Mini Project Work

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DESIGN AND FABRICATION OF PIPELINE

INSPECTION ROBOT

A PROJECT REPORT

TEAM MEMBERS

M.ARUMUGAM (118562612)

K.DINESH BABAU (118562533)

A.SARVANANA KUMAR (118562762)

K.MONOBALAN (105345767)

DIPLOMA

In

MECHANICAL ENGINEERING

SRI KRISHNA INSTITUTE OF TECHNOLOGY

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BONAFIDE CERTIFICATE

Certified that this project report DESIGN AND FABRICATION OF PIPELINE

INSPECTION ROBOT is the bonafide work of M.ARUMUGAM, K.DINESH

BABU, A.SARVANA KUMAR, K.MANO BALAN who carried out the projec

work under my supervision.

SIGNATURE SIGNATURE

Mr.J.JAIKUMAR Mr.B.RAGULGANDHI

HEAD OF THE DEPARTMENT SUPERVISOR,

Mechanical Engineering ASSISTANT PROFESSOR,

Sri Krishna Institute of Technology Mechanical Engineering

Chennai-601 301 Sri Krishna Institute of

Technology

Chennai- 601 301

Submitted for the university examination held on .

INTERNAL EXAMINER EXTERNAL EXAMINER

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ACKNOWLEDGEMENT

We are grateful for our coordinator, Dr . P . ANANTHAKRISHNAN, Ph.D,

Sri Krishna Institute of Technology, for providing us suitable environment to carry

out our course successfully.

We are deeply indebted to our beloved Head of the Department, Mr. M.JAIKUMAR, Department of Mechanical Engineering, who molded us both

technically and morally for achieving greater success in our life.

We express our thanks to our project coordinator and guide, Mr. B.

RAGULGANDHI, Assistant Professor, Department of Mechanical Engineering,

for giving ususeful ideas whenever necessary to complete our project.

We thank all the staff members of our department for their valuable support and

assistance at various stages of our project development

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ABSTRACT

Inspection robots are used in many fields of industry. One application is monitoring

the inside of the pipes and channels, recognizing and solving problems through the

interior of pipes or channels. Automated inspection of the inner surface of a pipe can

be achieved by a mobile robot. Because pipelines are typically buried underground

they are in contact with the soil and subject to corrosion, where the steel pipe wall

oxidizes, and effectively reducing wall thickness. Although its less common

corrosion also can occur on the inside surface of the pipe and reduces the strength o

the pipe. If crack goes undetected and becomes severe, the pipe can leak and, in rare

cases, fail catastrophically. Extensive efforts are made to mitigate corrosion. Pipe

inspection is necessary to locate defects due to corrosion and wear while the pipe is

transporting fluids. This ability is necessary especially when one should inspect an

underground pipe. In this work, Pipe Inspection Robot (PIR) with ability to move

inside horizontal and vertical pipes has been designed and fabricated. The robo

consists of a motor for driving and camera for monitoring

LIST OF CONTENTS

CHAPTER TITLE PAGE

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ABSTRACT 4

LIST OF FIGURES 7

1 INTRODUCTION 8

2 SELECTION OF MATERIALS 9-10

3 COMPONENTS OF PI ROBOT 11-14

3.1Central frame

3.2Translational element

3.3Compressing spring

3.4 Links

3.5Actuator

3.6Batteries

3.7Wireless camera

4 WIRELESS COMMUNICATION 15-16

4.1Radio Frequency

4.2Antenna

4.3Transmitter

4.4Reciever

5 L293D PUSH-PULL FOUR CHANNEL

DRIVER WITH DIODES 17

5.1Description

6 HT12E-ENCODER 18-19

6.1General Description

6.2Features

CHAPTER TITLE PAGE

6.3Applications

7 HT12D-DECODER 20-21

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7.1 General Description

7.2Features

7.3Applications

8 TWS-434 TRANSMITER AND RWS-434

RECEIVER 22-24

9 GENERAL MOTOR 25

9.1 Description

9.2 Specification

10 PI ROBOT TEST RESULT 26

11 DESIGN CALCULATIONS 27

12 MACHINING PROCESS 28-30

12.1Radial Arm Drill Machine

12.2Gas Welding

12.3Brazing

12.4Surface finishing

13 PHOTOGRAPHS &

COST ESTIMATION 31-33

14 CONCLUSION 34

14.1Conclusion

14.2Bibliography

LIST OF FIGURES

FIG.NO FIGURES PAGE

2.1 STAINLESS STEEL 10

3.1 CENTRAL FRAME 11

3.2 TRANSLATIONAL ELEMENT 12

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3.3 COMPRESSING SPRING 13

3.4 LINKS 13

4.1 WIRELESS CEMERA 15

5.1 L293D 17

5.2 BLOCK DIAGRAM 17

6.1 HT12E-18 DIP 18


7.1 HT12T-18 DIP 20


8.1 TRANSMITTER 22

8.2 REMOTE CONTROL CIRCUIT DIAGRAM 23

8.3 MOTOR CONTROL 24

9.1 GEARED MOTOR 25

9.2 DC GEARED MOTOR 25

10.1 PI ROBOT 26

12.1 RADIAL ARM DRILL MACHINE 28

12.2 GAS WELDING 29

12.3 BRAZING 30

CHAPTER 1

INTRODUCTION

Robotics is one of the fastest growing engineering fields of today. Robots are

designed to remove the human factor from labor intensive or dangerous work and

also to act in inaccessible environment. The use of robots is more common today

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than ever before and it is no longer exclusively used by the heavy production

industries. (Horodinca et al., 2002). The inspection of pipes may be relevant fo

improving security and efficiency in industrial plants. These specific operations a

inspection, maintenance, cleaning etc. are expensive, thus the application of the

robots appears to be one of the most attractive solutions. Pipelines which are tools

for transporting oils, gases and other fluids such as chemicals, have been employed

as major utilities in a number of countries for long time. Recently, many troubles

occur in pipelines, and most of them are caused by aging, corrosion, cracks, and

mechanical damages from the third parties. Currently, the applications of robots fo

the maintenance of the pipeline utilities are considered as one of the most attractive

CHAPTER 2

SELECTION OF MATERIALS

The materials used for this machine are light and rigid. Different materials can be usedfor different parts of the robot. For optimum use of power the materials used should be

light and strong. Wood is light but it is subjected to wear if used for this machine

Metals are the ideal materials for the robot as most if the plastics cannot be as strong

as metals. Material should be ductile, less brittleness, malleable, and high magnetic

susceptibility. Stainless steel does not readily corrode, rust or stain with water a

ordinary steel does, but despite the name it is not fully stain-proof, most notably unde

low oxygen, high salinity, or poor circulation environments. It is also

called corrosion-resistant steel or CRES when the alloy type and grade are nodetailed, particularly in the aviation industry. There are different grades and surface

finishes of stainless steel to suit the environment the alloy must endure. Stainless stee

is used where both the properties of steel and resistance to corrosion are required.

Stainless steel differs from carbon steel by the amount of chromium present

Unprotected carbon steel rusts readily when exposed to air and moisture. This iron

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http://en.wikipedia.org/wiki/Corrosionhttp://en.wikipedia.org/wiki/Rusthttp://en.wikipedia.org/wiki/Rusthttp://en.wikipedia.org/wiki/Iron_oxidehttp://en.wikipedia.org/wiki/Corrosionhttp://en.wikipedia.org/wiki/Rusthttp://en.wikipedia.org/wiki/Rusthttp://en.wikipedia.org/wiki/Iron_oxide


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oxide film (the rust) is active and accelerates corrosion by forming more iron oxide

and due to the greater volume of the iron oxide this tends to flake and fall away

Stainless steels contain sufficient chromium to form apassive film of chromium

oxide, which prevents further surface corrosion and blocks corrosion from spreading

into the metal's internal structure, and due to the similar size of the steel and oxide

ions they bond very strongly and remain attached to the surface

High oxidation-resistance in airat ambient temperature is normally achieved withadditions of a minimum of 13% (by weight) chromium, and up to 26% is used for

harsh environments. The chromium forms apassivation layer ofchromium (III

oxide (Cr2O3) when exposed to oxygen. The layer is too thin to be visible, and the

metal remains lustrous. The layer is impervious to waterand air, protecting the meta

beneath. Also, this layer quickly reforms when the surface is scratched. Thi

phenomenon is calledpassivation and is seen in other metals, such

as aluminum and titanium. Corrosion-resistance can be adversely affected if th

component is used in a non-oxygenated environment, a typical example beingunderwaterkeel bolts buried in timber.

When stainless steel parts such as nuts andbolts are forced together, the oxide laye

can be scraped off, causing the parts to weld together. When disassembled, the welded

material may be torn and pitted, an effect known as galling. This destructive galling

can be best avoided by the use of dissimilar materials for the parts forced together, for

example bronze and stainless steel, or even different types of stainless steels (martens

tic against austenitic), when metal-to-metal wear is a concern. Nektonic alloys reduce

the tendency to gall through selective alloying with manganese and nitrogenAdditionally, threaded joints may be lubricated to prevent galling.

Similarly to steel, stainless steel is not a very good conductor of electricity, with abou

a few percent of the electrical conductivity of copper. Ferritic and martens tic stainles

steels are magnetic. Austenitic stainless steels are non-magnetic

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http://en.wikipedia.org/wiki/Iron_oxidehttp://en.wikipedia.org/wiki/Chromiumhttp://en.wikipedia.org/wiki/Passivation_(chemistry)http://en.wikipedia.org/wiki/Earth's_atmospherehttp://en.wikipedia.org/wiki/Temperaturehttp://en.wikipedia.org/wiki/Passivation_(chemistry)http://en.wikipedia.org/wiki/Chromium(III)_oxidehttp://en.wikipedia.org/wiki/Chromium(III)_oxidehttp://en.wikipedia.org/wiki/Oxygenhttp://en.wikipedia.org/wiki/Waterhttp://en.wikipedia.org/wiki/Passivation_(chemistry)http://en.wikipedia.org/wiki/Aluminiumhttp://en.wikipedia.org/wiki/Titaniumhttp://en.wikipedia.org/wiki/Keelhttp://en.wikipedia.org/wiki/Timberhttp://en.wikipedia.org/wiki/Nut_(hardware)http://en.wikipedia.org/wiki/Screw#bolthttp://en.wikipedia.org/wiki/Gallinghttp://en.wikipedia.org/wiki/Ferrite_(iron)http://en.wikipedia.org/wiki/Austenitichttp://en.wikipedia.org/wiki/Iron_oxidehttp://en.wikipedia.org/wiki/Chromiumhttp://en.wikipedia.org/wiki/Passivation_(chemistry)http://en.wikipedia.org/wiki/Earth's_atmospherehttp://en.wikipedia.org/wiki/Temperaturehttp://en.wikipedia.org/wiki/Passivation_(chemistry)http://en.wikipedia.org/wiki/Chromium(III)_oxidehttp://en.wikipedia.org/wiki/Chromium(III)_oxidehttp://en.wikipedia.org/wiki/Oxygenhttp://en.wikipedia.org/wiki/Waterhttp://en.wikipedia.org/wiki/Passivation_(chemistry)http://en.wikipedia.org/wiki/Aluminiumhttp://en.wikipedia.org/wiki/Titaniumhttp://en.wikipedia.org/wiki/Keelhttp://en.wikipedia.org/wiki/Timberhttp://en.wikipedia.org/wiki/Nut_(hardware)http://en.wikipedia.org/wiki/Screw#bolthttp://en.wikipedia.org/wiki/Gallinghttp://en.wikipedia.org/wiki/Ferrite_(iron)http://en.wikipedia.org/wiki/Austenitic


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2.1 STAINLESS STEEL

CHAPTER 3

COMPONENTS OF PI ROBOT

3.1Central Frame

Central body is the frame of the robot. It supports all other components and holds

batteries at the centre of the body. The joints are brazed on the central frame at 120

degrees. The central body is drilled and its ends are threaded internally for th

insertion of pencil batteries and closing with externally threaded caps. Wireles

camera is fixed at one end of the frame

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3.1 CENTRAL FRAME

3.2Translational Element

Translational Element is the movable part in the robot which slides along the centrabody for repositioning in case of pipe diameter variation. This element is drilled at the

centre for the translating along the central body. This will restrict the links to some

extreme angles beyond which it could not be translated. The extreme angles are found

to be 15 degrees and 60 degrees. The joints are brazed on the translational element at

120 degrees for the links to be fixed onto it.

3.2 TRANSLATIONAL ELEMENT

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3.3Compression Spring

A spring is an elastic object used to store mechanical Energy. Spring used here i

made out of hardened steel. Compression spring is mainly used to exert tension. The

purpose of spring is as follows:

The force that the minirobot mechanism exercises on the pipe walls is generated withthe help of an extensible spring. The helical spring disposed on the central axis

assures the repositioning of the structure, in the case of the pipe diameters variation.

3.3 COMPRESSING SPRING

3.4Links

Each resistant body in a machine which moves relative to another resistant body i

called Kinematic link or element. A resistant body is which do not go unde

deformation while transmitting the force. Links are the major part of the robot which

translates motion. Links are connected to form a linkage. The mechanism involved

here is a 4 bar mechanism which has 3 revolute pairs and 1 single prismatic pairs as

depicted. Links holds the receiver, switch, and 12v battery for the camera. Also i

supports the actuator

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3.4 LINKS

3.5Actuators

Actuators are the drive for the robot . Since we have chosen SS material fofabrication, the weight is comparatively less. So the motor should have 2 kg torque to

travel inside the pipe. We used 3 motors which has 1 kg torque to make the robot in

motion. The supply for the motor is 6v which is from the central body. The 3 motors

are placed at 120 degrees and are supported on the links by a tag.

3.6Batteries

Batteries give supply for a motor and wireless camera. Motor and radio frequency get

9v supply from the central body and wireless camera gets supply from a 12v battery

And 3v batteries for transmitter which has two toggle switch. One is for motoforward and reverse control and the other one is for glowing LEDs

3.7Wireless Camera

Wireless communication is the transfer of information over a distance without the use

of electrical conductors or wires. The distances involved may be short or long

Wireless cameras have a channel also. The receiver has channels to tune in and then

you get the picture. The wireless camera picture is sent by the transmitter the receivercollects this signal and outputs it to your TV or in a desktop by a TV tuner card

Camera is fixed at the one end of the frame and the robot is meant for inspection

inside a pipe which could be monitored in a desktop. Camera transmits signal to the

receiver which receives the signal and is connected to the monitor to view the inner

side of the pipe.

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CHAPTER 4

WIRELESS COMMUNICATION

4.1Radio Frequency

Radio Frequency (RF) radiation is a subset of electromagnetic radiation with a

wavelength of 100 km to 1mm, which is a frequency of 3 KHz to 300 GHz

respectively. This range of electromagnetic radiation constitutes the radio spectrumand corresponds to the frequency of alternating current electrical signals used to

produce and detect radio waves. RF can refer to electromagnetic oscillations in eithe

electrical circuits or radiation through air and space. Like other subsets o

electromagnetic radiation, RF travels at the speed of light.

4.2Antenna

An antenna (or aerial) is a transducer designed to transmit or receive electromagnetic

waves. In other words, antennas convert electromagnetic waves into electrical current

and vice versa.THE WIRELESS CAMERA

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4.1 WIRELESS CEMERA

4.3Transmitter

The power is provided by battery and/or transformer/adapter. The complete wiring fo

the wireless camera and transmitter end follows: As in Figure 16, the camera sees an

image, sends it to the transmitter, and the transmitter sends the signal out to the air

The receiver picks up the signal and outputs it to a TV/Monitor/Digital Video recorder

4.4Receiver

After the wireless camera and transmitters have provided the wireless video signal the

receiver collects this signal and routes it the Monitor, TV, VCR or alternative

recording or viewing device. The receiver accepts the wireless transmitters signal and

then out puts it to your TV, VCR, Monitor or Other Recording Device. The receive

needs only power and a Device to view and or record the Signal/Video.

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CHAPTER 5

L293D - PUSH-PULL FOUR CHANNEL DRIVER WITH DIODES

5.1 DESCRIPTIONThe Device is a monolithic integrated high voltage, high current four channel drive

designed to accept standard DTL or TTL logiclevels and drive inductive loads (such as relays

solenoides, DC and stepping motors) and

switching power transistors. To simplify use as

two bridges each pair of channels is equipped

with an enable input. A separate supply input is

provided for the logic, allowing operation at a

lower voltage and internal clamp diodes are

included.

5.2 Symbol Parameter Value UnitVS Supply Voltage 36 V

VSS Logic Supply Voltage 36 V

Vi Input Voltage 7 V

Ven Enable Voltage 7 V

Io Peak Output Current (100 ms non repetitive) 1.2 A

Ptot Total Power Dissipation at Tpins = 90 C 4 W

Tstg, Tj Storage and Junction Temperature 40 to 150 C

5.1 L293D

5.2 Block Diagram

CHAPTER 6

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HT12E - Encoder

6.1 General DescriptionThe 212 encoders are a series of CMOS LSIs for remote control system applications

They are capable of encoding information which consists of N address bits and 12-N

data bits. Each address/ data input can be set to one of the two logic states. The

programmed addresses/data are transmitted together with the header bits via an RF o

an infrared transmission medium upon receipt of a trigger signal. The capability to

select a TE trigger on the HT12E or a DATA trigger on the HT12E further enhancesthe application flexibility of the 212 series of encoders.

6.2 Features_ Operating voltage

_ 2.4V~12V for the HT12E

_ Low power and high noise immunity CMOS

technology

_ Low standby current: 0.1_A (typ.) at VDD=5V

_ Minimum transmission word_ Four words for the HT12E

_ Built-in oscillator needs only 5% resistor

_ Data code has positive polarity

_ Minimal external components

_ HT12A/E: 18-pin DIP/20-pin SOP package

6.3 Applications_ Burglar alarm system

_ Smoke and fire alarm system

_ Garage door controllers

_ Car door controllers

_ Car alarm system

_ Security system

_ Cordless telephones

_ Other remote control systems

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6.2 Block Diagram

CHAPTER 7

HT12D - Decoder

7.1 General Description

The 212 decoders are a series of CMOS LSIs for remote control system applicationsThey are paired with Holteks 212 series of encoders (refer to the encoder/decode

cross reference table). For proper operation, a pair of encoder/decoder with the same

number of addresses and data format should be chosen. The decoders receive seria

addresses and data from a programmed 212 series of encoders that are transmitted by a

carrier using an RF or an IR transmission medium. They compare the serial input data

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three times continuously with their local addresses. If no error or unmatched codes are

found, the input data codes are decoded and then transferred to the output pins. The

VT pin also goes high to indicate a valid transmission. The 212 series of decoders are

capable of decoding information that consist of N bits of address and 12-N bits o

data. Of this series, the HT12D is arranged to provide 8 address bits and 4 data bits

information.

7.2 Features_ Operating voltage: 2.4V~12V

_ Low power and high noise immunity CMOS

technology

_ Low standby current

_ Capable of decoding 12 bits of information

_ Pair with Holteks 212 series of encoders

_ Binary address setting

_ Received codes are checked 3 times

_ Address/Data number combination_ HT12D: 8 address bits and 4 data bits

_ Built-in oscillator needs only 5% resistor

_ Valid transmission indicator

_ Easy interface with an RF or an infrared

transmission medium

_ Minimal external components

7.3 Applications_ Burglar alarm system

_ Smoke and fire alarm system

_ Garage door controllers

_ Car door controllers

_ Car alarm system

_ Security system_ Cordless

telephones

_ Other remote control

systems

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7.2 Block Diagram

CHAPTER 8

TWS-434 Transmiter And RWS-434 - Receiver

8.1 TWS-434 - Transmiter

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8.2

RWS-434 - Receiver

8.2 REMOTE CONTROL

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8.3 Motor Controller

CHAPTER 9

Geared Motor

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9.1 DescriptionThis high torque brushless motor comes packaged and is brand new. Use it for any

project or to replace any old worn out brushless motors. The torque motor operates a

a low volume, it is solidly constructed and ready to install in numerous application

from agricultural and industrial equipment to vehicles and wind turbines

9.2 Specification Voltage: 12V DC RPM: 3.5RPM

Diameter: 37mm

Shaft length: 9.5mm

Shaft diameter: 6mm

Height (excl shaft):

62.5mm

Weight:149g

9.1 Geared Motor

9.2 DC GEARD MOTOR

CHAPTER 10

PI ROBOT TEST RESULT

Following the design and modeling of the proposed mechanism a prototype unit wa

built. The prototype was built for a robot with the weight of 2.7 kg. The body of the

robot was fabricated mostly from SS. The Robot was driven by three dc motors. PI

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robot tested successfully for movement in horizontal and vertical pipes. The robot has

a good mobility and ability to pass over small obstacles. The important thing is the

amount of force between robot tracked units and pipe wall. Even in horizonta

moving, attachment of the up tracked unit in addition to bottom ones, improve the

movement of robot. Because in this state 3 motors participate in robot move N

although friction is more. In addition to this, the robot is more stable and distribution

of load on different actuators is more similar. Monitoring the pipe inside was suitableand the control of different actuators was effectively possible. The model of PIR is

drawn with the help of mechanical engineering software tool, Pro ENGINEER PIR

while inspection in various stages

10 PI ROBOT

CHAPTER 11

DESIGNHelical spring

Inner dia 26 mm

Outer dia 30 mm

Pitch 2 mm

Length of the spring 96 mm

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Material Stainless steel

Translational Element

Inner diameter 20 mm

Outer diameter 27 mm

Length of the element 22 mm


Wheel Dia 69 mmDistance between the Extreme

Drilled Holes

Link 1 91 mm

Link2 160 mm

Link3 420 mm

Thickness 3 mm

Fillet 3 mm

Width 2 mmDrilled holes 3 mm


Central Element

Hollow

Inner dia 11mm

Outer dia 19 mm

Length 450mm


CHAPTER 12

MACHINING PROCESS

Conventional machining is one of the most important material removal methods. The

three principal machining processes are classified as turning, drilling and milling.

12.1 Radial Arm Drill Machine

The biggest radial arm drill presses are able to drill holes as large as four inches (101.6

mm) in diameter. But for this project only holes of 5 mm and 6 mm were needed. The

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drilling was done on the aluminum sheets for the required dimensions and then the

finished component was filed and reverses drilled using a larger drill bit for a good

finish The boring process can be carried out on a lathe for smaller operations, but for

larger production pieces a special boring mill (work Npiece rotation around a vertica

axis) or a horizontal boring machine (rotation around horizontal axis) are used. A

tapered hole can also be made by swiveling the head.

12.1 Radial Arm Drill Machine

12.2 Gas Welding

The most common gas welding process is oxyfuel welding, also known a

oxyacetylene welding. It is still widely used for welding pipes and tubes, as well a

repair work. Oxy fuel equipment is versatile, lending itself not only to some sorts o

iron or steel welding but also to brazing, braze-welding, metal heating (for bending

and forming), and also oxyfuel cutting. The equipment is relatively inexpensive and

simple, generally employing the combustion of acetylene in oxygen to produce a

welding flame temperature of about 3100 C

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12.2 Gas Welding

12.3 Brazing

Brazing is the joining of metals through the use of heat and a filler metalone whose

melting temperature is above 840 F (450 C) but below the melting point of the

metals being joined . A brazed joint is made in a completely different way from a

welded joint. The first big difference is n temperature. Brazing doesnt melt the base

metals. So, brazing temperatures are invariably lower than the melting points of the

base metals. If brazing doesnt fuse the base metals, how does it join them? It join

them by creating a metallurgical bond between the filler metal and the surfaces of the

two metals being joined . Surface Grinding Operation is used to produce a smooth

finish on flat surfaces.

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12.3Brazing

12.4 Surface Finishing

Polishing and buffing are finishing processes for smoothing a work pieces surface

using an abrasive and a work wheel. Polishing is a more aggressive process while

buffing is less harsh, which leads to a smoother, brighter finish.

CHAPTER-13

PHOTOGRAPHY AND COST ESTIMATION

COST ESTIMATION

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S.NO MATERIAL QUANTITY AMMOUNT

1 LINKS 13 700

2 CENTRAL

FRAME

1 500

3 TRANSLATIONAL

ELEMENT

1 500

4 DC MOTOR 3 1500

5 WHEELS 6 300

6 WIRELESS

CEMERA

1 2500

7 ELECRICAL

BOARD

1 3000

TOTAL 9000

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CHAPTER 14

CONCLUSION

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A very important design goal of the robotic systems is the adaptability to the inner

diameters of the pipes. So, we had proposed a new design in inspecting pipelines. The

major advantage is that it could be used in case of pipe diameter variation with the

simple mechanism. We developed a pipe inspection robot that can be applied to 140

180mm pipeline. The kinematics of mechanism and actuator sizing of this robot have

been investigated. A real prototype was developed to test the feasibility of this robo

for inspection of in-house pipelines. We used a PCB board that can operate DC motorGood conceptive and element design could manage all the problems. The types o

inspection tasks are very different. A modular design was considered for PIC that can

be easily adapted to new environments with small changes. Presence of obstacle

within the pipelines is a difficult issue. In the proposed mechanism the problem i

solved by a spring actuation and increasing the flexibility of the mechanism. The

propulsion of the robot has been successfully conducted using only three motors, a

radical simplification over existing efforts. The robot is designed to be able to traverse

horizontal and vertical pipes. We had experimented our project and we got the test

results. Several types of modules for pipe inspection minirobot have been presented

Many of the design goals of the Pipe inspection robot have been completely fulfilled.

Reference:1. Horodinca M, Dorftei I, Mignon E and Preumont A (2002), A Simple Architecture for in Pipe Inspection

Robots, in Proc. Int. Colloq. Mobile, Autonomous Systems, pp. 61-64.

2. Jadran Lenari and Roth B (2006), Advances in Robot Kinematics: Mechanisms and Motion, 1st Edition.

3. Mhramatsu M, Namiki N, Koyama U and Suga Y (2000), Autonomous Mobile Robot in Pipe for Piping

Operations, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots, Systems, Vol. 3.

4. Paul E Sandin (2003), Robot Mechanisms and Mechanical Devices, 1st Edition.

5. Google search engine.

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