| 摘要 |
<p>The present invention relates to a device for inspecting a penetrating pipe of a reactor upper head. In particular, the device of the present invention comprises: an end-effector (100) placed on the bottom of a penetrating pipe (P) of a reactor upper head; a camera (110) placed in the center of the end-effector (100) for checking the center of the penetrating pipe (P); a gripper (120) placed on both ends of the top of the end-effector (100) for fixating the penetrating pipe (P); an elevation operating unit (130) placed on the end-effector (100) for elevating the gripper (120); an ultrasonic probe placed on the elevation operating unit (130) for inspecting the penetrating pipe (P); and an operating unit (150) for moving the ultrasonic probe. The center of the end-effector (100) and the center of the penetrating pipe (P) can be made to accurately match each other by the gripper (120) placed on both sides of the end-effector (100), and the degree of precision of ultrasonic inspection data can be improved. As a plurality of motors is installed for inspection, operation, and function check of the end-effector (100), the end-effector (100) can separately inspect, operate, and check the functions of the penetrating pipe (P), enhancing the convenience of work and reliability of the inspection.</p> |
