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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
6.2 BLOCK DIAGRAM 19
7.1 HT12T-18 DIP 20
7.2 BLOCK DIAGRAM 21
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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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/Austenitic7/22/2019 Mini Project Work
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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
Material Stainless steel
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
Material Stainless steel
Central Element
Hollow
Inner dia 11mm
Outer dia 19 mm
Length 450mm
Material Stainless steel
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.