In this paper, we introduce the pipe cleaning robot developed to clean the gas impurities of the iron manufacturing equipments. The pipe cleaning robot is composed of two driving modules and one cleaning module. 2-DOF joint units were developed for connections among the modules. To maximize the traction power of the driving parts, it became caterpillar type. The extension links have been developed to maintain the traction force in case the pipe inner diameters change. Three cleaning modules were developed for the effective cleaning in the pipe. The driving and cleaning performance tests of the pipe cleaning robot were proceeded in the field of the iron manufacturing equipments.

• 이재열(한국로봇융합연구원 선임연구원) | Jae-Youl Lee
• 홍성호(한국로봇융합연구원 선임연구원) | Sung-Ho Hong
• 정명수(한국로봇융합연구원 주임연구원) | Myeong-Su Jeong
• 서진호(포항공과대학교 기계공학과) | Jin-Ho Suh Corresponding author
• 정구봉(한국로봇융합연구원 책임연구원) | Goo-Bong Chung
• 한경룡(포스코 기술연구원 책임연구원) | Kyoung-Ryoung Han
• 최일섭(포스코 기술연구원 수석연구원) | Il-Seob Choi