Cleaning robot

Abstract

According to one embodiment of the present invention, a cleaning robot moving inside a pipe comprises: a main body; a first actuator part disposed on the main body; a support part movably coupled to the first actuator part; and a grinder part movably coupled to the first actuator part; wherein the first actuator part moves the support part in a first axis direction, and the support part moves in the first axis direction to come into contact with the inner surface of the pipe.

Description

Technology Field

[0001] The present invention relates to a cleaning robot. Background Technology

[0003] Pipes are fabricated by welding multiple unit pipes together. Unit pipes are arranged in continuous contact, and the pipes are welded along the contact points between them from their outer surfaces. When unit pipes are joined by welding, weld beads and internal damage areas are formed on the inner surface of the pipe. If the pipe material is stainless steel, the weld beads inside the pipe may oxidize due to welding, potentially leading to pipe corrosion. To prevent corrosion, an inert gas such as nitrogen or argon is introduced into the pipe, and the pipe is sealed. However, if the seal is not complete, the pipe may still corrode; therefore, corrosion can be prevented by grinding the weld beads to remove the oxidized parts. Conventionally, removing weld beads from inside the pipe required workers to enter the narrow interior to perform the grinding, posing a risk to the workers. The problem to be solved

[0005] The objective according to one embodiment of the present invention is to provide a cleaning robot that removes weld beads or damaged areas inside a pipe. means of solving the problem

[0007] According to one embodiment of the present invention, a cleaning robot moving inside a pipe comprises: a main body; a first actuator part disposed on the main body; a support part movably coupled to the first actuator part; and a grinder part movably coupled to the first actuator part; wherein the first actuator part moves the support part in a first axis direction, and the support part moves in the first axis direction to come into contact with the inner surface of the pipe.

[0008] The above first axis direction is a direction perpendicular to the direction of movement of the main body.

[0009] A first driving unit and a second driving unit are disposed at the lower part of the main body, and the first driving unit is disposed spaced apart from the second driving unit in a direction perpendicular to the length direction of the first driving unit.

[0010] When viewed from the front of the cleaning robot, the first drive unit and the second drive unit are arranged at an acute angle. The first drive unit and the second drive unit are caterpillars.

[0011] The first actuator unit rotates the grinder unit, and the grinder unit rotates around an axis parallel to the driving direction of the main body unit.

[0012] The grinder unit comprises a second actuator unit, a grinder arm coupled to the second actuator unit, and a grinder coupled to the grinder arm, wherein the grinder arm is coupled to be movable along the longitudinal direction of the second actuator unit.

[0013] The grinder arm moves along the longitudinal direction of the second actuator part to bring the grinder into contact with the inner surface of the pipe.

[0014] The above-mentioned grinding unit contacts the weld bead surface or damaged area formed on the inner surface of the pipe and grinds the weld bead surface or damaged area.

[0015] As the grinder part rotates, the grinder arm moves along the longitudinal direction of the second actuator part, and while the grinder part rotates, the grinder contacts the inner surface of the pipe. Effects of the invention

[0017] A cleaning robot according to one embodiment of the present invention has the effect of preventing oxidation of the pipe by removing weld beads and damaged parts inside the pipe. Brief explanation of the drawing

[0019] FIG. 1 is a drawing for explaining the concept of a cleaning robot according to an embodiment of the present invention. FIG. 2 is a front view illustrating a cleaning robot according to an embodiment of the present invention placed inside a pipe. FIG. 3 is a plan view illustrating a cleaning robot according to an embodiment of the present invention placed inside a pipe. FIG. 4 is a diagram illustrating the operation concept of a cleaning robot according to an embodiment of the present invention. FIG. 5 is a perspective view illustrating the main body of a cleaning robot according to an embodiment of the present invention. FIG. 6 is a front view illustrating the main body of a cleaning robot according to an embodiment of the present invention. FIG. 7 is a perspective view illustrating a first actuator part of a cleaning robot according to an embodiment of the present invention. FIG. 8 is a perspective view illustrating a support member according to an embodiment of the present invention. FIG. 9 is a perspective view illustrating a grinder part of a cleaning robot according to an embodiment of the present invention. Specific details for implementing the invention

[0020] Embodiments of the present invention will be described in detail below with reference to the attached drawings. However, the scope of the present invention is not limited to the embodiments below.

[0021] For example, a person skilled in the art who understands the concept of the present invention may propose other embodiments included within the scope of the concept of the present invention through the addition, modification, or deletion of components, and such embodiments shall also be deemed to be included within the scope of the concept of the present invention.

[0022] Additionally, terms including ordinal numbers, such as "first," "second," etc., used in this specification may be used to describe various components, but said components are not limited by said terms, and said terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0024] FIG. 1 is a drawing for explaining the concept of a cleaning robot according to an embodiment of the present invention, FIG. 2 is a front view illustrating the cleaning robot according to an embodiment of the present invention placed inside a pipe, FIG. 3 is a plan view illustrating the cleaning robot according to an embodiment of the present invention placed inside a pipe, and FIG. 4 is a drawing for explaining the operation concept of a cleaning robot according to an embodiment of the present invention. The concept of a cleaning robot according to the present invention will be explained with reference to FIG. 1 to FIG. 4.

[0025] The cleaning robot according to the present invention can move inside a pipe. The cleaning robot can move inside the pipe along the penetration direction of the pipe. While moving inside the pipe (T), the cleaning robot can remove a weld bead (B) formed inside the pipe. The cleaning robot can grind the weld bead using a grinder part (40).

[0026] The cleaning robot can move forward or backward inside the pipe through a driving unit (100) positioned at the bottom of the main body (10).

[0027] The support member (30) can rise to support the cleaning robot. Specifically, when the support member (30) rises, the cleaning robot can be supported on the inner surface of the pipe (T) through the drive member (100) and the support member (30) which are positioned on the main body (10). The drive member (100) may include a first drive member (110) and a second drive member (120), and in this case, the cleaning robot can be supported in three areas on the inner surface of the pipe (T) by the first drive member (110), the second drive member (120), and the support member (30).

[0028] When the driving unit (100) and the moving support unit (30) support the cleaning robot, the cleaning robot can be supported so as not to move in a direction other than the direction of movement. Accordingly, the cleaning robot can stably polish the weld bead (B) inside the pipe (T) while being supported inside the pipe (T) through the driving unit (100) and the support unit (30).

[0029] When a weld bead (B) inside a pipe (T) is formed along the longitudinal direction of the pipe, the cleaning robot can move forward or backward along the penetration direction of the pipe (T) to polish the weld bead (B).

[0030] When a weld bead (B) inside a pipe (T) is formed along the inner surface of the pipe (T), the cleaning robot can be supported inside the pipe (T) through the driving unit (100) and the support unit (30), and then the grinder unit (40) can be rotated along the inner surface of the pipe (T) to grind the weld bead (B).

[0031] The cleaning robot may include a receiving part (150), a main body part (10), a first actuator part (20), a support part (30), and a grinder part (40).

[0032] The receiving portion (150) may be placed in an upper area of ​​the main body (10). The placement of the receiving portion (150) may vary as needed and is not fixed to only one specific location. Devices necessary for the operation of the cleaning robot may be placed inside the receiving portion (150). For example, a battery, a wireless communication device, and a controller may be placed inside the receiving portion (150).

[0033] The battery can supply power for the operation of the cleaning robot. The type of battery is not limited and can be appropriately selected according to the design conditions of the cleaning robot.

[0034] The wireless communication device can receive operation signals transmitted from the controller. In addition, the wireless communication device can transmit information collected from sensors or cameras of the cleaning robot to the user.

[0035] The controller can control the cleaning robot using an operation signal received from a wireless communication device. The controller can control the drive unit (100), the first actuator unit (20), the grinder unit (40), and other devices mounted on the cleaning robot using a Pulse Width Modulation (PWM) frequency.

[0037] FIG. 5 is a perspective view illustrating the main body of a cleaning robot according to an embodiment of the present invention, and FIG. 6 is a front view illustrating the main body of a cleaning robot according to an embodiment of the present invention. The main body will be described with reference to FIG. 5 and FIG. 6.

[0038] Devices for operating the cleaning robot may be placed in the main body (10).

[0039] On the upper side of the main body (10), a receiving part (150), a first actuator part (20), a support part (30), a grinder part (40), and other devices necessary for the operation of the cleaning robot may be arranged. Here, the devices necessary for the operation of the cleaning robot may include, for example, a camera and a sensor. The camera can collect image information. The camera can collect image information from the front or rear of the cleaning robot. The image information collected by the camera can be transmitted to a user via a wireless communication device. The shape of the upper area of ​​the main body is not limited to any specific shape and may vary depending on the devices mounted on the main body and the design conditions of the main body.

[0040] A drive unit (100) may be disposed on the lower side of the main body (10). The drive unit (100) may be, for example, a caterpillar. As another example, the drive unit (100) may be an assembly in which a plurality of wheels are arranged in a line. The drive unit (100) may include a first drive unit (110) and a second drive unit (120). Each of the first drive unit (110) and the second drive unit (120) may be arranged so that their length direction is parallel to the length direction of the main body (10). The first drive unit (110) and the second drive unit (120) may be spaced apart in a direction perpendicular to the length direction of the first drive unit (110). The first drive unit (110) and the second drive unit (120) may be spaced apart to form a predetermined angle. Specifically, when viewed from the front of the main body, the first driving unit (110) and the second driving unit (120) can be arranged to form an acute angle with respect to an imaginary line perpendicular to the width direction of the main body. Since the first driving unit (110) and the second driving unit (120) are arranged to form an acute angle, the main body (10) can travel stably within the pipe and can also be stably supported within the pipe.

[0042] FIG. 7 is a perspective view illustrating a first actuator part of a cleaning robot according to an embodiment of the present invention.

[0043] The first actuator part (20) may include a body part (200), a first drive shaft (210), a guide part (220), and a first moving part (230).

[0044] The body part (200) can form the exterior of the first actuator part (20). Other components of the first actuator part (20) may be arranged in the body part (200). The body part (200) can be coupled with the main body part (10). The lower surface of the body part (200) can be coupled with the upper surface of the main body part (10). The body part can be arranged so that the longitudinal direction of the body part (200) is perpendicular to the upper surface of the main body part (10). The body part (200) can be arranged so that the longitudinal direction of the body part (200) is perpendicular to the driving direction of the cleaning robot.

[0045] A first drive shaft (210) may be disposed in the body portion (200). The first drive shaft (210) may be disposed along the longitudinal direction of the body portion (200). The first drive shaft (210) may rotate axially. Screw threads may be formed on the outer surface of the first drive shaft (210). The first drive shaft (210) may be inserted into the first moving portion (230) to be described later. In the portion of the first moving portion (230) into which the first drive shaft (210) is inserted, screw threads corresponding to the screw threads formed on the outer surface of the first drive shaft (210) may be formed. Accordingly, the first moving portion (230) may move along the longitudinal direction of the first drive shaft (210) by the rotation of the first drive shaft (210). Here, the longitudinal direction of the first drive shaft (210) may be named the first axis direction. The first axis direction may be a direction perpendicular to the direction of movement of the cleaning robot. The first axis direction may be a direction perpendicular to the direction of movement of the main body (10). A motor (M) for rotating the first drive shaft (210) may be disposed at the lower part of the body (200).

[0046] A guide section (220) may be disposed in the body section (200). The guide section (220) may be disposed along the longitudinal direction of the body section (200). A plurality of guide sections (220) may be disposed. A first drive shaft (210) may be disposed between the plurality of guide sections (220). The guide section (220) may guide the movement of the first moving section (230), which will be described later. The guide section (220) may be inserted into the first moving section (230). When the first moving section (230) moves by the first drive shaft (210), the body section (200) may support the movement of the first moving section (230) so that the first moving section (230) can move stably.

[0047] A first moving part (230) may be disposed in the body part (200). The first moving part (230) may be disposed to be movable within a predetermined range along the longitudinal direction of the body part (200). The first driving shaft (210) and the guide part described above may be inserted into the first moving part (230).

[0048] Support members (30) may be attached to both sides of the first moving member (230). As the first moving member (230) moves along the longitudinal direction of the body member (200), the support members (30) may also move along the longitudinal direction of the body member (200).

[0049] A rotating part (240) may be positioned in front of the first moving part (230). The rotating part (240) may be positioned protruding forward from the first moving part (230). A grinder part (40), which will be described later, may be coupled to the rotating part (240). A motor (M) for rotating the rotating part (240) may be positioned inside the first moving part (230). The rotating part (240) may rotate in a clockwise or counterclockwise direction within an angle range of 360 degrees or more. Due to the rotation of the rotating part (240), the grinder part (40) may also rotate in a clockwise or counterclockwise direction within an angle range of 360 degrees or more.

[0051] FIG. 8 is a perspective view illustrating a support member according to an embodiment of the present invention.

[0052] The support member (30) may include a bracket (300) and a roller member (340). The bracket (300) may include a first bracket (310), a second bracket (320), and a third bracket (330). The first bracket (310) and the second bracket (320) may have corresponding shapes. The first bracket (310) and the second bracket (320) may be spaced apart from each other. The third bracket (330) may be positioned between the first bracket (310) and the second bracket (320) to connect the first bracket (310) and the second bracket (320).

[0053] The first bracket (310) may have a shape similar to an "ㄱ" shape, for example. A third bracket (330) may be placed on one side of the first bracket (310), and the other side of the first bracket (310) may be placed on the side of the first moving part (230).

[0054] The second bracket (320) may also have a shape similar to an "L" shape, for example. A third bracket (330) may be placed on one side of the second bracket (320), and the other side of the second bracket (320) may be placed on the side of the first moving part (230).

[0055] The third bracket (330) may have a flat shape. However, the shape of the third bracket (330) is not limited to a flat shape; it may be sufficient if it has a structure that connects the first bracket (310) and the second bracket (320) and allows the roller part (340), which will be described later, to be placed thereon. The roller part (340), which will be described later, may be placed on one side or one side of the third bracket (330).

[0056] The roller section (340) may be positioned on one side of the bracket (300). The roller section (340) may include a wheel, and the wheel (341) may be positioned in multiple numbers. The wheel (341) may be positioned to be in contact with the inner surface of the pipe. That is, at least a portion of the outer surface of the wheel (341) may be positioned to face the inner surface of the pipe (T). The direction of the rotation axis of the wheel (341) may be perpendicular to the longitudinal direction of the main body (10). When the first moving part (230) of the first actuator section (20) positioned on the main body (10) rises, the support section (30) rises. Therefore, when the support section (30) rises within the pipe, the wheel (341) may come into contact with the inner surface of the pipe. When the cleaning robot moves forward or backward while the wheel (341) is in contact with the inner surface of the pipe, the wheel (341) can rotate along the inner surface of the pipe. When the wheel (341) is in contact with the inner surface of the pipe, the cleaning robot can be supported by the contact of the wheel (341) so that the cleaning robot does not move in the direction of the rotation axis of the wheel (341) due to an external force. Here, the external force may be a reaction force provided by the surface of the pipe to the grinder part (40) during the grinding process through the grinder part (40).

[0058] FIG. 9 is a perspective view illustrating a grinder section of a cleaning robot according to an embodiment of the present invention. The grinder section will be described with reference to FIG. 9.

[0059] The grinder part (40) may include a second actuator part (400) and a grinder arm (430).

[0060] The second actuator unit (400) can be coupled to the first moving unit (230) of the first actuator unit (20) described above. The second actuator unit (400) can rotate by the rotation of the rotating unit (240) positioned in front of the first moving unit (230). The second actuator unit (400) may include a second driving shaft (410) and a second moving unit (420).

[0061] The second drive shaft (410) may be arranged along the longitudinal direction of the second actuator unit (400). The second drive shaft (410) may rotate around the axial direction. A motor (M) for rotating the second drive shaft (410) may be arranged on one side of the second actuator unit (400).

[0062] Screw threads may be formed on the outer surface of the second drive shaft (410). The second drive shaft (410) may pass through the second moving part (420) to be described later, and screw threads corresponding to the screw threads of the second drive shaft (410) may be arranged in the portion of the second moving part (420) through which the second drive shaft (410) passes. Accordingly, when the second drive shaft (410) rotates, the second moving part (420) can move along the longitudinal direction of the second drive shaft (410).

[0063] The grinder arm (430) can be coupled to the second actuator unit (400). One end of the grinder arm (430) can be coupled to the second moving part (420) of the second actuator unit (400). The grinder arm (430) can move along the longitudinal direction of the second drive shaft (410) by the second moving part (420).

[0064] A grinding section (432) may be disposed at the other end of the grinder arm (430). Grinding work may be performed by rotating the grinding section (432). A motor (M) and a power transmission section (431) may be disposed in the grinder arm (430). The power transmission section (431) can transmit power from the motor (M) to the grinding section (432). That is, the motor (M) can rotate the grinding section (432) through the power transmission section (431). As an example, a shaft may be used for the power transmission section (431), and it may be a structure in which multiple shafts are connected by gears or joints. The motor (M) of the grinder arm may be a motor (M) for rotating the grinding section (432). In FIG. 9, the structure of the grinder arm (430) is shown as having a shape close to an "L", but it is not limited thereto.

[0066] Hereinafter, the operation of a cleaning robot according to an embodiment of the present invention will be described.

[0067] The cleaning robot can be moved by the drive unit (100). When the first drive unit (110) and the second drive unit (120) drive in the same direction, the cleaning robot can move forward or backward, and when the first drive unit (110) and the second drive unit (120) drive in opposite directions, the cleaning robot can turn.

[0068] By driving the drive unit (100), the cleaning robot can enter the pipe and move within the pipe. When the cleaning robot enters the pipe, the first actuator unit (20) can raise the support unit (30) so that the support unit (30) comes into contact with the inner surface of the pipe. When the support unit (30) comes into contact with the inner surface of the pipe, the cleaning robot can be supported at three positions spaced apart along the inner circumference of the pipe. The three positions may be a first position (P1) where the support unit (30) comes into contact with the inner surface of the pipe, a second position (P2) where the first drive unit (110) comes into contact, and a third position (P3) where the second drive unit (120) comes into contact. In this case, the first position (P1) and the second position (P2) can form an obtuse angle with respect to the center of the cross-section of the pipe, the second position (P2) and the third position (P3) can form an acute angle with respect to the center of the cross-section of the pipe, and the first position (P1) and the third position (P3) can form an obtuse angle with respect to the center of the cross-section of the pipe.

[0069] When the support member (30) rises and comes into contact with the inner surface of the pipe, a grinding operation can be performed.

[0070] A weld bead or damaged area formed along the longitudinal direction of the pipe can be polished by a cleaning robot moving forward or backward along the penetration direction of the pipe, and a weld bead or damaged area formed along the inner circumference of the pipe can be polished by a grinder part (40) rotating along the rotating part (240) of the first moving part (230). In this case, the grinder arm (430) can move along the longitudinal direction of the second drive shaft (410) by the second moving part (420). That is, the grinder arm (430) can move outward or inward in the radial direction of the pipe to maintain contact between the polishing part (432) and the weld bead or damaged area.

[0071] When using a cleaning robot according to an embodiment of the present invention, the cleaning robot is inserted into the pipe to safely remove the weld bead or damaged parts inside the pipe.

[0073] Although the structure and features of the present invention have been described above based on embodiments according to the present invention, the present invention is not limited thereto. Furthermore, since it is obvious to those skilled in the art that the present invention can be modified or altered in various ways within the spirit and scope of the present invention, such modifications or alterations fall within the scope of the claims of the present invention. Explanation of the symbols

[0075] 10: Main body 100: Driving unit 110: 1st drive unit 120: 2nd drive unit 20: First actuator section 200: Body section 210: First drive shaft 220: Guide section 230: 1st moving part 240: Rotating part 30: Support part 300: Bracket 310: 1st bracket 320: 2nd bracket 330: Third bracket 340: Roller part 341: Wheel 40: Grinder section 400: Second actuator section 410: Second drive shaft 420: Second moving part 430: Grinder arm 431: Power transmission unit 432: Grinding part M: Motor

Claims

Claim 1 A cleaning robot that moves inside a pipe comprises: a main body; a first actuator part disposed on the main body; a support part movably coupled to the first actuator part; and a grinder part movably coupled to the first actuator part; wherein the first actuator part moves the support part in a first axis direction, and the support part moves in the first axis direction to contact the inner surface of the pipe, and the grinder part comprises a second actuator part; and a grinder arm coupled to the second actuator part and a polishing part coupled to the grinder arm; wherein the polishing part is arranged perpendicular to the motor of the grinder arm, and a first driving part and a second driving part are arranged at the lower part of the main body part, and the first driving part is arranged spaced apart from the second driving part in a direction perpendicular to the longitudinal direction of the first driving part, and when viewed from the front of the cleaning robot, the first driving part and the second driving part are arranged to form an acute angle, and as the support part contacts the inner surface of the pipe, the cleaning robot is supported at three positions on the inner surface of the pipe: a first position (P1) where the support part contacts, a second position (P2) where the first driving part contacts, and a third position (P3) where the second driving part contacts, and the first position (P1) and the second position (P2) form an obtuse angle with respect to the cross-sectional center of the pipe, and the second position (P2) and the A cleaning robot in which the third position (P3) forms an acute angle, and the first position (P1) and the third position (P3) form an obtuse angle. Claim 2 A cleaning robot according to claim 1, wherein the first axis direction is a direction perpendicular to the movement direction of the main body. Claim 3 delete Claim 4 delete Claim 5 In claim 1, the first drive unit and the second drive unit are caterpillars, a cleaning robot. Claim 6 A cleaning robot according to claim 1, wherein the first actuator part rotates the grinder part, and the grinder part rotates around an axis parallel to the driving direction of the main body part. Claim 7 delete Claim 8 A cleaning robot according to claim 1, wherein the grinder arm moves along the longitudinal direction of the second actuator part to bring the grinder into contact with the inner surface of the pipe. Claim 9 In claim 8, the polishing part contacts the weld bead surface or damaged area formed on the inner surface of the pipe and polishes the weld bead surface or damaged area, a cleaning robot. Claim 10 A cleaning robot according to claim 1, wherein as the grinder part rotates, the grinder arm moves along the longitudinal direction of the second actuator part, and while the grinder part rotates, the grinder contacts the inner surface of the pipe.

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