KR20070065118A - A inspection and cleaning robot of pipe laying - Google Patents

Abstract

A robot for inspecting and cleaning a pipe is provided to efficiently inspect and clean the pipe by performing cleaning with revolving and rotating a brush through a revolving apparatus and a rotating apparatus. A robot for inspecting and cleaning a pipe includes a revolving apparatus unit(11), a brush opening/closing apparatus unit(20), brushes(25,26), a brush rotating apparatus, and a foreign substance collecting/discharging unit. The revolving apparatus unit is installed at a front part of a robot body(2), and reversely rotates a brush stand. The brush opening/closing apparatus unit is mounted at the brush stand, and folds/unfolds a pair of brush arms(21,22) with one end installed at a main axis(23). The brush is installed at a front lower side of each brush arm. The brush rotating apparatus unit rotates the brush installed at the lower side of each brush arm. The foreign substance collecting/discharging unit absorbs, collects, and discharges foreign substance generated at each brush arm.

Description

Robot for internal inspection and cleaning of pipes {A INSPECTION AND CLEANING ROBOT OF PIPE LAYING}

1 is a plan view showing an internal inspection and cleaning robot of the pipe according to the present invention.

Figure 2 is a diagram illustrating the operation of the robot for the internal inspection and cleaning of the pipe according to the present invention.

Explanation of symbols on the main parts of the drawings

1: Robot for inspecting internal piping 2: Robot body

4: operating cable connector 5: folding wheel joint 6: wheel

7: CCD camera 10: Brush mount 11: Brush revolving unit

12: public motor 13: starting gear 14: interlocking gear

15.33: Universal joint 20: Brush opening and closing unit 21.22: Brush arm

23: main shaft 24: reduction gear motor for brush

25.26: Brush 30: Motor for brush folding

31: screw rod 32: moving nut 34: brush opening and closing arm

35: suction port 36: branch suction pipe 37: main suction pipe

The present invention can be inspected by a CCD camera while moving the inside of the drain pipe that is exposed to the ground or buried underground installed by the CCD camera, and the robot for the internal inspection and cleaning of the improved pipe to be cleaned while rotating and rotating the brush. It is about.

In more detail, the outer side of the robot body to which the operation cable can be connected to the rear end is installed so that the wheel can be folded by the folding deployment device, and the robot body is rotated to the forward and reverse by the power means. In front and rear of the robot body, the CCD camera is installed on the upper side of the robot body,

A brush mount is installed on the front of the robot body, and a pair of brush arms are installed on the front end of the brush mount, and the brush is opened and closed with the brush arm by the brush opening and closing unit. It can be folded or unfolded, and the brush attached to the tip of each brush arm can be rotated (rotated) by a motor for motor, and the brush mount can be rotated by the brush revolving device to The aim is to provide a robot for the internal inspection and cleaning of pipes that allows the brush to rotate (idle).

Plant pipes and steam pipes are installed in special factories or power plants, including water and sewage pipes and city gas pipes that are commonly installed and used.If various pipes are installed (operated) for a long time, the inside of the pipes may be corroded or foreign. Lamination of the vaginal phenomena occurs, and the pipe breakage caused by this phenomenon causes the loss of life and property (damage) and the problem of destroying nature, and solves the above problems. In order to ensure the safety, the pipe performance should be inspected and diagnosed regularly (periodically).

In order to check and diagnose the performance of pipes regularly (regularly) as mentioned above, in order to ensure safety, the robot is inspected using a robot equipped with an inspection system in the pipe, and the robot is walking, wheels, endless tracks, new construction, etc. It is to be moved by the method of.

In such a robot, the walking type takes a lot of time to move and cannot move vertically because the moving speed is slow. The wheel type can be efficiently used in straight pipes because of its fast moving speed and easy adjustment. In addition, the endless track type has good mobility and directionality, but it requires a lot of power (energy) during driving, and there is a risk of trouble caused by foreign matter being caught in the track. The telescopic type can be easily moved in a straight line and a curve, but the inner wall of the pipe In order to compress them, the structure (mechanism) becomes complicated and there is a problem that it is not easy to adapt efficiently according to the inner diameter of the pipe.

Improvements to the various robots as described above are known as "mobile robot for internal piping inspection" of Korean Patent Registration No. 10-289812, Patent Registration No. 10-367823 and Patent Registration No. 10-467792.

Patent Registration No. 10-289812, "Robot internal inspection mobile robot", the front and back of the main body is formed integrally with the guide fixing part, each guide fixing part is fixed to the front end with the clamping ring and coil spring, respectively. The main body is mounted on one end of each pair of arms by the same shaft, and the wheels with pulleys are mounted on the ends of each arm to hang the pulley of the motor and the pulley of the wheel with a belt. The wheels can be rotated.

Patent registration No. 10-367823 "moving robot for the internal inspection of the pipe," provided with a plurality of folding deployment links on the outside of the body, one side of the support link is provided with the operation link to cross one end of the support link to the body It is installed as a shaft and one end of the operation link is installed as a shaft on a sliding piece that is slidably coupled to the body. The sliding piece is connected to a movement control plate fitted to the main body using a coil spring, and the movement control plate is a screw that rotates by a motor. The screw is coupled to the rod to fold or unfold the folding deployment link with wheels while moving the sliding piece back and forth while moving forward and backward by the forward and reverse rotation of the motor. The wheels mounted on each folding deployment link are driven by a motor installed in the body. The device can be moved while rotating in the forward and reverse directions.

Patent Registration No. 10-467792, "Mobile Robot for Internal Inspection of Piping," installs links at the front and rear of the body where the stopper is formed in the middle so as to be released by coil springs, and supports the front and rear wheels at the front and rear links. The wheel is mounted on both sides of the front and rear mandrel drive unit, by the motor installed in the drive unit is to be able to move forward and backward by rotating the front and rear wheel auxiliary wheel in the forward and reverse.

However, the conventional mobile robot for internal pipe inspection as described above is improved by only a drive device for moving the robot forward and backward within the pipe, and the robot is installed on the body while moving forward and backward in the pipe somewhat easily. The CCD camera (not specifically shown in these configurations) allows the inspection to be performed while inspecting the inside of the pipe. The body is not equipped with a device for cleaning the inside of the pipe, so a checkup is performed. While there is a problem that can not be cleaned efficiently.

Therefore, in order to clean the inside of the pipe, after removing the inspection robot, insert a separate cleaning robot and clean it. After the cleaning is completed, the inspection robot should be re-inserted and cleaned. In order to repeatedly perform the inspection and cleaning while inserting the inspection robot and the cleaning robot, it takes a lot of time, workability (work efficiency) is a problem, and there is a problem that can not efficiently clean the inside of the pipe.

The present invention is to provide a robot for the internal inspection and cleaning of the improved pipe to solve the above problems.

The present invention is installed on the outside of the robot body to be able to connect the operation cable to the rear end so that the wheel can be folded and deployed by the folding deployment device, by rotating the wheel to the forward and reverse by the power means to advance the robot body forward and backward In the case where the CCD camera is installed above the front part of the robot body,

A brush mount is installed on the front of the robot body, and a pair of brush arms are installed on the front end of the brush mount, and the brush is opened and closed with the brush arm by the brush opening and closing unit. It can be folded or unfolded, and the brush attached to the tip of each brush arm can be rotated (rotated) by a motor for motor, and the brush mount can be rotated by the brush revolving device to It is an object of the present invention to provide a robot for internal inspection and cleaning of pipes that can rotate (or idle) a brush.

Another object of the present invention is to inspect the inside of the pipe by simultaneously cleaning the inside of the pipe by a brush that can be adjusted by the folding deployment device while photographing and inspecting the inside of the pipe with a CCD camera. It is to provide a robot for internal inspection and cleaning of pipes so that cleaning can be performed at the same time.

Still another object of the present invention is to enable cleaning of the brush, which is capable of adjusting the deployment state, by revolving and rotating by the revolving device unit and the rotating device, so that inspection and cleaning can be carried out efficiently and efficiently. In the pair of brushes which are revolved by, one is formed of steel brush and the other is made of cloth or vinyl to easily and efficiently remove rust or foreign matters generated or stacked inside the pipe while simultaneously cleaning the surface. The purpose of the present invention is to provide a robot for internal inspection and cleaning of pipes that can be cleaned, and rust and foreign substances generated during cleaning can be discharged after being vacuumed and stored or discharged to the outside by vacuum suction.

The above and other objects of the present invention,

The CCD camera 7 is installed on the front upper side of the robot body 2 provided with the control part 3, and the operation cable connector 4 is installed on the rear end, and the outside of the robot body 2 is folded by the operation device. A wheel folding deployment joint (5) to be deployed, wherein the front and rear ends of each of the wheel folding development joints (5) are equipped with wheels (6) which rotate forward and backward by a power unit;

A brush revolving device unit 11 installed at the first half of the robot body 2 to rotate the brush mounting base 10 forward and backward;

Brush opening and closing device for mounting (folding / deploying) a pair of brush arms 21, 22 mounted on the brush mounting stand 10 and one end of which is installed on the brush mounting stand 10 as a main shaft 23. Section 20;

Brushes 25 and 26 which are installed in a mandrel under the tip of each brush arm 21 and 22;

A brush rotating device for rotating the brushes 25 and 26 that are installed in a mandrel on the lower end of each brush arm 21 or 22;

It is achieved by the robot for pipe internal inspection cleaning, characterized in that formed, including: foreign matter collection and discharge means for inhaling, collecting and discharging foreign matter generated in each brush arm (21) (22).

The above and other objects and features of the present invention will be more clearly understood by the following detailed description based on the accompanying drawings.

1 and 2 show a concrete implementation of the robot 1 for pipe internal inspection cleaning according to the present invention. FIG. 1 is a plan view of the present invention, and FIG. 2 is an explanatory view of an operation relationship.

The robot 1 for pipe internal inspection cleaning according to the present invention was formed as follows.

The CCD camera 7 was installed on the front upper side of the robot body 2 provided with the control unit 3 to photograph the inside of the pipe and to transmit it to an external inspection device (monitor), and the rear end of the robot body 2. Although not shown in detail by installing the operating cable connector (4) in order to connect the power (power) cable and the image cable and foreign matter discharge pipe.

On the outside of the robot body 2, the wheel folding opening joints 5 which are folded and deployed by an operating device (not specifically shown) are installed, and the wheels 6 are disposed at the outer ends and the rear ends of the wheel folding opening joints 5, respectively. Each wheel 6 can be rotated forward and reverse by a power unit (not specifically shown).

Since the above configuration is the same as the conventional configuration installed on the robot, a more detailed description of these configurations will be omitted.

The first half of the robot body 2 is provided with a brush mount 10 to be rotated (fixed) in the forward and reverse by the revolving device portion (11).

The revolving device unit 11 for rotating the brush mounting base 10 provided in the first half of the robot body 2 in the forward and reverse directions is provided with a motor 12 for the robot body 2, and a motor for revolution 12. ), The start gear 13 is mounted to the rotary shaft by the universal joint 15, and the interlock gear 14 is integrally formed on the brush mount 10, and the start gear 13 of the motor 12 is provided. And the interlocking gear 14 of the brush mounting unit 10 are engaged to allow the brush mounting unit 10 to be rotated forward and backward by the forward and reverse operation of the motor 12.

In particular, when mounting the starting gear 13 to the rotation shaft of the motor 12, the universal joint 15 is used to mount the shock and vibration generated from the brushes 25 and 26 to the motor 12. Protect the motor 12 while preventing the transfer.

A pair of brush arms (21) and (22) are installed in the brush mount (10) as a main shaft (23), and the pair of brush arms (21) and (22) are attached to the brush opening and closing unit (20). By opening and closing (folding / development), the brushes 25 and 26 were installed under the tip of each brush arm 21 and 22.

In the brush opening and closing device unit 20 for opening and closing (folding / deploying) a pair of brush arms 21 and 22, the brush mounting base 10 is provided with a brush folding motor 30, and brush cutting The screw rod 31 is integrally formed by the universal joint 33 on the rotary shaft of the sticking motor 30, and the movable nut 32 is screwed to the screw rod 31, and the movable nut 32 ) And each brush arm (21) (22) between the brush opening and closing operation arm (34) was provided with a mandrel on each axis.

In particular, when the screw rod 31 is integrally connected to the rotating shaft of the brush folding motor 30, the universal joint 33 is used to mount the brush rods so that the shocks and vibrations generated by the brushes 25 and 26 are removed. The brush folding motor 30 is protected while not being transferred to the folding motor 30.

The brushes 25 and 26 which are installed in a mandrel on the lower end of each of the brush arms 21 and 22 are rotated (rotated) by a brush rotating device.

The rotating device for rotating (rotating) the brushes 25 and 26 installed in a mandrel below the tip end of each brush arm 21 and 22 has a brush rotational deceleration at the top end of the Gag brush arms 21 and 22. Each of the motors 24 is mounted, and the rotating shafts of the brush reduction gear motors 24 and the rotating shafts of the brushes 25 and 26 are power turning devices 24-1 such as bevels and bevel gears or worms and worm wheels. By connecting to each other to transmit power.

Each brush arm (21) (22) and the robot body (2) was provided with a foreign matter collection and discharge means for inhaling, collecting and discharging the foreign matter generated in the brush (25) (26).

The foreign matter collecting and discharging means, the suction port 35 is installed adjacent to the brush 25, 26 at the bottom end of each brush arm (21), 22, and each suction port (35) has a branch suction pipe (36) Each branch suction pipe 36 was connected to the main suction pipe 37 in communication with the dirt suction extension pipe 38, and a vacuum suction device (not specifically shown) was connected to the dirt suction extension pipe 38.

The operation relationship will be described below.

Robot (1) for cleaning the internal pipe inspection according to the present invention is not specifically shown, but is introduced into the pipe.

The robot 1 for internal inspection cleaning inside the pipe is supplied with power to an operating device (not specifically shown) through a power cable (not specifically shown) installed through the operation cable connector 4. The wheel folding opening joint (5) that is folded is properly deployed so that the wheel (6) abuts on the inner circumferential surface of the pipe, and the CCD camera (7) is also operated to capture an image captured by the CCD camera (7). It is shown on an external monitor (not shown in detail) through the video cable (not shown in detail) installed in 4).

While the operator sees the internal condition of the pipe shown on the monitor, he operates the switch of the control device from the outside to advance the robot for inspection inside the pipe (1).

 In order to advance the internal inspection cleaning robot (1), the operator operates the forward / backward switch in the forward (forward) direction on the control unit while watching the internal state of the pipe displayed on the monitor to the power unit (not specifically shown). When the power is supplied, the power unit operates to rotate the wheels 56, so that the robot 1 for internal pipe inspection is battery-powered.

The moving speed, stop and reverse of the internal inspection cleaning robot (1) can be operated by operating the power unit (not specifically shown) in the forward direction, by stopping the operation, or in the reverse direction by operating the forward / backward switch of the control device. The zoom can be easily adjusted forward and backward and stop. Since this principle is already widely used technology, a detailed description of the principle of operation is omitted.

When cleaning the specific point while moving the internal inspection cleaning robot (1) as described above, the switch for operating the brush opening and closing unit 20 in the external control device in a state in which the internal inspection cleaning robot (1) is stopped Supply power to the brush folding motor (30) by operating the.

When power is supplied to the brush folding motor 30, the brush folding motor 30 operates to rotate the screw rod 31, and when the screw rod 31 is rotated, the engaged nut ( 32 moves and moves (advances) the folded brush opening and closing operation arm 34, and when the folded brush opening and closing operation arm 34 is deployed, the brush arms 21 and 22 are based on the main shaft 23. As it is expanded (expanded), the brushes 25 and 26 are brought into contact with the inner surface of the pipe, and when the spreading brushes 25 and 26 are connected to the inner surface of the pipe, the operation of the brush folding motor 30 is stopped. Stop it.

As described above, the brushes 25 and 26 are rotated (rotated) in a state where the brushes 25 and 26 are connected to the inner surface of the pipe to perform the brushing operation.

When the control device operates a switch for rotating the brushes 25 and 26 to supply power to the brush motor 24, the brush motor 24 operates and the brush motor 24 is generated. Rotation force (power) is the power direction is switched by the power direction changer 24-1 to rotate the brush 25, 26, the brush 25, 26 is rotated to clean the inside of the pipe. .

In particular, when cleaning the inside of the pipe while the brushes 25 and 26 are idle, the brush 25 made of steel brushes easily removes rust or foreign matter generated or formed (laminated) on the inner surface of the pipe. Brush 26 formed of cloth or vinyl keeps the inner surface smooth by generating luster while cleaning the inner surface of the pipe cleanly.

In addition, when you want to rotate the brush 25, 26 to rotate as described above to operate the brush construction unit 11.

When power is supplied to the brush revolving device part 11 by operating a switch of the brush revolving device part 11 which rotates the brushes 25 and 26 in the control device, the revolving motor 12 operates and the starting gear 13 Rotate the brush mount 10 while the interlocking gear 14 engaged with the starting gear 13 rotates, and the brush arm 21 that is deployed when the brush mount 10 rotates. The entire brush opening and closing device 20 is rotated together with the reference numeral 22.

When the entire brush opening / closing unit 20 rotates together with the brush arms 21 and 22 developed by the operation of the motor 12, the brushes 25 rotating on the respective brush arms 21 and 22 are rotated. (26) is to revolve along the inner surface of the pipe to remove rust or foreign matter generated or formed (laminated) on the inner surface of the pipe, the brush 25 formed of a steel brush before the brush 26 formed of a soft cloth By revolving, the rust or foreign matter generated or formed (laminated) on the inner surface of the pipe is first removed, and the inner surface of the pipe is kept clean by generating gloss while cleaning the inner surface of the pipe.

In addition, when cleaning the inner surface of the pipe while rotating and revolving the brushes 25 and 26 as described above, it can be carried out (operated) in the state in which the robot 1 for internal inspection cleaning is stopped as described above, or the internal pipe inspection Cleaning can be performed while moving the cleaning robot 1 (forward and backward).

To clean the pipe while moving the robot 1 for internal inspection cleaning (forward and backward), operate the brush reduction gear motor 24 to rotate the brushes 25 and 26 and operate the motor 12. The power unit (not specifically shown) is operated by operating the forward / backward switch of the control unit which rotates the wheels 6 in the forward and reverse directions while the brushes 25 and 26 are rotating and are being cleaned. By operating in the forward direction, stopping the operation or in the reverse direction, adjustment of forward and backward can be easily performed.

In this way, by operating the forward / backward switch of the control device, the robot 1 for internal pipe cleaning can be cleaned or retracted while the robot 1 for internal pipe cleaning is repeatedly moved forward and backward a predetermined distance. The entire interval can be cleaned, and the specific point (site) can be intensively cleaned while the robot 1 for pipe internal inspection and cleaning is stopped.

In particular, when cleaning the inside of the pipe while rotating and revolving the brushes 25 and 26, rust and foreign matter removed by the brushes 25 and 26 are sucked into the suction port 35 and sucked into the suction port 35. Rust and foreign matter are collected through the branch suction pipe (36), the main suction pipe (37) and the dirt suction extension pipe (38) (not specifically shown) or collected in the dirt suction pipe (38) although not specifically shown. The discharge pipe can be discharged to the outside of the pipe.

After the cleaning is completed as described above, the brush deceleration motor 24 and the motor 12 are cut off to stop the rotation of the brushes 25 and 26 and the rotation of the revolutions. Operate the brush opening and closing device 20 in the stopped state to fold the developed brush arms 21 and 22 and the brushes 25 and 26, and reversely operate the forward and backward switches of the control device. By operating the wheel (not specifically shown) in the reverse direction, the wheel 6 can be rotated in reverse to discharge the robot 1 for pipe internal inspection cleaning to the outside of the pipe.

The collection robot is removed from the internal inspection cleaning robot (1) discharged to the outside of the pipe to remove the collected rust and foreign matters, and then reloads the collection container to complete the operation of the internal inspection cleaning robot (1). .

Although the present invention has been described in detail only with respect to the specific examples described, it will be apparent to those skilled in the art that various modifications and variations can be made within the technical scope of the present invention, and such modifications and variations belong to the appended claims.

The robot for internal inspection and cleaning of the pipe according to the present invention is installed on the outside of the robot body to which the operation cable can be connected to the rear end so that the wheels can be folded and deployed by a folding deployment device, and the wheels are driven by power means. In order to advance the robot body forward and backward, and to install a CCD camera on the upper side of the robot body,

A brush mount is installed on the front of the robot body, and a pair of brush arms are installed on the front end of the brush mount, and the brush is opened and closed with the brush arm by the brush opening and closing unit. It can be folded or unfolded, and the brush mounted on the tip of each brush arm can be rotated (rotated) by a motor for motor. The brush mount can be rotated by the brush revolving device and The brush can be rotated (idle) together, and the inside of the pipe can be cleaned at the same time by the brush that can control the development state by the folding mechanism while photographing the inside of the pipe with a CCD camera. The inside of the pipe can be inspected and cleaned at the same time.

In addition, the present invention can be cleaned while rotating and rotating the brush to be able to adjust the development state by the revolving device unit and the rotating device can perform the inspection and cleaning efficiently and efficiently, In a pair of brushes, one can be formed with a steel brush and the other with a cloth or vinyl to easily and efficiently remove rust or foreign matters that have occurred or stacked inside the pipe, while simultaneously cleaning the surface. For example, rust and foreign substances generated during cleaning can be discharged after being stored by vacuum suction or discharged to the outside by vacuum suction.

Claims (7)

The CCD camera 7 is installed on the front upper side of the robot body 2 provided with the control part 3, and the operation cable connector 4 is installed on the rear end, and the outside of the robot body 2 is folded by the operation device. A wheel folding deployment joint (5) to be deployed, wherein the front and rear ends of each of the wheel folding development joints (5) are equipped with wheels (6) which rotate forward and backward by a power unit; An idler unit 11 installed at the first half of the robot body 2 to rotate the brush mount 10 forward and backward; A brush opening / closing unit 20 mounted to the brush mounting base 10 to open and close (fold / develop) a pair of brush arms 21 and 22 one end of which is installed as a mandrel to the main shaft 23; Brushes 25 and 26 which are installed in a mandrel under the tip of each brush arm 21 and 22; A brush rotating device for rotating the brushes 25 and 26 that are installed in a mandrel on the lower end of each brush arm 21 or 22; Robot for internal inspection and cleaning of the pipe, characterized in that formed, including: foreign matter collection and discharge portion for inhaling, collecting and discharging foreign substances generated in each brush arm (21) (22). The revolving device unit 11 of claim 1, wherein the revolving brush unit 10 provided in the first half of the robot body 2 rotates forward and backward; A public motor 12 installed on the robot body 2; A starting gear 13 extended by the universal joint 15 to the rotation shaft of the motor 12; An interlocking gear 14 integrally formed with the brush mounting base 10; A robot for internal inspection and cleaning of pipes, comprising: a combination of a starter gear 13 of a motor 12 and an interlocking gear 14 of a brush mount 10; The method according to claim 1, Brush opening and closing device 20 for opening and closing (folding / developing) a pair of brush arms (21) 22 mandrel installed in the brush mounting (10); Brush folding motor 30 is installed in the brush mounting (10); A screw rod 31 integrally extending from the rotary shaft of the brush folding motor 30 by the universal joint 33; A moving nut 32 screwed to the screw rod 31; Internal inspection of the pipe, characterized in that formed; including; a pair of brush opening and closing operation arm 34 is installed between the movable nut 32 and each brush arm (21, 22) axle shaft respectively; Robot for cleaning. The rotating apparatus according to claim 1, further comprising: a rotating device for rotating (rotating) the brushes (25) (26) installed in a mandrel under the tip of each of the brush arms (21) (22); Brush-driven deceleration motors 24 mounted to the top ends of the brush arms 21 and 22, respectively; The robot for internal inspection and cleaning of the pipe, characterized in that formed by; power direction switching device (24-1) for connecting the rotary shaft of each brush dedicated reduction motor (24) and the rotary shaft of the brush (25) (26). The method of claim 1, wherein the brush (25) (26) which is installed mandrel under the tip of each brush arm (21) (22); One brush 25 is formed of a steel brush; The other brush 26 is formed of any one of cloth, vinyl; robot for internal inspection and cleaning of the pipe, characterized in that. The method of claim 1, wherein the foreign matter collecting and discharging means for collecting, collecting and discharging the foreign matter generated in the brush (25) (26); A suction port 35 provided adjacent to the brushes 25 and 26 at the bottom end of each brush arm 21 and 22; Branch suction pipe 36 connected to each suction port 35;  A main suction pipe 37 for connecting each branch suction pipe 36 and the dirt suction extension pipe 38 to communicate with each other; Robot for internal inspection and cleaning of the pipe, characterized in that formed; including; vacuum suction device installed in the dirt suction extension pipe (38). The power direction change device (24-1) according to claim 4, wherein the rotational shafts of the respective brush reduction gear motors (24) and the rotational shafts of the brushes (25) (26) are connected to each other; Robots for internal inspection and cleaning of the pipe, characterized in that formed by any one of bevel and bevel gear, worm and worm wheel.

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