PIPE INSPECTION ROBOT

TIMELINE

SOLIDWORK MODEL

ASSEMBLY

WORKING OF MECHANICAL PART

WHEN THE SCREW ROTATES CLOCKWISE THE LINKAGE MECHANISM MOVES DOWNWARDS AND EXPANDS.THUS THE ROTARY MOTION IS CONVERTED TO LINEAR MOTION.LIKEWISE WHEN THE SCREW ROTATES ANTICLOCKWISE THE LINKAGE MECHANISM MOVES UPWARDS AND GETS CONTRACT. THUS DIFFERENT DIAMETER CAN BE OBTAINED.

SUMMARY

1)THE VARIOUS ELEMENTS OF THE ROBOT ARE MACHINED PROCESSES AND THE ASSEMBLY OF LINKS AND MOTOR IS DONE AS PER THE DESIGN.2)THE LINKAGE MECHNISM IS EXPANDING AND CONTRACTING AS PER THE DESIGN .AT EXPANSION WE GET 13INCH AND DURING CONTRACTION WE GET 8INCH 3)THE TESTING OF LINKAGE MECHANISM IS OPERATING SUCCESSFULLY.

ASSEMBLY WITH ELECTRICAL COMPONENT

ELECTRICAL CIRCUIT

WORKING OF ELECTRICAL CIRCUIT

TEMPERATURE AND GAS SENSOR SENDS SIGNAL TO ADC FROM THERE SIGNAL GOES TO MICROCONTROLLER 89S51 AND THAN TO COMPUTER.

LIKEWISE, WHEN WE GIVE COMMAND IN COMPUTER FOR FORWARD -BACKWARD, THE SIGNAL IS RECEIVED BY MICROCONTROLLER THAN TO TRANSISTOR WHERE IT IS AMPLIFIED AND SENDS SIGNAL TO RELAY AND STARTS MOTOR. WHEN RELAY ONE CLOSES THE MOTOR WILL MOVE FORWARD ,WHEN REALY TWO CLOSES THE MOTOR WILL MOVE BACKWARD.

PRICE LISTCOMPONENT QUANTITY COST/UNIT

GAS SENSOR 1 350

DC MOTOR 8 250

BATTERY 2 500

LCD 1 240

89S51 1 100

CAMERA 1 2000

PIPE 1 2000

COMPONENT QUANTITY COST/UNIT

WHEEL 6 80

RELAY 4 10

CRYSTAL 1 20

MATERIAL 10M 500

IC-ADC08008 1 100

THERMISTER 1 20

SWITCH 1 15

PIPE 1 2000

TOTAL 9497

SUMMARY

• The software interface is established with hardware, and the robot motion can be controlled with the help of remote computer. (with cables)

• There are two types of motion importantly.• (a) the motion of the wheels.• (b) the motion of the linkages. Both the motions where successfully tested for pipe

with 8 Inches. The robot successfully travels through the pipe, both in reverse and forward direction, with the help of software interface.

Result Analysis

Temperature sensor :

In side Mechanical vibration Lab 32 degree CelsiusOut side lab near the ground 35 degree Celsius.

Gas pressure sensor : 75 PPM

In a pipe with outer diameter 8 inches, no visual defects were found

THANK YOU