Development of the Robot for In-pipe Cleaning from 250 to 500A Pipes

Abstract

In this paper, we introduce the pipe cleaning robot developed to clean the gas impurities of the steel manufacturing equipments. The pipe cleaning robot consists of three parts. The head part is composed of a cleaning unit, and the middle part is composed of four links and a driving units. The tail part is fixed to the control unit and connected to the external controller by the tether cable. A caterpillar type was used to maximize the traction power of the driving parts. The extension links have been developed to maintain the traction force in case the pipe inner diameters ranged from 250 to 500 A. The driving and cleaning performance tests for the pipe cleaning robot were proceeded with the field of steel manufacturing equipment.