WO2011132925A3 - 유체 내 침투 가능한 이동 로봇 - Google Patents

유체 내 침투 가능한 이동 로봇 Download PDF

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Publication number
WO2011132925A3
WO2011132925A3 PCT/KR2011/002820 KR2011002820W WO2011132925A3 WO 2011132925 A3 WO2011132925 A3 WO 2011132925A3 KR 2011002820 W KR2011002820 W KR 2011002820W WO 2011132925 A3 WO2011132925 A3 WO 2011132925A3
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WO
WIPO (PCT)
Prior art keywords
fluid
robot body
robot
motor
collect
Prior art date
Application number
PCT/KR2011/002820
Other languages
English (en)
French (fr)
Other versions
WO2011132925A2 (ko
Inventor
안성훈
이길용
위경훈
Original Assignee
서울대학교 산학협력단
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.)
Filing date
Publication date
Application filed by 서울대학교 산학협력단 filed Critical 서울대학교 산학협력단
Publication of WO2011132925A2 publication Critical patent/WO2011132925A2/ko
Publication of WO2011132925A3 publication Critical patent/WO2011132925A3/ko

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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 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • 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 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • 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 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
    • B08B9/047—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • 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 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/053—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved along the pipes by a fluid, e.g. by fluid pressure or by suction
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Combustion & Propulsion (AREA)
  • Radiology & Medical Imaging (AREA)
  • Chemical & Material Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Fluid Mechanics (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 이동 로봇에 관한 것으로, 유체 내 또는 유체가 존재하는 관 내 침투하여 정보를 수집하고 불순불을 제거할 수 있도록 한 것이다. 이를 위하여 본 발명은 몸체의 축 중심에 자체 이동에 필요한 동력 및 추진력을 발생시키기 위한 모터와 임펠러가 내장되는 로봇 몸체, 로봇 몸체 내부에 탑재되며 모터와 임펠러 회전에 필요한 동작 전원 및 제어신호를 각각 공급하는 전원부 및 제어부, 로봇 몸체에 설치되며 유체 내부 또는 관 내부의 유체에 관한 다양한 정보들을 각각 수집하는 다수의 측정부, 및 로봇 몸체 내부에 탑재되며 제어부와 외부 제어기기 간의 정보 교환을 위한 통신을 수행하는 통신부, 모터의 회전축 선단부에 일체로 설치되어 모터에 의해 연동하면서 로봇 몸체의 이동 경로상에 위치하는 불순물을 파쇄하는 불순물 파쇄부, 로봇 몸체의 후방 개방부에 탈부착 가능하게 장착되어 로봇 몸체로 유입되는 유체 내에 포함된 불순물을 포집하는 불순물 포집부를 포함하는 유체 내 침투 가능한 이동 로봇을 제공하여, 유체 내부 또는 유체가 존재하는 관 내부에서 유체의 흐름을 방해하지 않으면서도 자체 동력에 의한 이동 및 외부 제어기기와의 통신으로 유체 내 정보의 수집 및 불순물의 제거가 가능하게 한다.
PCT/KR2011/002820 2010-04-20 2011-04-20 유체 내 침투 가능한 이동 로봇 WO2011132925A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2010-0036403 2010-04-20
KR1020100036403 2010-04-20

Publications (2)

Publication Number Publication Date
WO2011132925A2 WO2011132925A2 (ko) 2011-10-27
WO2011132925A3 true WO2011132925A3 (ko) 2012-02-02

Family

ID=44834326

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/KR2010/003372 WO2011132817A1 (ko) 2010-04-20 2010-05-27 관내를 이동하여 불순물을 제거하는 로봇
PCT/KR2011/002820 WO2011132925A2 (ko) 2010-04-20 2011-04-20 유체 내 침투 가능한 이동 로봇

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/003372 WO2011132817A1 (ko) 2010-04-20 2010-05-27 관내를 이동하여 불순물을 제거하는 로봇

Country Status (2)

Country Link
KR (1) KR101315893B1 (ko)
WO (2) WO2011132817A1 (ko)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101241844B1 (ko) * 2012-09-06 2013-03-11 (주)삼경이엔씨 트라이앵글형 정밀관로측량로봇을 통한 스마트형 관로측량장치
ES2859755T3 (es) * 2013-02-01 2021-10-04 Abb Power Grids Switzerland Ag Dispositivo y método para inspección in-situ de transformador
WO2015050673A1 (en) * 2013-10-01 2015-04-09 Bp Corporation North America Inc. Apparatus and methods for clearing a subsea tubular
KR101596313B1 (ko) * 2014-06-02 2016-02-23 한국원자력연구원 경사 시추공 삽입을 위한 추진체를 가지는 지구물리검층기
RU2602607C2 (ru) * 2015-03-24 2016-11-20 Федеральное государственное бюджетное научное учреждение "Всероссийский научно-исследовательский институт электрификации сельского хозяйства" (ФГБНУ ВИЭСХ) Устройство для очистки молокопроводов доильных установок
CN105145448B (zh) * 2015-09-15 2018-09-11 中国水产科学研究院渔业机械仪器研究所 一种远程投饲系统的输料管道排堵装置
RU2654623C1 (ru) * 2017-06-23 2018-05-21 Федеральное государственное бюджетное научное учреждение Федеральный научный агроинженерный центр ВИМ (ФГБНУ ФНАЦ ВИМ) Устройство очистки и контроля чистоты молочных линий
CN107537834B (zh) * 2017-09-25 2023-08-11 国网江苏省电力公司常州供电公司 电缆保护管清障装置
KR101975863B1 (ko) * 2017-11-20 2019-05-07 한국생산기술연구원 소프트 리니어 액추에이터
CN107893473B (zh) * 2017-12-05 2019-12-06 瑞安市斯帝姆教育科技有限公司 一种下水管道清理机器人
CN109268618A (zh) * 2018-09-19 2019-01-25 陈东 管道内况检测机器人
CN109227556B (zh) * 2018-09-28 2022-03-29 华南理工大学 一种超声波清洗机器人和清洗方法
CN109973754A (zh) * 2019-04-01 2019-07-05 杨亚东 排水管
CN110695412B (zh) * 2019-09-25 2020-10-30 泉州市早稻梦想文化发展有限公司 一种全自动机械无尘钻孔设备
CN111379313A (zh) * 2020-04-18 2020-07-07 上海澄泓管道机器人有限公司 一种旋转式吸污头装置
CN112006778A (zh) * 2020-08-20 2020-12-01 广州大学 一种用于清理血栓的旋切机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265682A (en) * 1991-06-25 1993-11-30 Camco Drilling Group Limited Steerable rotary drilling systems
JP2001096246A (ja) * 1999-10-01 2001-04-10 Toa Harbor Works Co Ltd 管路内の清掃方法及び装置
WO2003062644A1 (en) * 2002-01-16 2003-07-31 Corac Group Plc Downhole compressor
KR20090122648A (ko) * 2008-05-26 2009-12-01 전남대학교산학협력단 혈관치료용 마이크로 로봇 및 마이크로 로봇 시스템
KR20100015207A (ko) * 2008-08-04 2010-02-12 전남대학교산학협력단 혈관 치료용 마이크로 로봇의 유지 및 이동 시스템

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JP3191717B2 (ja) * 1991-11-05 2001-07-23 セイコーエプソン株式会社 マイクロロボット
US6240312B1 (en) * 1997-10-23 2001-05-29 Robert R. Alfano Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment
US8353896B2 (en) * 2004-04-19 2013-01-15 The Invention Science Fund I, Llc Controllable release nasal system
KR100863263B1 (ko) 2007-11-07 2008-10-15 덕원산업개발주식회사 노후관로 갱생장치 및 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265682A (en) * 1991-06-25 1993-11-30 Camco Drilling Group Limited Steerable rotary drilling systems
JP2001096246A (ja) * 1999-10-01 2001-04-10 Toa Harbor Works Co Ltd 管路内の清掃方法及び装置
WO2003062644A1 (en) * 2002-01-16 2003-07-31 Corac Group Plc Downhole compressor
KR20090122648A (ko) * 2008-05-26 2009-12-01 전남대학교산학협력단 혈관치료용 마이크로 로봇 및 마이크로 로봇 시스템
KR20100015207A (ko) * 2008-08-04 2010-02-12 전남대학교산학협력단 혈관 치료용 마이크로 로봇의 유지 및 이동 시스템

Also Published As

Publication number Publication date
WO2011132925A2 (ko) 2011-10-27
KR20110117022A (ko) 2011-10-26
WO2011132817A1 (ko) 2011-10-27
KR101315893B1 (ko) 2013-10-08

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