Borewell Rescue Robot........

BORE WELL RESCUE ROBOT

BOREWELL RESCUE ROBOT

A

FINAL YEAR MAJOR PROJECT

SUBMITTED IN PARTIAL FULFILLMENT

FOR THE AWARD OF THE

DEGREE OF

BACHELOR OF TECHNOLOGY

IN

MECHANICAL ENGINEERING

SUBMITTED BY

DEEPAK YADAV (11090957) HIMANSHU GOEL (11090977)

DINESH KUMAR (11090963) HIMANSHU KUMAR (11090979)

GAUTAM DHINGRA (11090966) PUNEET RAJ (11091085)

UNDER THE GUIDENCE OF

PROF. N.K. BATRA (H.O.D. MECH. DEPTT.)

PROF. S.P. TAYAL (MECH. DEPTT)

(2009-2013)

M.M.ENGINEERING COLLEGE, MULLANA

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CERTIFICATE

TO WHOM IT MAY CONCERN

This is to certify that the work recorded in this project entitled “BORE WELL RESCUE ROBOT” Submitted for the Bachelor Degree of Mechanical Engineering of

M.M.University, Mullana (Ambala) is a Faithfull record of research work carried out by group under my guidance and supervision.

The assistance and help received during the course of investigation and source of literature have been fully acknowledged.

DINESH KUMAR

11090963(8TH B1)

SUPERVISOR H.O.D

Prof. S.P. TAYAL Dr. N.P.BATRA

MECHANICAL DEPT. MECHANICAL DEPT.

M.M.UNIVERSITY M.M.UNIVERSITY

Mullana- Ambala. Mullana –Ambala

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ACKNOWLEDGEMENT

We got an opportunity to present a project report on “BOREWELL RESCUE ROBOT”

to Dr. N.K.BATRA (H.O.D Mech. Dept.) and Dr. S.P.Tayal (Professor Mech. Dept.) The

objective of this report is to present the subject matter in a most concise, compact, to the point

and lucid manner. We wish to express our sincere thanks to Dr.S.P.Tayal for their valuable

suggestions while preparing the project.

I would also like to express our all faculty members of mechanical engineering department for

their unwavering support and critical suggestions during the course of study without which the

project would not be possible.

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ABSTRACT

The proposed system is to save life from the bore wells. Small children without noticing the hole

dug for the bore well slip in and get trapped. Since the holes are dug too deep it is quite

impossible to save life. The fire force and medical team find it difficult to rescue children due to

unknown levels of humidity, temperature and oxygen in the depths of the bore well. Rescue

work can be a long drawn affair lasting close to thirty hours. The time taken is long enough to

kill a precious life. Even if rescued the child may die due to injuries sustained. This has created

an open challenge to the field of medicine, rescue and the whole human society. To aid in such

rescue we have proposed a system that will easily rescue within two hours of time without any

major injury. By that a precious life can be saved.

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LIST OF CONTENTS

S.NO. CONTENT NAME PAGE NO.

1. CERTIFICATE 2

2. ACKNOWLEDGE 3

3. ABSTRACT 4

4. Introduction Of Bore Well Rescue Robot 6

5. Components 7

6. Components Discussion 8-23

7. Construction Of Robot Parts 24

8. Working Steps Of Robot 25

9. Conclusion 26

10. References 27

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INTRODUCTION

Children often fall down in the borewell which have been left uncovered and get trapped. The

rescue of this trapped children is not only difficult but also risky. A small delay in the rescue can

cost the child his or her life. To lift the child out the narrow confines of the bore wells is also not

very easy. The child who has suffered the trauma of the fall and is confined to a small area

where, with a passage of time the supply of oxygen is also reduces.

Robot for borewell rescue offers a solution to these kind of situations. It is a robot that has been

designed for the purpose of aiding rescue workers. It is fast, economical and safe. Moreover, it

has the facility to monitor the trapped child, supply oxygen and provide a supporting platform to

lift up the child.

Today’s major problem faced by human society is water scarcity, which leads to a large number

of bore wells being sunk. These bore wells in turn have started to take many innocent lives.

Bores which yielded water and subsequently got depleted are left uncovered. A suitably strong

cap of bright colour to cover the mouth of the bore will avoid such accidents. Small children

without noticing the hole, dug for the bore well slip in and get trapped. Human search of water

finally has ended in disaster. Since the holes are dug too deep it is quite impossible to save life.

The fire force and medical team find it difficult to rescue children due to unknown levels of

humidity, temperature and oxygen in the depths of the bore well. Rescue work can be a long

drawn affair lasting close to thirty hours. The time taken is long enough to kill a precious life.

Even if rescued the child may die due to injuries sustained. This has created an open challenge.

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COMPONENTS

2- Pneumatic cylinders 1-Hydraulic cylinder (Injection type) 3-Solenoid coils Hand like Grip fingers 2-Strip sliders Rotating screw thread Supporting stands Direction control handle 2-Way switch boards 5-Pneumatic connecting pipes Balancing load Oxygen cylinder Camera Aux cables Camera Adaptor LCD Display Monitor Supporting Stands

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PNEUMATIC CYLINDER

Pneumatic cylinders (sometimes known as air cylinders) are mechanical devices which use the

power of compressed gas to produce a force in a reciprocating linear motion. Like hydraulic

cylinders, something forces a piston to move in the desired direction. The piston is a disc or

cylinder, and the piston rod transfers the force it develops to the object to be moved. Engineers

prefer to use pneumatics sometime because they are quieter, cleaner, and do not require large

amounts of space for fluid storage. Because the operating fluid is a gas, leakage from a

pneumatic cylinder will not drip out and contaminate the surroundings, making pneumatics more

desirable where cleanliness is a requirement.

Characteristics of Pneumatic cylinder Used:-

It is made up of silver steel

It is 1ft in height.

It has carrying capacity of 75 kg.

The rod inside the cylinder is 9mm in diameter.

It consists of 2-o-rings.

Both Rod & cylinder are of center less.

It has UP and DOWN movement.

Two inlet points for air are connected by pvc pneumatic pipes.

ADVANTAGES OF CYLINDER

No rusting issues.

No seize problems.

More compact and reliable.

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OPERATION OF PNEUMATIC CYLINDER

Once actuated, compressed air enters into the tube at one end of the piston and, hence, imparts

force on the piston. Consequently, the piston becomes displaced (moved) by the compressed air

expanding in an attempt to reach atmospheric pressure. One major issue engineers come across

working with pneumatic cylinders has to do with the compressibility of a gas. Many studies have

been completed on how the precision of a pneumatic cylinder can be affected as the load acting

on the cylinder tries to further compress the gas used. Under a vertical load, a case where the

cylinder takes on the full load, the precision of the cylinder is affected the most.

TYPES OF PNEUMATIC CYLINDER

Although pneumatic cylinders will vary in appearance, size and function, they generally fall into

one of the specific categories. However there are also numerous other types of pneumatic

cylinder available, many of which are designed to fulfill specific and specialized functions.

1) SINGLE- ACTING CYLINDER

2) DOUBLE- ACTING CYLINDER

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SINGLE-ACTING CYLINDER

Single-acting cylinders (SAC) use the pressure imparted by compressed air to create a driving

force in one direction (usually out), and a spring to return to the "home" position. More often

than not, this type of cylinder has limited extension due to the space the compressed spring takes

up. Another downside to SACs is that part of the force produced by the cylinder is lost as it tries

to push against the spring. Because of those factors, single acting cylinders are recommended for

applications that require no more than 100mm of stroke length.

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HYDRAULIC INJECTION CYLINDER

It is a type of the Hydraulic cylinder which uses the hydraulic pressure to move the Robotic hand

fingers in To and Fro direction. When we press the injection using hand then mechanical

pressure is transferred to fingers of robotic arm to move fingers.

Mechanical pressure is transferred using pipe arrangements from injection to Robotic fingers.

The fluid is made up of water and glycerin. Glycerin has the advantage of making fluid free from

leakage and also it makes fluid more freely movable.

Though the exact pressure can’t be controlled with automatic control system, it became

necessary to use a hand operated hydraulic cylinder in order to control the movement of fingers

of Robotic Hand. Another reason to choose such an equipment is because when person operating

this hydraulic cylinder then it became easy and safe as there are certain situation arises where

concern of human feeling and decision is very important.

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SLIDER STRIPS

It consists of two sliders.

It is made up stainless steel.

It consists of 18 balls each.

Balls are used to make the movement flexible and smooth.

Slider makes movements in three positions.

Movement of slider is adjusted with hydraulic cylinder movement.

One of the slider is used to lift the section-1 of Robotic arm.

Second cylinder is used to lift the section -2 of Robotic arm.

Slider strips are directly controlled with the movement of pneumatic cylinder.

Movement of slider is very accurate.

PNEUMATIC SOLENOID COIL

Specifications:-

Suitable for different voltages (AC & DC) Easy to assemble coils Offer optimum product flexibility Corrosion resistant Efficient performance & Reliable results.

Capacity of coil is not more than 220v. Pressure is b/w 0.15 -0.8MPa.

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ADVANTAGES:- Our Pneumatic Solenoid Coil (Comp Air Type) is designed by the experts as per the

requirements of systems. The compact designing and ability to perform hassle free

operations have made it for use.

ROBOTIC HAND FINGERS

It is made up of Aluminum metal.

5 fingers are there like a human hand.

Fingers are provided with Cushion foam to make the contact of fingers soft.

Movement is controlled with hydraulic injection connected with robotic hand

3 fingers are fixed to robotic hand palm.

2 fingers are given movement using hydraulic injection pressure.

Robotic hand fingers are connected at lower base of section-3 of Robotic arm.

Robotic fingers grip the child (or teddy)

Fixed Robotic finger are separated through a distance of 2-cm each.

Movable fingers are separated with each other by 2.4 cm.

CAMERA & ACESSORIES

A night vision camera is installed on section-3 of robotic arm. It has working capacity of

working under dim or very low light availability, which is always there inside the bore well.

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CAMERA ACESSORIES

.

Camera is also capable of getting audio sound from inside the bore well. It is connected with

Aux cables and wires are used to connect the Camera with display and power supply for working

of camera. A output display is also used to see the actual on time location of the child every time.

It is a must requirement item in rescue of child trapped inside the bore well.

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PNEUMATIC PIPES AND FITTINGS

Pneumatic pipes are used to make the compressed air pass from one place to other required

place. In systems where cylindrical containers are propelled through a network of tubes by

compressed air or by partial .

They are used for transporting solid objects, as opposed to conventional pipelines, which

transport fluids. Pneumatic tube networks gained great prominence in the late 19th and early

20th century for businesses or administrations that needed to transport small but urgent packages

(such as mail or money) over relatively short distances (within a building, or, at most, within a

city). Some of these systems grew to great complexity, but they were eventually superseded by

more modern methods of communication and courier transport, and are now much rarer than

before. However, in some settings, such as hospitals, they remain of great use, and have been

extended and developed further technologically in recent decades. A small number of pneumatic

transportation systems were also built for larger cargo, to compete with more standard train and

subway systems. However, these never gained as much popularity as practical systems

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PVC pipes have the following advantages:-

They have longer life

They have proper working capability

There is no leakage and seizing problems while pressure is low

Also no problem of bursting

Exact air pressure is taken from one place to another using such pipes or tubes.

PNEUMATIC SOLENOID COILS

A pneumatic solenoid valve is a switch for routing air to any pneumatic device, usually

an actuator, allowing a relatively small signal to control a large device. It is also the interface

between electronic controllers and pneumatic systems.

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There are 3 Pneumatic solenoid coils used in the project. The function of these coils are

explained below as:-

Act as an air pressure controller.

Act as a connector b/w two or more pipes.

Ac power supply is required for actuation of solenoid coils.

Ac power supply activates the magnetic strips inside the coil.

Power capacity of 2 coils is b/w (0.15-0.8) MPa.

One of the coil is having a pressure capacity of (0.5-1.5) MPa.

Every coil has one inlet and two outlet points.

2 way switch board controls the exaust port output.

TWO WAY SWITCH BOARD

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A two way switch board is used to control the supply at output or exaust ports of

pneumatic valves. When electricity is supplied to solenoid coil then it activates the

solenoid coil because of which a magnetic field is generated and North-South pole is

made out and these generated poles controls the exaust ports by sequentially opening one

port and closing another port at that time.

To open another exhaust port, 2 way switch is pressed to another position and then

second exhaust port get open and compressed air get passed into cylinder.

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ALUMINIUM ROBTIC FINGERS

Fig.no.

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Characteristics & features of ROBOTIC FINGERS

It consists of five aluminum fingers like a hand of a human.

Three of the fingers are made fixed.

Gap between these three fingers is 2.4cm each.

Other remaining two fingers are movable using a hydraulic injection system.

The pressure generated from the pressing by hand to injection handle is

transferred to these fingers.

These two fingers move in To & Fro motion.

Robotic fingers will grip the baby.

Distance between two movable fingers is 3cm.

Robotic fingers are covered with soft cushioning material foam, so during the

griping the baby with these fingers will be prevented from hurting with strong

grip.

Length of fingers used in the project is 25 cm each.

Length of these fingers can be adjusted as per requirement.

Robotic hand is also provided with a pneumatic cylinder to lift the whole section

from base of well to top of well or vice-versa.

Working of robotic fingers is adjusted by pneumatic controller i.e. a solenoid

control valve system.

Load while moving down in the bore well is very less but when the baby is sitting

on the support disc the total load on section 1 & Robotic hand is increased and

then more pressure is required to lift the section.

Movement of robotic hand is very gentle while griping of baby.

BALANCING LOAD & HANDLE

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Balancing load is used to give proper balance to the Robotic arm. Weight of balancing load used

is 350gm. A hollow pipe handle is attached with robotic section of robotic arm.

Balancing load is attached at end of section 2 of arm. It is attached to the section with the help of

screw nuts. A handle is also attached with the balancing load just above the balancing load.

SECTION MEASUREMENT & SUPPORT STANDS

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One wooden and one iron bar stand is used in the structure of Bore well rescue robot. Section 2

is supported with a wooden stand. Its height is 1ft and 1inche.

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One iron angular rod is fixed at the lower end of section 1 of robotic arm. It is fixed with the help

of TIG welding.

Section 1 is 1ft and 9inches.

Section 2 is 2ft and 4inches.

Section 3 is also 1ft and 9inches.

All the parts of robotic arm are made up of Aluminum metal with a coating of silver

acrylic paint.

CONSTRUCTION

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It consists of the one wooden stand having 4 feet lenth, 2 feet 1 inch breadth and 2feet 2 inch

height. It contains one borewell. The borewell depth is 2 feet 2 inch and borewell daimeter is 1

feet and 8 inch.

The robotic arm is of three sections. 1st and 3rd sections are capable of sliding and 3rd section is

rigid in nature.

It consists of two single acting pneumatic cylinders. One of them cylinder is attached with the

rigid support rod at one end and other end is attached with 2nd section of robotic arm to lift it.

Second cylinder is attached with the robotic finger at one end and other end is attached with 2 nd

section to lift the 3rd section of robotic arm contains robotic fingers. Both of pneumatic cylinders

are operated electrically.

The third cylinder which is single acting hydraulic injection type is capable of adjusting the

robotic fingers. It is operated mechanically.

2 solenoid coils acts as pneumatic devices which controls the positions of magnetic strips which

further control the in and out of air with the help of two way switches.

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WORKING STEPS OF ROBOT

Firstly, checking the connections of all Equipments properly.

Working of Bore well rescue robot starts with the connecting of electric input wire of

solenoid pneumatic coil in A/c supply.

Checking the connection of solenoid pneumatic coil either properly connected or not.

Then connecting a compressed air supply source to the input duct of pneumatic pipes.

Using 2-way switch system firstly, section -1 of Robotic arm is lifted.

Then making the second pneumatic cylinder active using two way switch i.e. making it

lifted from the

CONCLUSION

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Working of Bore Well Rescue Robot has been successfully tested.

Need more modification for better pressure control, i.e. a better quality pressure

controller is needed.

More improvement can be made on Robotic hand fingers by providing more cushioning

system to grip the child trapped inside Bore Well.

Air bags can be used as a base below the Robotic hand fingers in order to lift the child

from bore with more safety.

This project is based on pneumatic i.e. compressed air and hydraulic pressure which is

much safer to use and easy availability.

Less costlier than other method (like digging a parallel bore to bore well where child is

trapped) of rescuing child from Bore Well.

This project is very useful in developing a further advanced system which will result in

rescuing a child from bore well.

REFERENCES

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WWW.GOOGLE.COM

WWW.WIKIPEDIA.COM

E-NEWS SOURCES

WWW.Sparktherise.com

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http://WWW.WIKIPEDIA.COM/

http://WWW.GOOGLE.COM/

Borewell Rescue Robot........

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