• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2016년도 춘계 학술논문 발표대회
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• pp.255-256
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• 2016

In order to overcome the limitation of conventional cleaning method by workers, variety attempts to develop a window cleaning apparatus has been tried. However, the existing cleaning devices were lack of consideration for avoiding projection parts of the window such as frames or profiles. In this study, operating mechanism of cleaning tool for avoiding the projections parts using a two-axis robot is proposed. Proposed mechanism is that a wiper are reposed in a relatively stationary in the vicinity of the projection and avoided the projection in this state. It is expected that the mechanism is the base of driving cleaning tool part in the new window cleaning apparatus.

• 청정기술
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• 제14권2호
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• pp.103-109
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• 2008

본 연구에서는 솔더페이스트(solder paste)로 솔더링후 표면에 잔류하는 플럭스(flux)의 효과적인 세정성능 평가방법 개발을 목적으로 하였다. 솔더링시 플럭스의 퍼짐오차를 줄이기 위해 본 연구에서 고안한 금속치구를 이용하여 1,1,1-TCE 및 플럭스 제거용 몇 가지 대표 준수계 대체세정제에 대하여 세정시간에 따른 플럭스 제거율을 무게측정법으로 측정, 비교하였다. 세정시간 변화에 따른 각 세정제의 세정효율을 측정한 결과 측정값들의 상대표준편차(RSD)가 약 4%이하로 data의 신뢰성이 확인되었다. 따라서 솔더페이스트로 솔더링후 대체세정제의 잔류플럭스의 세정성능 평가시험에 본 연구에서 적용한 금속치구(metal test tool)를 이용한 평가방법이 유력한 방법으로 적용가능할 것으로 판단된다. 그리고 이 평가방법을 적용한 결과 현재 상용화 되어 있는 우수하다고 알려진 몇 가지 대표 준수계 대체세정제 중 ST100SX와 750H가 고활성 플럭스에 대한 세정력이 우수한 성능을 나타냈으나 기존의 1,1,1-TCE에 비해서는 현저히 떨어짐을 확인할 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.193-194
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• 2012

• Tribology and Lubricants
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• 제31권6호
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• pp.239-244
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• 2015

Chemical mechanical polishing (CMP) is one of the most important processes for enabling sub-14 nm semiconductor manufacturing. Moreover, post-CMP defect control is a key process parameter for the purpose of yield enhancement and device reliability. Due to the complexity of device with sub-14 nm node structure, CMP-induced defects need to be fixed in the CMP in-situ cleaning module instead of during post ex-situ wet cleaning. Therefore, post-CMP in-situ cleaning optimization and cleaning efficiency improvement play a pivotal role in post-CMP defect control. CMP in-situ cleaning module normally consists of megasonic and brush scrubber processes. And there has been an increasing effort for the optimization of cleaning chemistry and brush scrubber cleaning in the CMP cleaning module. Although there have been many studies conducted on improving particle removal efficiency by brush cleaning, these studies do not consider the effects of brush contamination. Depending on the process condition and brush condition, brush cross contamination effects significantly influence post-CMP cleaning defects. This study investigates brush cross contamination effects in the CMP in-situ cleaning module by conducting experiments using 300mm tetraethyl orthosilicate (TEOS) blanket wafers. This study also explores brush pre-treatment in the CMP tool and proposes recipe effects, and critical process parameters for optimized CMP in-situ cleaning process through experimental results.

• 한국정밀공학회지
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• 제29권1호
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• pp.56-63
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• 2012

Due to the development of construction technology, there is a considerable increase in the number of skyscrapers in the world. Accordingly, there are rapid growing requests about maintenance systems such as cleaning, painting, and monitoring the processes of facade in highrise buildings. However, it is extremely dangerous working the walls of high-rise buildings, and crashes from buildings have accounted for large proportion of constructional accidents. An alternative solution must be developed with the commercialization of automatic robot systems. For the last decade, interest in developing robots for cleaning and maintenance in facade of highrise buildings has continuously increased. The use of automatic robot systems can be expected to reduce accidents and decrease labor costs. In this paper, we propose a new kind of cleaning mechanism. We have designed and manufactured various cleaning tools for different types of facades with economic commercialization. The cleaning cycle, size, and intensity will be determined by economic constraints as well. The final goals are to design and manufacture tools and robots that can clean facades efficiently and rapidly even in dangerous places. The cleaning tool systems consist of nozzles, brush rollers, and squeezing devices. Furthermore, these tools and robots perform each process utilizing the systems of built-in guide types and gondola types for building maintenance. The performance of the proposed cleaning tools is evaluated experimentally; however additional study should be necessary for safer and more stable commercialization.

• 대한인간공학회지
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• 제30권3호
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• pp.427-435
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• 2011

Objective: The objective of this study was to evaluate a work of building cleaners using the ergonomic methods. Background: Previous studies about cleaning worker describe typical physical demands of this work. They found that the most significant risk factors associated with the physical work of cleaners are static loads and repetitive movements and high output of force. Method: A head of ergonomics estimation was work analysis(define of combined task, work tool, work time and frequency of combined task) and posture analysis of worker. Results: The results showed that combined task of building cleaners was classification sweeping, mopping(wet), mopping(oil), moving barrels/carts, dumping trash bags, scrubbing, arrangement of cleaning tool, arrangement of circumferential, moving of cleaning tool, and waiting. The work time of combined task such as mopping(wet) and scrubbing indicated high ratio. The posture analysis of building cleaners indicated high value in bending of the head, lower arm, and hands. Conclusion: The findings appear to indicate that building cleaner were related to high risk of work-related musculoskeletal disorders. So, building cleaner would be required an interventional strategy, improvement of cleaning tools and working environment. Application: If ergonomics rule can be integrated into existing cleaning tools and work environments, the risk of occupational injuries will be reduced.

• 로봇학회논문지
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• 제12권1호
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• pp.65-77
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• 2017

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.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.269-274
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• 2004

As next generation display, TFT LCD gets into the spotlight, and the bigger glass size is required. Currently, its display size is 1500 mm by 1870 mm at the six generation comparing with 300mm by 400 mm at the first one and the size is increasing continuously, which cause the difficulties to apply the cleaning operation including the general brush cleaning. In this study, water-jet cleaning operation has been introduced, which spent the less water them other cleaning methods. Throughout the experiment, is has been found the possible damage of the declined cell and the variation of the tilt bias angle depending upon the increasing time. In addition, the simulation predicts the glass bending of the display.

• 로봇학회논문지
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• 제5권3호
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• pp.209-215
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• 2010

This paper presents a graphic user interface system consisting of graphic simulator and remote control system for a building cleaning robot. It provides a tool of convenient 3D graphical map construction for real world. The 3D map is reconstructed from existing 2D building CAD data with DXF format by using OpenGL graphic API. Through this system, graphic display of robot's status information, remote control and cleaning scheduling can be done for a building cleaning robot. This proposed system is expected to give efficient way of graphic simulation and remote monitoring and control system for a building cleaning robot.

• 한국공작기계학회논문집
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• 제15권4호
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• pp.69-73
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• 2006

This paper present the optimal cleaning condition of the out-hull preprocessing robot by Taguchi method in design of experiments. A $L_8(2^4)$ orthogonal array is adopted to study the effect of adjustment parameters. The adjustment parameters consist of robot speed, motor torque, motor speed and tool angle. And the quality feature is selected as surface roughness of sheet metal. Taguchi analysis is performed in order to evaluate the effect of adjustment parameters of the quality feature of cleaning process by $Minitab^{(R)}$.