality-related problems that may affect the steam generator and heat-conducting tubes during operation. Attached Figure Description

[0025] Figure 1 This is a schematic cross-sectional view of a steam generator.

[0026] Figure 2 yes Figure 1 The image shows a front view of the steam generator.

[0027] Figure 3 It is a cross-sectional view schematically illustrating the principle of a steam generator.

[0028] Figure 4The diagram schematically shows a front view of a steam generator according to an embodiment of the present invention with a foreign matter removal device installed in the steam generator, and an enlarged view of the foreign matter removal device of the steam generator.

[0029] Figure 5 The diagram shows a top view schematically illustrating the state in which a foreign matter removal device of a steam generator according to an embodiment of the present invention is installed in the steam generator, and an enlarged view showing the foreign matter removal device of the steam generator.

[0030] Figure 6 This diagram shows the combined state of the general-purpose machine unit and the connecting rod unit used to hold foreign objects in order to remove them from the steam generator.

[0031] Figure 7 It shows that Figure 6 The diagram shows the state of the general-purpose machine unit combined with the connecting rod unit.

[0032] Figure 8 It is Figure 4 The diagram shows an enlarged view of the connecting rod supply unit.

[0033] Figure 9 It is Figure 4 The diagram showing the connecting rod moving unit is enlarged.

[0034] Figure 10 yes Figure 9 The diagram shows the state of the connecting rod moving unit causing the connecting rod to rise and fall.

[0035] Figure 11 This diagram shows the state in which a foreign object is grasped and removed by a general-purpose unit using a camera that has been moved outside the heat pipe.

[0036] Figure 12 This is a diagram illustrating the sequence of a method for removing foreign matter from a steam generator using a foreign matter removal device according to an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures

[0038] 100…Foreign object removal device for steam generator; 1100…General purpose unit; 1110…First general purpose unit; 1111…First mounting body; 1112…First servo motor; 1113…First planetary gear reducer; 1114…First worm gear; 1115…First rotating finger; 1120…Second general purpose unit; 1121…Second mounting body; 1122…Second servo motor; 1123…Second planetary gear reducer; 1124…Second worm gear; 1125…Second rotating finger; 1200…Connecting rod unit; 1210…End connecting rod ; 1220… Connecting rod section; 1222… Connecting rod; 1300… Connecting rod moving unit; 1310… First support frame; 1320… Second support frame; 1330… Connecting frame; 1340… Lifting body; 1350… Guide rod; 1360… Lifting body moving section; 1400… Connecting rod supply unit; 1410… Connecting rod storage section; 1420… Storage section rotation motor; 1430… Connecting rod supply section; 1440… Supply section rotation motor; 1450… Mounting frame; 1500… Shooting section; 1600… Control section. Detailed Implementation

[0039] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted beforehand that the terms or words used in this specification and the scope of the claims should not be limited to their ordinary or dictionary meanings. The inventors, in order to best illustrate their invention, have appropriately defined the concepts of the terms. Based on this principle, the terms or words used in this specification and the scope of the claims should be interpreted as having meanings and concepts consistent with the technical concept of the present invention.

[0040] Reference Figures 4 to 11 An embodiment of the present invention relates to a foreign matter removal device 100 for a steam generator, which is used to remove foreign matter near the heat pipe 12 of the steam generator 10. It includes a general-purpose unit 1100, a connecting rod unit 1200, a connecting rod moving unit 1300, a connecting rod supply unit 1400, a shooting unit 1500, and a control unit 1600.

[0041] Reference Figure 6 , Figure 7 and Figure 11 The universal unit 1100 is inserted into the interior of the heat pipe 120 and moves to the outside of the heat pipe 12 through the opening 12a formed in the heat pipe 12, thereby holding the foreign object located on the upper part of the heat pipe 12 bundle. The universal unit 1100 is connected to one end of the connecting rod unit 1200 described later.

[0042] The universal unit 1100 includes a first universal unit 1110 and a second universal unit 1120. The first universal unit 1110 is mounted on an end connecting rod 1210, which is located at the end of the connecting rod unit 1200 (described later) that supplies heat to the interior of the heat pipe 12. The second universal unit 1120 is connected to the first universal unit 1110 and moves to the outside of the heat pipe 12 through the opening 12a of the heat pipe 12, thereby serving to hold foreign objects located on the upper part of the heat pipe 12 bundle.

[0043] The first universal machine 1110 includes a first mounting body 1111, a first servo motor 1112, a first planetary gear reducer 1113, a first worm gear 1114, and a first rotating finger 1115. At one end of the first mounting body 1111, a mounting end 1111a of the end connecting rod 1210 of the connecting rod unit 1200 (described later) protrudes. By mounting the mounting end 1111a to the end connecting rod 1210, one end of the first universal machine 1110 is connected to the connecting rod unit 1200 (described later).

[0044] The first mounting body 1111 has a first servo motor 1112, which is connected to the control unit 1600 described later. The control unit 1600 is operated to make the rotation axis (not shown) connected to the first servo motor 1112 rotate in the forward or reverse direction.

[0045] The rotating shaft (not shown) connected to the first servo motor 1112, which rotates via the control unit 1600, is connected to the first worm gear 1114 via the first planetary gear reducer 1113. The first planetary gear reducer 1113 reduces the power transmitted through the rotating shaft (not shown) before transmitting it to the first worm gear 1114.

[0046] The first planetary gear reducer 1113 is composed of a central gear, planetary gears and internal gears. Since the first planetary gear reducer 1113 is a conventional reducer, its detailed description is omitted.

[0047] The first worm gear 1114 is connected to the first rotating finger 1115, which rotates up and down around the first worm gear 1114 via the movement of the first worm gear 1114. A second universal machine 1120 is connected to the first rotating finger 1115; as the first rotating finger 1115 rotates, the second universal machine 1120 also rotates up and down.

[0048] The second universal machine 1120 includes a second mounting body 1121, a second servo motor 1122, a second planetary gear reducer 1123, a second worm gear 1124, and a second rotating finger 1125. A connecting end 1121a is provided protruding at one end of the second mounting body 1121. The first universal machine 1110 and the second universal machine 1120 are connected by connecting the connecting end 1121a to the first rotating finger 1115.

[0049] At the other end of the second mounting body 1121, the holding end 1121b protrudes outward, and the second mounting body 1121 includes a second servo motor 1122. The second servo motor 1122 is connected to the control unit 1600 (described later), thereby causing the control unit 1600 to operate, causing the rotation axis (not shown) connected to the second servo motor 1122 to rotate in the forward or reverse direction.

[0050] The rotating shaft (not shown), which is connected to the second servo motor 1122 that rotates via the control unit 1600, is connected to the second worm gear 1124 via the second planetary gear reducer 1123. The second planetary gear reducer 1123 reduces the power transmitted through the rotating shaft (not shown) before transmitting it to the second worm gear 1124. Since the structure of the second worm gear 1124 is the same as that of the first worm gear 1114, a detailed description of it is omitted.

[0051] The second worm gear 1124 is connected to the second rotating finger 1125. The second rotating finger 1125 rotates up and down with the second worm gear 1124 as a reference through the action of the second worm gear 1124. The second rotating finger 1125 plays the role of gripping foreign objects by being linked with the gripping end 1121b protruding outward from the other end of the second mounting body 1121.

[0052] Reference Figures 6 to 8 One end of the general-purpose unit 1100 is preferably connected to the first mounting body 1111 of the first general-purpose unit 1110 and the connecting rod unit 1200. The connecting rod unit 1200 is inserted into the interior of the heat pipe 12 and moves to move the general-purpose unit 1100.

[0053] The connecting rod unit 1200 includes an end connecting rod 1210 and a connecting rod portion 1220 connected to a plurality of connecting rods 1222. The end connecting rod 1210 is located at the end of the connecting rod unit 1200 and is connected to the universal unit 1100. The connecting rod portion 1220 is connected to the end connecting rod 1210, and a plurality of connecting rods 1222 are connected to the connecting rod portion 1220, thereby extending its length so that the universal unit 1100 can move inside the heat pipe 12.

[0054] A connecting end 1211 is provided protruding from one end of the end connecting rod 1210. The connecting end 1211 is connected to the mounting end 1111a that is provided protruding from the first mounting body 1111 of the first universal machine 1110. Through the connection between the connecting end 1211 and the mounting end 1111a, the end connecting rod 1210 is connected to the first universal machine 1110, thereby connecting the connecting rod unit 1200 to the universal machine unit 1100.

[0055] A connector terminal groove 1212 is provided protrudingly at the other end of the end connecting rod 1210. A connector terminal protrusion 1222a of the connecting rod 1222 of the connecting rod portion 1220 is connected to the connector terminal groove 1212, thereby connecting the end connecting rod 1210 to the connecting rod portion 1220.

[0056] Preferably, at one end of one of the plurality of connecting rods 1222 constituting the connecting rod portion 1220 connected to the end connecting rod 1210, a connector terminal protrusion 1222a is provided for connection to the connector terminal groove 1212, and at the other end of the connecting rod 1222, a connector terminal groove 1222b is provided for connection to the connector terminal protrusion 1222a at one end of another connecting rod 1222 connected to the connecting rod 1222. Through the connector terminal protrusion 1222a and the connector terminal groove 1222b, the plurality of connecting rods 1222 are connected or disconnected, thereby lengthening or shortening the length of the connecting rod portion 1220.

[0057] Reference Figures 8 to 10 The connecting rod unit 1200 is supplied from the outside of the heat pipe 12 to the inside of the heat pipe 12 through the connecting rod moving unit 1300. As the length of the connecting rod unit 1200 increases, one end of the connecting rod unit 1200 moves inside the heat pipe 12, and the general-purpose machine unit 1100 connected to one end of the connecting rod unit 1200 moves.

[0058] The connecting rod moving unit 1300 is located outside the heat pipe 12 and includes a first support frame 1310, a second support frame 1320, multiple connecting frames 1330, a lifting body 1340, a guide rod 1350, and a lifting body moving part 1360.

[0059] Preferably, the first support frame 1310 is mounted on the tube sheet 10a of the steam generator 10 and has a through hole (not shown) through which the connecting rod unit 1200 passes. The first support frame 1310 is mounted on the tube sheet 10a using a mounting member (not shown).

[0060] Preferably, the second support frame 1320 is separated from the first support frame 1310, and the separated first support frame 1310 and second support frame 1320 are connected by a plurality of connecting frames 1330. The two ends of the plurality of connecting frames 1330 are installed on the first support frame 1310 and the second support frame 1320 by mounting components (not shown).

[0061] A lifting body 1340 is provided between the first support frame 1310 and the second support frame 1320. The lifting body 1340 is provided with a fastening component (not shown) for fastening a connecting rod 1222 supplied from the connecting rod supply unit 1400 (described later). The lifting body 1340 supplies the connecting rod 1222 into the interior of the heat pipe 12 while lifting between the first support frame 1310 and the second support frame 1320.

[0062] A guide rod 1350 is provided between the first support frame 1310 and the second support frame 1320. The lifting body 1340 is connected to the guide rod 1350. The guide rod 1350 serves to guide the movement of the lifting body 1340 during lifting.

[0063] A lifting main body moving part 1360 is installed on the second support frame 1320. The lifting main body moving part 1360 is connected to the lifting main body 1340 and serves to lift the lifting main body 1340 on the guide rod 1350. The lifting main body moving part 1360 includes a hydraulic rod 1361 and a hydraulic motor 1362.

[0064] Preferably, the second support frame 1320, on which the lifting body moving part 1360 is mounted, has a through hole (not shown) through which the lifting body moving part 1360 passes. One end of the hydraulic rod 1361 is connected to the lifting body 1340, and slides to raise and lower the lifting body 1340. The other end of the hydraulic rod 1361 is connected to the hydraulic motor 1362. The hydraulic motor 1362 provides the power to raise and lower the hydraulic rod 1361. The lifting body moving part 1360 is not limited to the hydraulic rod 1361 and the hydraulic motor 1362, but can use other components that can raise and lower the lifting body 1340 and perform the same function.

[0065] Reference Figure 4 , Figure 5 and Figure 8 A connecting rod supply unit 1400 is provided adjacent to the connecting rod moving unit 1300. The connecting rod supply unit 1400 serves to supply multiple connecting rods 1222 sequentially to the connecting rod moving unit 1300. The connecting rod supply unit 1400 includes a connecting rod storage section 1410, a storage section rotation motor 1420, a connecting rod supply section 1430, and a supply section rotation motor 1440. It may also include a mounting frame 1450.

[0066] The connecting rod storage section 1410 is rotatably disposed adjacent to the connecting rod moving unit 1300. The connecting rod storage section 1410 has a hollow cylindrical shape in the center and forms a plurality of placement grooves 1412, which store a plurality of connecting rods 1222. The placement grooves 1412 are formed at equal intervals on the circumferential direction of the connecting rod storage section 1410. The connecting rod storage section 1410 is connected to a storage section rotation motor 1420 and rotates with the central part of the connecting rod storage section 1410 as a reference. The storage section rotation motor 1420 provides the power to rotate the connecting rod storage section 1410.

[0067] Inside the connecting rod storage section 1410 is a connecting rod supply section 1430, which functions to move the connecting rods 1222, which are placed in the plurality of placement grooves 1412, toward the connecting rod insertion point (not shown) of the connecting rod moving unit 1300 while rotating inside the connecting rod storage section 1410. The connecting rod supply section 1430, which is rotated by the supply section rotation motor 1440, includes a supply rotating rod 1431 and a rotating rod rotation section 1432.

[0068] The connecting rod supply section 1430 is connected to the supply section rotation motor 1440, which provides power to rotate the connecting rod supply section 1430 along the circumferential direction of the connecting rod storage section 1410.

[0069] Preferably, an installation frame 1450 is provided separately from the connecting rod storage portion 1410, the installation frame 1450 is connected to the connecting rod moving unit 1300, and the installation frame 1450 has an installation groove 1452 for installing the connecting rod 1222, which moves in the connecting rod storage portion 1410, into the connecting rod insertion point (not shown).

[0070] The supply rotating rod 1431 is disposed inside the connecting rod storage part 1410 and serves the following functions: while rotating by a power source supplied from the outside, it places the connecting rod 1222 in the mounting groove 1412 or supplies the connecting rod 1222 placed in the mounting groove 1412 to the mounting groove 1452 of the mounting frame 1450 after disassembling it from the mounting groove 1412; a plurality of mounting protrusions (not shown) are formed on the supply rotating rod 1431.

[0071] The rotating part 1432 of the rotating rod is connected to the supply rotating rod 1431, which serves to make the supply rotating rod 1431 rotate while rising and falling inside the connecting rod storage part 1410. When the supply rotating rod 1431 rises in the connecting rod storage part 1410 via the rotating part 1432, the connecting rod 1222 is placed in the placement groove 1412; when the supply rotating rod 1431 falls in the connecting rod storage part 1410 via the rotating part 1432, the connecting rod 1222 is detached from the placement groove 1412 and supplied to the mounting groove 1452 of the mounting frame 1450.

[0072] The plurality of mounting protrusions (not shown) serve to prevent the connecting rod 1222, which is placed in the plurality of mounting grooves 1412 formed in the connecting rod storage portion 1410, from being disassembled from the mounting grooves 1412. The mounting protrusions (not shown) serve to disassemble the connecting rod 1222, which is placed in the mounting grooves 1412, from the mounting grooves 1412. The connecting rod 1222, after being disassembled from the mounting grooves 1412, is supplied to the mounting grooves 1452 of the mounting frame 1450. The mounting protrusions (not shown) are preferably located on the lower side of the plurality of mounting protrusions (not shown) formed on the circumferential surface of the supply rotating rod 1431.

[0073] Reference Figure 11The imaging unit 1500 moves towards the location of the foreign object through the heat pipe 12. After moving inside the heat pipe 12, the imaging unit 1500 moves to the outside of the heat pipe 12 through the opening 12a formed in the heat pipe 12. This serves to enable the operator to confirm the location of the foreign object and the general-purpose machine unit 1100's approach to the foreign object by taking pictures and transmitting the data.

[0074] The imaging unit 1500 includes an endoscope camera 1510, a camera control unit 1520, and a monitoring unit (not shown). The endoscope camera 1510 is inserted into the heat-conducting pipe 12 and moves there. At the other end of the endoscope camera 1510, a camera control unit 1520 is connected for the user to hold and operate the endoscope camera 1510. The endoscope camera 1510 moves inside the heat-conducting pipe 12 and moves toward the location of the foreign object through the opening 12a formed in the heat-conducting pipe 12, thereby moving smoothly without being obstructed by the heat-conducting pipe 12.

[0075] The images captured by the endoscope camera 1510 are transmitted to a monitoring unit (not shown). While the user checks the monitoring unit (not shown), the user uses the universal unit 1100 to grasp the foreign object located on the upper part of the heat pipe bundle, and then retrieves and removes the foreign object. Since the operation of the endoscope camera 1510 and the camera control unit 1520 that operates it is conventional, a detailed description of them is omitted.

[0076] Reference Figure 4 and Figure 5 Preferably, the universal machine unit 1100, the connecting rod moving unit 1300, and the connecting rod supply unit 1400 are connected to the control unit 1600. The control unit 1600 controls the operation of the universal machine unit 1100, the connecting rod moving unit 1300, and the connecting rod supply unit 1400, and the operation of the control unit 1600 is controlled by the user.

[0077] The imaging unit 1500 and the general-purpose machine unit 1100 can smoothly move through the interior and opening 12a of the heat-conducting pipe 12 to the foreign object located on the upper part of the heat-conducting pipe 12 bundle without being obstructed by the heat-conducting pipe 14 bundle. By using the easy-to-operate general-purpose machine unit 1100 to hold the foreign object and then recycle it, large foreign objects such as bolts located on the upper part of the heat-conducting pipe 12 bundle can be removed, thereby preventing damage to the heat-conducting pipe 12.

[0078] Reference Figures 4 to 12The method for removing foreign objects from a steam generator using the foreign object removal device 100 of a steam generator according to an embodiment of the present invention utilizes the foreign object removal device 100 of a steam generator, which includes a general-purpose machine unit 1100, a connecting rod unit 1200, a connecting rod moving unit 1300, a connecting rod supply unit 1400, a camera unit 1500, and a control unit 1600, to remove foreign objects such as bolts located on the upper part of the heat-conducting tube bundle of the steam generator. The method includes a first connecting rod installation step (S10), a first connecting rod supply step (S20), a second connecting rod installation step (S30), a second connecting rod supply step (S40), a general-purpose machine unit moving step (S50), a camera unit moving step (S60), and a foreign object removal step (S70).

[0079] Reference Figure 8 , Figure 10 and Figure 12 The first installation step (S10) of the connecting rod is as follows: After inserting the end connecting rod 1210 of the connecting rod unit 1200, which is connected to the general-purpose machine unit 1100 at one end, into the heat pipe 12, the connecting rod supply unit 1400 is activated by the control unit 1600, thereby installing a plurality of connecting rods 1222 of the connecting rod part 1220 constituting the connecting rod unit 1200 into the connecting rod moving unit 1300; by activating the connecting rod supply unit 1400 by the control unit 1600, one of the plurality of connecting rods 1222 placed in the connecting rod storage part 1410 of the connecting rod supply unit 1400 is installed into the lifting body 1340 of the connecting rod moving unit 1300.

[0080] After the first connecting rod installation step (S10), the first connecting rod supply step (S20) is performed. The first connecting rod supply step (S20) consists of the following steps: the control unit 1600 activates the connecting rod moving unit 1300, causing the connecting rod 1222 installed in the lifting body 1340 of the connecting rod moving unit 1300 to be supplied to the interior of the heat pipe 12 in a manner connected to the end connecting rod 1210 inserted into the heat pipe 12; the lifting body 1340, on which the connecting rod 1222 is installed, is raised by the lifting body moving unit 1360, thereby moving the connecting rod 1222 into the interior of the heat pipe 12 and connecting it to the end connecting rod 1210, thereby moving the general-purpose machine unit 1100 connected to the end connecting rod 1210 inside the heat pipe 12.

[0081] After the first supply step (S20) of the connecting rod is performed, the second installation step (S30) of the connecting rod is performed. Before performing the second installation step (S30) of the connecting rod, it is preferable to perform a lifting body restoration step that restores the lifting body 1340 that moved the connecting rod 12 in the first supply step (S20) to its original state.

[0082] The second installation step (S30) of the connecting rod is as follows: the connecting rod supply unit 1400 is activated by the control unit 1600 to install the connecting rod 1222 onto the connecting rod moving unit 1300; the connecting rod supply unit 1400 is activated by the control unit 1600 to install another connecting rod 1222, which is located in the connecting rod storage unit 1410 of the connecting rod supply unit 1400, onto the lifting body 1340 of the connecting rod moving unit 1300.

[0083] After the second installation step (S30) of the connecting rod, the second supply step (S40) of the connecting rod is performed. The second supply step (S40) of the connecting rod is as follows: the control unit 1600 is used to operate the connecting rod moving unit 1300 so that another connecting rod 1222 installed in the lifting body 1340 of the connecting rod moving unit 1300 is supplied to the interior of the heat pipe 12 in a manner connected to the connecting rod 1222 that has been inserted into the interior of the heat pipe 12 and connected to the end connecting rod 1210 on which the universal machine unit 1100 is installed.

[0084] The lifting body 1340, on which the connecting rod 1222 is mounted, is raised by the lifting body moving part 1360. As a result, the connecting rod 1222 moves into the interior of the heat pipe 12 and connects with the connecting rod 1222 connected to the connecting rod 1210 at the same end. As a result, the length of the connecting rod unit 1200 connected to the universal machine unit 1100 is extended. Corresponding to the extension of the length of the connecting rod unit 1200, the universal machine unit 1100 moves inside the heat pipe 12.

[0085] After the second supply step (S40) of the connecting rod, the general-purpose machine unit moving step (S50) is performed. The general-purpose machine unit moving step (S50) consists of the following steps: the first installation step (S10), the first supply step (S20), the second installation step (S30), and the second supply step (S40) of the connecting rod are repeated in sequence to supply multiple connecting rods 1222 into the interior of the heat-conducting pipe 12 and move the general-purpose machine unit 1100 to the location of the foreign object through the heat-conducting pipe 12.

[0086] Reference Figure 6 and Figure 7 By sequentially supplying a plurality of connecting rods 1222 into the interior of the heat pipe 12 and connecting the supplied connecting rods 1222 together, the length of the connecting rod unit 1200 is extended. Corresponding to the extended length, the universal machine unit 1100 installed in the connecting rod unit 1200 moves inside the heat pipe 12 and moves to the location of the foreign object through the opening 12a formed in the heat pipe 12.

[0087] The detailed descriptions of the connecting rod supply unit 1400 that supplies the connecting rod 1222 and the connecting rod moving unit 1300 that moves the connecting rod 1222 into the heat pipe 12 have already been described in the foreign matter removal device 100 of the steam generator according to an embodiment of the present invention, and therefore, descriptions that may be repeated are omitted.

[0088] Reference Figure 12 After the general-purpose unit moving step (S50), the imaging unit moving step (S60) is performed. The imaging unit moving step (S60) is as follows: the imaging unit 1500 is moved by the heat pipe 12 adjacent to the heat pipe 12 moved by the general-purpose unit 1100.

[0089] Reference Figure 11 The imaging unit 1500 includes an endoscope camera 1510, a camera control unit 1520, and a monitoring unit (not shown). The imaging unit 1500 moves via a heat pipe 12 adjacent to the heat pipe 12 that moves with the general-purpose machine unit 1100, and serves to enable the operator to confirm the location of the foreign object and to capture and transmit images of the general-purpose machine unit 1100 approaching the foreign object after handling it.

[0090] Reference Figure 6 and Figure 12 After the shooting unit movement step (S60), a foreign object removal step (S70) is performed. The foreign object removal step (S70) is as follows: while confirming the shooting unit 1500, the foreign object is removed using the general-purpose unit 1100.

[0091] The universal unit 1100 that holds and removes foreign matter in the foreign matter removal step (S70) includes a first universal unit 1110 and a second universal unit 1120. A detailed description of the universal unit 1100 has been described in the foreign matter removal device 100 of the steam generator according to the embodiments of the present invention, so descriptions that may be repeated are omitted.

[0092] Preferably, after performing the foreign matter removal step (S70), a removal device recovery step (not shown) is performed to recover the connecting rod unit 1200 and the general-purpose machine unit 1100.

[0093] Therefore, it is possible to remove large foreign objects such as bolts located on the upper part of the heat conduction tube bundle 12 of the steam generator 10 that cannot be removed by existing methods, thereby preventing damage to the heat conduction tube 12 and preventing quality-related problems that may affect the steam generator 10 and the heat conduction tube 12 during operation.

[0094] Although the invention has been described with reference to embodiments shown in the accompanying drawings, these are merely examples, and those skilled in the art will understand that various modifications and equivalent embodiments can be implemented therein. Therefore, the true scope of protection of this invention should be defined by the technical concept of the appended claims.

Claims

1. A foreign matter removal device for a steam generator, which removes foreign matter near the heat-conducting pipe of the steam generator, wherein, include: A general-purpose unit, after being inserted into the interior of the heat pipe and moving inside the heat pipe, moves to the outside of the heat pipe through an opening formed in the heat pipe to hold foreign objects. A connecting rod unit, one end of which is connected to the general-purpose machine unit, is inserted into the interior of the heat pipe, and moves the general-purpose machine unit while moving, and includes an end connecting rod for connecting to the general-purpose machine unit, and a connecting rod part for connecting to multiple connecting rods and connected to the end connecting rod. A connecting rod moving unit supplies the connecting rod unit from the outside of the heat pipe to the inside of the heat pipe and moves the connecting rod unit. A connecting rod supply unit is configured to be adjacent to the connecting rod moving unit and to supply the plurality of connecting rods sequentially to the connecting rod moving unit; The imaging unit moves towards the location of the foreign object via the heat pipe and captures images of the foreign object's position and the general-purpose machine unit's approach to the foreign object, enabling operators to confirm its location; and The control unit is connected to the general-purpose machine unit, the connecting rod moving unit, and the connecting rod supply unit, and controls the operation of the general-purpose machine unit, the connecting rod moving unit, and the connecting rod supply unit.

2. The foreign matter removal device for the steam generator according to claim 1, wherein, The general-purpose machine unit includes: A first general-purpose unit is mounted on the end connecting rod, the end connecting rod being located at the end of the connecting rod unit supplied to the interior of the heat pipe; and The second universal machine is connected to the first universal machine and holds foreign objects near the heat pipe by moving outward through the opening formed in the heat pipe.

3. The foreign matter removal device for the steam generator according to claim 2, wherein, The first general-purpose machine includes: The first mounting body has a mounting end protruding at one end, which is mounted on the end connecting rod; A first servo motor is mounted on the first mounting body and connected to the control unit; The first planetary gear reducer is connected to the first servo motor via a rotating shaft; The first worm gear is connected to the first planetary gear reducer; and The first rotating finger is connected to the first worm gear, rotates up and down by the movement of the first worm gear, and is also connected to the second universal mechanism. A connecting end for connecting to the mounting end is provided protruding at one end of the end connecting rod, and a connector terminal groove is provided protruding at the other end of the end connecting rod. At one end of the connecting rod to which the end connecting rod is connected, a connector terminal protrusion is provided that connects to the connector terminal groove; at the other end of the connecting rod, a connector terminal groove is provided that connects to the connector terminal protrusion.

4. The foreign matter removal device for the steam generator according to claim 3, wherein, The second general-purpose machine includes: The second mounting body has a connecting end at one end that connects to the first rotating finger that protrudes outward, and a holding end at the other end that protrudes outward. The second servo motor is disposed at one end of the second mounting body and is connected to the control unit; The second planetary gear reducer is connected to the second servo motor via a rotating shaft; The second worm gear is connected to the second planetary gear reducer; and The second rotating finger is connected to the second worm gear, rotates up and down by the action of the second worm gear, and is linked with the gripping end to grip the foreign object.

5. The foreign matter removal device for the steam generator according to claim 1, wherein, The connecting rod moving unit includes: A first support frame is installed on the tube sheet of the steam generator and has perforations through which the connecting rod passes. The second support frame is configured to be separated from the first support frame; Multiple connecting frames connect the first support frame to the second support frame; The lifting body is configured to be able to lift between the first support frame and the second support frame, and has fastening components for fastening the connecting rod supplied from the connecting rod supply unit. A guide rod, disposed between the first support frame and the second support frame, is connected to the lifting body and guides the movement of the lifting body; and The lifting body moving part is installed on the second support frame, connected to the lifting body, and causes the lifting body to rise and fall on the guide rod.

6. The foreign matter removal device for the steam generator according to claim 5, wherein, A through hole is formed in the second support frame for the moving part of the lifting body to pass through. The lifting main body moving part includes: A hydraulic rod, connected to the lifting body, slides and moves while simultaneously raising and lowering the lifting body; and A hydraulic motor is connected to the other end of the hydraulic rod and provides the power to move the hydraulic rod.

7. The foreign matter removal device for the steam generator according to claim 1, wherein, The connecting rod supply unit includes: The connecting rod storage section is rotatably disposed in the connecting rod moving unit, stores multiple connecting rods, and is provided with multiple placement grooves for placing the stored connecting rods. A motor for rotating the storage section is connected to the connecting rod storage section and provides power to rotate the connecting rod storage section in a circumferential direction. A connecting rod supply unit is disposed inside the connecting rod storage unit and rotates, and during rotation, the connecting rods placed in the plurality of placement grooves move toward the connecting rod insertion point of the connecting rod moving unit. A motor for rotating the supply section is connected to the connecting rod supply section, and causes the connecting rod supply section to rotate circumferentially along the connecting rod storage section; and The mounting frame is configured to be separated from the connecting rod storage section and connected to the connecting rod moving unit, and has a mounting groove for mounting the connecting rod, which moves in the connecting rod storage section, to the connecting rod insertion point. The connecting rod storage section has a hollow cylindrical shape in the center. The mounting grooves are formed in multiple spaces at equal intervals on the circumferential surface of the connecting rod storage part.

8. The foreign matter removal device for the steam generator according to claim 7, wherein, The connecting rod supply unit includes: A rotating rod is supplied, disposed inside the connecting rod storage section, and rotates while being disassembled from the mounting groove and supplied to the mounting groove of the mounting frame, via a power source supplied from the outside; and The rotating part of the rotating rod is connected to the supply rotating rod, and the supply rotating rod rotates while moving up and down inside the connecting rod storage part.

9. The foreign matter removal device for a steam generator according to claim 8, wherein, A plurality of mounting protrusions are formed on the circumferential surface of the supply rotating rod to place the connecting rod in the mounting groove. When the supply rotating rod rises through the rotating part of the rotating rod, the connecting rod is placed in the placement groove; when the supply rotating rod falls through the rotating part of the rotating rod, the connecting rod is disassembled from the placement groove.

10. The foreign matter removal device for a steam generator according to claim 1, wherein, The camera unit includes: An endoscope camera approaches the foreign object through the opening and takes pictures; A camera control unit, connected to the endoscope camera, controls the movement of the endoscope camera; and A monitoring component allows operators to confirm the images captured by the endoscope camera.

11. A method for removing foreign objects from a steam generator, comprising a foreign object removal device for the steam generator to remove foreign objects near the heat-conducting pipe of the steam generator, the foreign object removal device comprising a general-purpose unit, a connecting rod unit including an end connecting rod and multiple connecting rods, a connecting rod moving unit, a connecting rod supply unit, a camera unit, and a control unit. The method for removing foreign matter from the steam generator includes: The first installation step of the connecting rod involves inserting the end connecting rod, which is connected to the general-purpose machine unit at one end, into the heat pipe, and then using the control unit to activate the connecting rod supply unit to install the connecting rod onto the connecting rod moving unit. In the first step of supplying the connecting rod, the control unit is used to activate the connecting rod moving unit, and the connecting rod installed on the connecting rod moving unit is supplied to the interior of the heat-conducting pipe in a manner that connects to the end connecting rod. The second installation step of the connecting rod involves using the control unit to activate the connecting rod supply unit, thereby installing the connecting rod onto the connecting rod moving unit. In the second step of supplying the connecting rod, the control unit is used to operate the connecting rod moving unit, and the connecting rod installed on the connecting rod moving unit is supplied to the interior of the heat-conducting pipe in a manner that connects with the connecting rod supplied to the interior of the heat-conducting pipe. The general-purpose unit moving step involves sequentially executing the first connecting rod installation step, the first connecting rod supply step, the second connecting rod installation step, and the second connecting rod supply step, thereby supplying multiple connecting rods into the interior of the heat-conducting pipe, thereby moving the general-purpose unit to the location of the foreign object. The imaging unit moving step involves moving the imaging unit towards the location of the foreign object via the heat pipe; and In the foreign object removal step, the foreign object is removed using the general-purpose camera unit while the imaging unit is being inspected.

12. The method for removing foreign matter from a steam generator according to claim 11, wherein, The general-purpose machine unit includes: A first general-purpose unit is mounted on the end connecting rod, the end connecting rod being located at the end of the connecting rod unit supplied to the interior of the heat pipe; and The second universal machine is connected to the first universal machine and holds foreign objects near the heat pipe by moving outward through the opening formed in the heat pipe.

13. The method for removing foreign matter from a steam generator according to claim 12, wherein, The first general-purpose machine includes: The first mounting body has a mounting end protruding at one end, which is mounted on the end connecting rod; A first servo motor is mounted on the first mounting body and connected to the control unit; The first planetary gear reducer is connected to the first servo motor via a rotating shaft; The first worm gear is connected to the first planetary gear reducer; and The first rotating finger is connected to the first worm gear, rotates up and down by the movement of the first worm gear, and is also connected to the second universal mechanism. A connecting end for connecting to the mounting end is provided protruding at one end of the end connecting rod, and a connector terminal groove is provided protruding at the other end of the end connecting rod. At one end of the connecting rod to which the end connecting rod is connected, a connector terminal protrusion is provided that connects to the connector terminal groove, and at the other end of the connecting rod, a connector terminal groove is provided that connects to the connector terminal protrusion.

14. The method for removing foreign matter from a steam generator according to claim 13, wherein, The second general-purpose machine includes: The second mounting body has a connecting end at one end that connects to the first rotating finger that protrudes outward, and a holding end at the other end that protrudes outward. The second servo motor is disposed at one end of the second mounting body and is connected to the control unit; The second planetary gear reducer is connected to the second servo motor via a rotating shaft; The second worm gear is connected to the second planetary gear reducer; and The second rotating finger is connected to the second worm gear, rotates up and down by the action of the second worm gear, and is linked with the gripping end to grip the foreign object.

15. The method for removing foreign matter from a steam generator according to claim 11, wherein, The connecting rod moving unit includes: A first support frame is installed on the tube sheet of the steam generator and has perforations through which the connecting rod passes. The second support frame is configured to be separated from the first support frame; Multiple connecting frames connect the first support frame to the second support frame; The lifting body is configured to be able to lift between the first support frame and the second support frame, and has fastening components for fastening the connecting rod supplied from the connecting rod supply unit. A guide rod, disposed between the first support frame and the second support frame, is connected to the lifting body and guides the movement of the lifting body; and The lifting body moving part is installed on the second support frame, connected to the lifting body, and causes the lifting body to rise and fall on the guide rod.

16. The method for removing foreign matter from a steam generator according to claim 15, wherein, A through hole is formed in the second support frame for the moving part of the lifting body to pass through. The lifting main body moving part includes: A hydraulic rod, connected to the lifting body, slides and moves while simultaneously raising and lowering the lifting body; and A hydraulic motor is connected to the other end of the hydraulic rod and provides the power to move the hydraulic rod.

17. The method for removing foreign matter from a steam generator according to claim 11, wherein, The connecting rod supply unit includes: The connecting rod storage section is rotatably disposed in the connecting rod moving unit, stores multiple connecting rods, and is provided with multiple placement grooves for placing the stored connecting rods. A motor for rotating the storage section is connected to the connecting rod storage section and provides power to rotate the connecting rod storage section in a circumferential direction. A connecting rod supply unit is disposed inside the connecting rod storage unit and rotates, and during rotation, the connecting rods placed in the plurality of placement grooves move toward the connecting rod insertion point of the connecting rod moving unit. A motor for rotating the supply section is connected to the connecting rod supply section, and causes the connecting rod supply section to rotate circumferentially along the connecting rod storage section; and The mounting frame is configured to be separated from the connecting rod storage section and connected to the connecting rod moving unit, and has a mounting groove for mounting the connecting rod, which moves in the connecting rod storage section, to the connecting rod insertion point. The connecting rod storage section has a hollow cylindrical shape in the center. The mounting grooves are formed in multiple spaces at equal intervals on the circumferential surface of the connecting rod storage part.

18. The method for removing foreign matter from a steam generator according to claim 17, wherein, The connecting rod supply unit includes: A rotating rod is supplied, disposed inside the connecting rod storage section, and rotates while being disassembled from the mounting groove and supplied to the mounting groove of the mounting frame, via a power source supplied from the outside; and The rotating part of the rotating rod is connected to the supply rotating rod, and the supply rotating rod rotates while moving up and down inside the connecting rod storage part.

19. The method for removing foreign matter from a steam generator according to claim 18, wherein, A plurality of mounting protrusions are formed on the circumferential surface of the supply rotating rod to place the connecting rod in the mounting groove. When the supply rotating rod rises through the rotating part of the rotating rod, the connecting rod is placed in the placement groove; when the supply rotating rod falls through the rotating part of the rotating rod, the connecting rod is disassembled from the placement groove.

20. The method for removing foreign matter from a steam generator according to claim 11, wherein, The camera unit includes: An endoscope camera approaches and takes pictures of foreign objects through an opening formed in the heat-conducting pipe; A camera control unit, connected to the endoscope camera, controls the movement of the endoscope camera; and A monitoring component allows operators to confirm the images captured by the endoscope camera.

Images