KR101991180B1 - Brush assembly and pipe cleansing robot with the same - Google Patents

Brush assembly and pipe cleansing robot with the same Download PDF

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Publication number
KR101991180B1
KR101991180B1 KR1020170142123A KR20170142123A KR101991180B1 KR 101991180 B1 KR101991180 B1 KR 101991180B1 KR 1020170142123 A KR1020170142123 A KR 1020170142123A KR 20170142123 A KR20170142123 A KR 20170142123A KR 101991180 B1 KR101991180 B1 KR 101991180B1
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KR
South Korea
Prior art keywords
link
brush
link member
link members
pipe
Prior art date
Application number
KR1020170142123A
Other languages
Korean (ko)
Other versions
KR20190047829A (en
Inventor
하숭목
권오석
Original Assignee
재단법인대구경북과학기술원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 재단법인대구경북과학기술원 filed Critical 재단법인대구경북과학기술원
Priority to KR1020170142123A priority Critical patent/KR101991180B1/en
Priority to PCT/KR2018/012231 priority patent/WO2019088515A1/en
Publication of KR20190047829A publication Critical patent/KR20190047829A/en
Application granted granted Critical
Publication of KR101991180B1 publication Critical patent/KR101991180B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/08—Cleaning containers, e.g. tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/08—Cleaning containers, e.g. tanks
    • B08B9/0804—Cleaning containers having tubular shape, e.g. casks, barrels, drums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/30—Brushes for cleaning or polishing
    • A46B2200/3013—Brushes for cleaning the inside or the outside of tubes

Abstract

The brush assembly according to one embodiment includes a link member having a hinge at a center thereof to change the bending angle; A brush member mounted on both ends of the link member, respectively; And an elastic member mounted on a side surface of the link member and deformed according to a bending angle of the link member, wherein the link member is provided to prevent twisting of the elastic member, It can be returned to the original state by the restoring force.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a brush cleaning apparatus and a pipe cleaning robot equipped with the brush cleaning apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a brush assembly and a pipe cleaning robot equipped with the brush assembly. More particularly, the present invention relates to a brush assembly that is deformed corresponding to the internal environment of the pipe, Robot.

Typically, a line for transferring fluids, including water and sewer pipes or cooling / heating ducts, welds or flanges a plurality of pipes to form a transfer line of required length.

Such a transfer line interferes with the flow of fluid during prolonged use due to the presence of beads generated during welding, dust introduced from the outside, various pollutants such as water and grease, and the contamination and purity of the fluid moving through the transfer line is lowered So that continuous maintenance is required to remove pollutants.

However, most of the transfer lines are not directly inputted by the operator because of the nature of the work environment where the diameter is narrow, the air is insufficient inside, and the toxic gas is highly likely to remain. Conventionally, a high pressure fluid is injected into the tube to clean the tube. However, in this method, it is difficult to remove foreign substances firmly adhered to the inner wall, and it is difficult to perform proper washing due to a decrease in water pressure .

In this patent, a cleaning device that is inserted into a pipe and directly removes foreign matter from the inner wall during movement is required. In the patent application No. 10-2011-0033389, a leg with a driving wheel is attached to the body in a stretchable manner, And a support arm attached with a brush is coupled to the rotary part of the front of the body to rotate and wipes off foreign matter on the inner wall.

An object of the present invention is to provide a brush assembly that can be cleaned in a process of changing a diameter of a pipe or a pipe while being deformed corresponding to an internal environment of the pipe, and a pipe cleaning robot equipped with the brush assembly will be.

An object of the present invention is to provide a brush assembly for monitoring the working environment and a work state in front of the robot body and controlling the driving of the brush assembly connected to the rear of the robot body and a pipe cleaning robot equipped with the brush assembly will be.

An object of an embodiment is to provide a brush assembly in which a shape is deformed and restored by an elastic force or a restoring force of an elastic member (for example, a leaf spring), and a pipe cleaning robot equipped with the brush assembly.

According to an aspect of the present invention, there is provided a brush assembly including: a link member having a center hinge to change a bending angle; A brush member mounted on both ends of the link member, respectively; And an elastic member mounted on a side surface of the link member and deformed according to a bending angle of the link member, wherein the link member is provided to prevent twisting of the elastic member, It can be returned to the original state by the restoring force.

According to one aspect, the plurality of link members are provided, and the plurality of link members may share the same hinge axis.

According to one aspect, the link member includes: a first at least two link members spaced from each other in a first direction; And a second at least two link members spaced apart from each other in a second direction different from the first direction, the brush assembly comprising: a first hinge axis of the first at least two link members; And a connecting member for connecting the same hinge shafts of the two link members to each other.

According to one aspect, the first at least two link members and the second at least two link members may be arranged alternately along the longitudinal direction of the connecting member.

According to one aspect, the brush member may be rotated by rotation of the linking member, or the brush member may be rotatably mounted on the link member.

According to one aspect of the present invention, the link member includes a first link portion and a second link portion hinged to each other, and the elastic member is provided as a leaf spring, and is provided on one side of the first link portion and the second link portion And can be held in a non-fixed state on the side surface of the hinge.

According to an aspect of the present invention, there is provided a pipe cleaning robot including: a robot main body that can travel within a pipe; A monitoring module connected to the front of the robot body to monitor the inside of the pipe; And a brush assembly connected to the rear of the robot body and driven to clean the inside of the pipe, wherein the brush assembly is elastically deformed, and the shape of the brush assembly is deformed and restored according to the shape of the inside of the pipe .

According to one aspect of the present invention, the brush assembly includes: a link member having a hinge at a center thereof to change a bending angle; And an elastic member mounted on a side surface of the link member and deformed according to a bending angle of the link member, wherein a bending angle of the link member is changed by a shape inside the pipe, The bending angle of the link member can be returned to the original state.

According to one aspect of the present invention, the brush assembly further includes a brush member rotatably mounted on both ends of the link member, wherein the rotational speed of the brush member can be controlled by the data measured by the monitoring module have.

According to one aspect of the present invention, the link member includes: a first link member extending in a first direction; And a second link member extending in a second direction different from the first direction, wherein the brush member includes: a first brush member mounted at both ends of the first link member; And a second brush member mounted on both ends of the second link member, wherein the inside of the pipe can be cleaned in all directions by the first brush member and the second brush member.

According to the brush assembly and the pipe cleaning robot equipped with the brush assembly according to one embodiment, the inside of the pipe can be cleaned even when the diameter of the pipe is changed or the pipe is bent while being deformed corresponding to the internal environment of the pipe.

According to the brush assembly and the pipe cleaning robot equipped with the brush assembly according to the embodiment, the working environment and the working state are monitored in front of the robot body, and the driving of the brush assembly connected to the rear of the robot body can be controlled.

According to the brush assembly and the pipe cleaning robot equipped with the brush assembly according to the embodiment, the shape can be deformed and restored by the elastic force or the restoring force of the elastic member (for example, leaf spring).

1 shows a pipe cleaning robot equipped with a brush assembly according to one embodiment.
2 is a perspective view of a brush assembly according to one embodiment.
Figure 3 shows a brush member removed in a brush assembly according to one embodiment.
Fig. 4 shows a state in which the brush member is rotated.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

The components included in any one embodiment and the components including common functions will be described using the same names in other embodiments. Unless otherwise stated, the description of any one embodiment may be applied to other embodiments, and a detailed description thereof will be omitted in the overlapping scope.

FIG. 1 is a perspective view of a brush assembly according to one embodiment, and FIG. 3 is a perspective view of a brush assembly according to an embodiment, in which a brush member is removed And Fig. 4 shows a state in which the brush member is rotated.

Referring to FIG. 1, a pipe cleaning robot 10 according to an embodiment may include a robot body 100, a monitoring module 200, and a brush assembly 300.

The robot main body 100 may be provided so as to be able to travel within the pipe P. At this time, the robot main body 100 can be in any form as long as it can travel inside the pipe P.

A monitoring module 200 may be connected to the front of the robot body 100.

The monitoring module 200 monitors the internal work environment of the pipe P and monitors the operation state of the pipe P, and may include, for example, a camera.

At this time, the information obtained through the monitoring module 200 may be utilized to control the driving of the brush assembly 300.

For example, if it is confirmed that foreign matter exists in the pipe P through the monitoring module 200, the rotation speed of the brush member 320 (FIG. 2) provided in the brush assembly 300 can be quickly adjusted, The rotation speed of the brush member (320 in FIG. 2) provided in the brush assembly 300 can be controlled slowly if a small amount of loose foreign matter exists in the pipe P through the monitoring module 200.

A brush assembly 300 may be connected to the rear of the robot body 100.

The brush assembly 300 may be driven to clean the inside of the pipe P. [

2, the brush assembly 300 may include a link member 310, a connecting member 320, an elastic member 330, and a brush member 340. [

The link member 310 may be provided with a hinge at the center thereof to change the bending angle of the link member 310.

In addition, a plurality of link members 310 may be provided.

For example, the plurality of link members 310 may be spaced apart from each other in a first direction (e.g., up-down direction or lateral direction).

When a plurality of link members 310 are vertically spaced apart from each other, the plurality of link members 310 includes an upper link member 312 including a first link portion 3122 and a second link portion 3124, And a lower link member 314 that includes a first link portion 3142 and a second link portion 3144.

At this time, the first link portion 3122 and the second link portion 3124 of the upper link member 312 are hinged to each other so that the angle of the first link portion 3122 and the second link portion 3124 is changed . Likewise, the first link portion 3142 and the second link portion 3144 of the lower link member 314 are also hinged to each other such that the angle of the first link portion 3142 and the second link portion 3144 varies .

The link member 310 may further include a hinge shaft 316 connected between the upper link member 312 and the lower link member 314. [

For example, the upper link member 312 may be connected to the upper end of the hinge shaft 316 and the lower link member 314 may be connected to the lower end of the hinge shaft 316.

At this time, the upper link member 312 and the lower link member 314 share the same hinge axis 316 so that the bending angle can be adjusted.

A bearing member (not shown) is disposed between the upper link member 312 and the hinge shaft 316 or between the lower link member 314 and the hinge shaft 316 so that the upper link member 312 The upper link member 312 and the lower link member 314 can be bended or unfolded while reducing the frictional force when the lower link member 314 and the lower link member 314 are rotated.

Although the link member 310 is described herein as including two link members, for example, an upper link member 312 and a lower link member 314, the number of link members 310 is not limited to this, It is to be understood that the number of the members 310 may be one, or three or more.

The plurality of link members 310 may include a first at least two link members 312 and 314 spaced from each other in the first direction and a second at least two link members 312 and 314 spaced apart from each other in the second direction different from the first direction. Link member.

For example, when the first at least two link members 312 and 314 are vertically spaced apart, the second at least two link members may be spaced apart in the left-right direction perpendicular to the up-and-down direction. However, the spacing direction of the first at least two link members 312 and 314 and the spacing direction of the second at least two link members are not limited to this, and any of them may be directed to the same or different directions.

At this point, the first at least two link members 312, 314 each share the same hinge axis 316, and the second at least two link members may also share the same hinge axis.

3, the first at least two link members 312, 314 and the second at least two link members may be connected to each other by a connecting member 320. [

The connecting member 320 may extend in a direction perpendicular to the hinge axis provided in the first at least two link members 312 and 314 and the hinge axis provided in the second at least two link members.

Specifically, the connecting member 320 may extend through the center of the hinge axis provided in the first at least two link members 312, 314 and the second at least two link members .

At this time, the first at least two link members (312, 314) and the second at least two link members may be spaced apart along the longitudinal direction of the connecting member (320).

For example, the first at least two link members 312, 314 and the second at least two link members may be arranged side by side on the connecting member 320, but facing different directions.

Further, when the first at least two link members 312, 314, the second at least two link members, and the third at least two link members are disposed on the connecting member 320, the first at least two link members 312, 314) and the third at least two link members are oriented in the same direction, and the second at least two link members are arranged in the first at least two link members (312, 314) and the third at least two link members And may be arranged to face in different directions. Thus, the first at least two link members 312, 314 and the second at least two link members can be arranged alternately along the longitudinal direction of the connecting member 320.

The elastic member 330 may be mounted on the side surface of the link member 310 described above.

The elastic member 330 may be formed of, for example, a leaf spring. The elastic member 330 may include a lower elastic member 332 mounted on a side surface of the upper link member 312, Member 334, as shown in FIG.

At this time, the side surface may be a side surface of the upper link member 312 and the lower link member 314 toward the robot body 100.

Specifically, the upper elastic member 332 and the lower elastic member 334 may be fixed to the side surfaces of the upper link member 312 and the lower link member 314, respectively, The hinge provided between the first link portion 3122 and the second link portion 3124 and the hinge provided between the first link portion 3142 and the second link portion 3144 of the lower link member 314, Lt; / RTI >

Both ends of the upper elastic member 332 and the lower elastic member 334 are fixed to the upper link member 312 and the lower link member 314 but the central portions of the upper elastic member 332 and the lower elastic member 334 May not be fixed to the upper link member 312 and the lower link member 314.

At this time, the upper link member 312 and the lower link member 314 may serve to fix the upper elastic member 332 and the lower elastic member 334 and to prevent twisting.

The upper elastic member 332 and the lower elastic member 334 are mounted on the upper link member 312 and the lower link member 314 so that the elastic force or restitution force of the upper elastic member 332 and the lower elastic member 334 The upper link member 312 and the lower link member 314 can be resiliently deformed by the elastic force of the elastic member 311, which means that the brush assembly 300 itself can be elastically deformed. The shape of the brush assembly 300 can be deformed and restored according to the inner shape of the pipe P when the pipe cleaning robot 10 travels inside the pipe P. [

At both ends of the upper link member 312 and the lower link member 314 described above, a brush member 340 may be mounted, respectively.

The brush member 340 can be driven to clean the interior of the pipe P when the pipe cleaning robot 10 travels inside the pipe P. [

Specifically, the brush member 340 includes a left brush member 342 mounted on one end of the upper link member 312 and the lower link member 314, and a second brush member 342 on the other end of the upper link member 312 and the lower link member 314. [ And a right brush member 344 mounted on the right brush member 344.

The link member 310 includes the upper link member 312 and the lower link member 314 as an example. However, in the case where the link member 310 includes one link member, It is natural that the left brush member 342 and the right brush member 344 can be mounted at both ends.

Particularly, as shown in Fig. 4, the brush member 340 can be rotationally driven.

The driving motor provided in the robot main body 100 and the connecting member 320 are connected to rotate the connecting member 320 itself to rotationally drive the brush member 340. [ In this case, the left brush member 342 and the right brush member 344 can be rotationally driven in the same direction so as to coincide with the rotational direction of the connecting member 320. [

Alternatively, the upper link member 312 and the lower link member 314 may be provided with drive motors, respectively, so that the left brush member 342 and the right brush member 344 can be rotationally driven individually.

In addition, when the first at least two link members 312, 314, the second at least two link members and the third at least two link members are disposed on the connecting member 320, the first at least two link members 312, 314), a brush member (340) is mounted on both ends of each of the second at least two link members and the third at least two link members, and simultaneously a plurality of brush members (340) Since the inside of the pipe P is cleaned in all directions, the cleaning efficiency can be improved.

Thus, the brush assembly according to one embodiment and the pipe cleaning robot equipped with the brush assembly are deformed corresponding to the internal environment of the pipe, so that the inside of the pipe can be cleanly cleaned even when the diameter of the pipe is changed or the pipe is bent. The working environment and the working state are monitored in front of the main body, and the driving of the brush assembly connected to the rear of the robot main body can be controlled.

Although the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And various modifications and changes may be made thereto without departing from the scope of the present invention. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the claims set forth below, fall within the scope of the present invention.

10: Pipe cleaning robot
100: robot body
200: Monitoring module
300: Brush assembly
310: Link member
320: connecting member
330: elastic member
340: Brush member

Claims (10)

A link member provided with a hinge at the center to change the bending angle;
A brush member mounted on both ends of the link member, respectively; And
An elastic member mounted on a side surface of the link member and deformed according to a bending angle of the link member;
Lt; / RTI >
Wherein the link member is provided to prevent twisting of the elastic member,
The link member is returned to its original state by the restoring force of the elastic member,
Wherein a plurality of link members are provided,
Wherein the plurality of link members share the same hinge axis,
The link member
A first at least two link members spaced apart from each other in a first direction; And
A second at least two link members spaced apart from each other in a second direction different from the first direction;
Lt; / RTI >
A connecting member connecting the same hinge axis of the first at least two link members and the same hinge axis of the second at least two link members to each other;
≪ / RTI >
delete delete The method according to claim 1,
Wherein the first at least two link members and the second at least two link members are alternately disposed along the longitudinal direction of the linking member.
The method according to claim 1,
Wherein the brush member is rotated by rotation of the connecting member,
Wherein the brush member is rotatably mounted to the link member.
A link member provided with a hinge at the center to change the bending angle;
A brush member mounted on both ends of the link member, respectively; And
An elastic member mounted on a side surface of the link member and deformed according to a bending angle of the link member;
Lt; / RTI >
Wherein the link member is provided to prevent twisting of the elastic member,
The link member is returned to its original state by the restoring force of the elastic member,
The link member
A first link portion and a second link portion hinged to each other,
Wherein the resilient member is provided with a leaf spring and is secured to a side of the first link portion and the second link portion and is held in a non-fixed state on a side surface of the hinge.
A robot main body capable of traveling in a pipe;
A monitoring module connected to the front of the robot body to monitor the inside of the pipe; And
A brush assembly connected to the rear of the robot body and driven to clean the inside of the pipe;
Lt; / RTI >
The brush assembly is elastically deformed so that the shape of the brush assembly is deformed and restored according to the shape of the inside of the pipe,
The brush assembly
A link member provided with a hinge at the center to change the bending angle;
/ RTI >
Wherein a plurality of link members are provided,
Wherein the plurality of link members share the same hinge axis,
The link member includes a first at least two link members spaced apart from each other in a first direction; And
A second at least two link members spaced apart from each other in a second direction different from the first direction;
Lt; / RTI >
A connecting member connecting the same hinge axis of the first at least two link members and the same hinge axis of the second at least two link members to each other;
A robot cleaning pipe that contains more.
8. The method of claim 7,
The brush assembly comprising:
An elastic member mounted on a side surface of the link member and deformed according to a bending angle of the link member;
Lt; / RTI >
The bending angle of the link member is changed by the shape of the inside of the pipe, and the bending angle of the link member is returned to the original state by the elastic member.
9. The method of claim 8,
The brush assembly comprising:
A brush member rotatably mounted on both ends of the link member;
Further comprising:
Wherein the rotation speed of the brush member is controlled by data measured by the monitoring module.
10. The method of claim 9,
The brush member
A first brush member mounted on both ends of each of the first at least two link members; And
A second brush member mounted on both ends of each of the second at least two link members;
Including,
Wherein the inside of the pipe is cleaned in all directions by the first brush member and the second brush member.
KR1020170142123A 2017-10-30 2017-10-30 Brush assembly and pipe cleansing robot with the same KR101991180B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020170142123A KR101991180B1 (en) 2017-10-30 2017-10-30 Brush assembly and pipe cleansing robot with the same
PCT/KR2018/012231 WO2019088515A1 (en) 2017-10-30 2018-10-17 Brush assembly and pipe cleaning robot mounted with brush assembly mounted thereon

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020170142123A KR101991180B1 (en) 2017-10-30 2017-10-30 Brush assembly and pipe cleansing robot with the same

Publications (2)

Publication Number Publication Date
KR20190047829A KR20190047829A (en) 2019-05-09
KR101991180B1 true KR101991180B1 (en) 2019-06-19

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WO (1) WO2019088515A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112195494B (en) * 2020-09-24 2022-03-18 安徽一佳一科技有限公司 Electrolysis trough for electroplating

Citations (3)

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Publication number Priority date Publication date Assignee Title
KR200364747Y1 (en) 2004-07-09 2004-10-13 주식회사 디엔씨 Self-Propelled Car for Polishing Pipe
KR100823690B1 (en) 2006-12-18 2008-04-21 신우씨앤엠솔루션(주) Apparatus for cleaning pipe
KR101142765B1 (en) 2010-01-15 2012-05-18 한양대학교 산학협력단 Movable robot with improved foldability

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101098889B1 (en) * 2009-11-18 2011-12-26 오병기 Wheel a cleansing device for vehicle
KR101671200B1 (en) * 2014-10-17 2016-11-01 정광목 Robot for cleaning dust in pipe

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200364747Y1 (en) 2004-07-09 2004-10-13 주식회사 디엔씨 Self-Propelled Car for Polishing Pipe
KR100823690B1 (en) 2006-12-18 2008-04-21 신우씨앤엠솔루션(주) Apparatus for cleaning pipe
KR101142765B1 (en) 2010-01-15 2012-05-18 한양대학교 산학협력단 Movable robot with improved foldability

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WO2019088515A1 (en) 2019-05-09

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