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Pipe line Inspection Robot

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For inspection of cracks, distortion, corrosion, erosion etc which was affescted by poor quality of liquids

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PROJECT WORK
•INTRODUCTION •PROBLEM STAEMENT •FIELD APPLICATION OF PIPE INSPECTION •INSPECTION METHODS •CONSTRUCTION •DESIGN •WORKING •APPLICATION •COST ESTIMATION •ADVANTAGES •LIMATION •REFERENCES
PIPE INSPECTION ROBOT
PRESENTED BY DHANASEKAR.G 611512114017 PRAGADEESH.G 611512114053 RAJA.K 611512114058 SAKTHIVEL.K 611512114063 UNDER THE GUIDENCE OF Mr.R.VENKATESH.M.E., Asst.Professor/mechanical
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 than ever before and it is no longer exclusively used by the heavy production industries. The inspection of pipes may be relevant for improving security and efficiency in industrial plants. These specific operations as inspection, maintenance, cleaning etc. are expensive, thus the application of the robots appears to be one of the most attractive solutions. The pipelines are the major tools for the transportation of drinkable water, effluent water, fuel oils and gas. A lot of troubles caused by piping networks aging, corrosion, cracks, and mechanical damages are possible.
TYPES OF INSPECTION METHOD Ultrasonic inspection MAGNETIC FLUX X-RAY Visual Inspection:
Visual Inspection: Due to the cost of advanced inspection techniques, less expensive forms of Nondestructive evaluation is often desired. Visual inspection is currently one of the most commonly used nondestructive evaluation techniques because it is relatively inexpensive as it requires minimal, if any, use of instruments or equipment, and it can be accomplished without data processing As mentioned previously, visual inspection can only detect surface defects. However, a large number of structural deficiencies have surface indicators (e.g. corrosion, concrete deterioration). Aside from a limited range of detection, visual inspection does have further drawbacks. It is extremely subjective as it depends on the inspector’s training, visual acuity, and state-of-mind. Also external factors such as light intensity, structure complexity, and structure accessibility play a role in determining the effectiveness of visual inspection
PIPE INSP. ROBTOT
PARAMETER
LENGTH OF ROBOT :- 176 MM DIAMETER OF PIPE :- 12.5 MM NO. OF LINK FOR ONE ROBOT :- 12 NOS SPRING LENGTH :- 50 MM BUSH DIA. :- 13 MM NO. OF DC MOTOR FOR ONE ROBOT :- 6 NOS /6V/10RPM. NO OF WHEEL FOR ONE ROBOT :- 6 NOS
h3= link length {105mm} h2 =link length (85mm) H1= link length (30mm) E to E’ distance 28mm E to B distance 50mm
 Diameter of the pipe D = 2r+2d+2h2cosθ =2×36+2×28+2×85cos50 =237 mm Where r= radius Of robot wheel d= distance between E & E’ h2= length of the link h2 θ= angle between h2 & h1
Pipe line Inspection Robot
Pipe line Inspection Robot
Pipe line Inspection Robot
Pipe line Inspection Robot
Pipe line Inspection Robot
FIG - 2 Side wives & top wives
Pipe line Inspection Robot
Pipe line Inspection Robot
ï‚— Corrosion Inside the Pipe. ï‚— Internal defects such as holes , cracks , dent marks , material loss , welding defects. ï‚— Internal blockage.
Pipe line Inspection Robot
Pipe line Inspection Robot
ï‚— Pipe Inspection Robot is inspect the situation inside the pipe which will be recorded and displayed on the monitor screen, it also facilitates working personnel for effective observation, detection, quick analysis and diagnosis . ï‚— Save comprehensive investment, improve work efficiency, more accurate detection. ï‚— Easy to operate.
ï‚— Pipe inspection robots have such limitations as their ability to turn in a T-shaped pipe or move in a plug valve. ï‚— Another drawback of earlier robots is that the friction between the pipe and the cables for communication and power supply makes it difficult to move a long distance. A fiber optic communication system can reduce the friction. ï‚— This robot does not work inside the water.
ï‚— 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 robot for inspection of in-house pipelines. We used a PCB board that can operate DC motor. Good conceptive and element design could manage all the problems. The types of 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 obstacles within the pipelines is difficult issue.
NUCLEAR POWER PLANT CONVENTIONAL POWER PLANT REFINERIES CHEMICAL & PETROCHEMICAL PLANT.
Pipe line Inspection Robot

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Pipe line Inspection Robot

  • 2. •INTRODUCTION •PROBLEM STAEMENT •FIELD APPLICATION OF PIPE INSPECTION •INSPECTION METHODS •CONSTRUCTION •DESIGN •WORKING •APPLICATION •COST ESTIMATION •ADVANTAGES •LIMATION •REFERENCES
  • 4. PRESENTED BY DHANASEKAR.G 611512114017 PRAGADEESH.G 611512114053 RAJA.K 611512114058 SAKTHIVEL.K 611512114063 UNDER THE GUIDENCE OF Mr.R.VENKATESH.M.E., Asst.Professor/mechanical
  • 5. 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 than ever before and it is no longer exclusively used by the heavy production industries. The inspection of pipes may be relevant for improving security and efficiency in industrial plants. These specific operations as inspection, maintenance, cleaning etc. are expensive, thus the application of the robots appears to be one of the most attractive solutions. The pipelines are the major tools for the transportation of drinkable water, effluent water, fuel oils and gas. A lot of troubles caused by piping networks aging, corrosion, cracks, and mechanical damages are possible.
  • 6. TYPES OF INSPECTION METHOD Ultrasonic inspection MAGNETIC FLUX X-RAY Visual Inspection:
  • 7. Visual Inspection: Due to the cost of advanced inspection techniques, less expensive forms of Nondestructive evaluation is often desired. Visual inspection is currently one of the most commonly used nondestructive evaluation techniques because it is relatively inexpensive as it requires minimal, if any, use of instruments or equipment, and it can be accomplished without data processing As mentioned previously, visual inspection can only detect surface defects. However, a large number of structural deficiencies have surface indicators (e.g. corrosion, concrete deterioration). Aside from a limited range of detection, visual inspection does have further drawbacks. It is extremely subjective as it depends on the inspector’s training, visual acuity, and state-of-mind. Also external factors such as light intensity, structure complexity, and structure accessibility play a role in determining the effectiveness of visual inspection
  • 10. LENGTH OF ROBOT :- 176 MM DIAMETER OF PIPE :- 12.5 MM NO. OF LINK FOR ONE ROBOT :- 12 NOS SPRING LENGTH :- 50 MM BUSH DIA. :- 13 MM NO. OF DC MOTOR FOR ONE ROBOT :- 6 NOS /6V/10RPM. NO OF WHEEL FOR ONE ROBOT :- 6 NOS
  • 11. h3= link length {105mm} h2 =link length (85mm) H1= link length (30mm) E to E’ distance 28mm E to B distance 50mm
  • 12. ï‚— Diameter of the pipe D = 2r+2d+2h2cosθ =2×36+2×28+2×85cos50 =237 mm Where r= radius Of robot wheel d= distance between E & E’ h2= length of the link h2 θ= angle between h2 & h1
  • 18. FIG - 2 Side wives & top wives
  • 21. ï‚— Corrosion Inside the Pipe. ï‚— Internal defects such as holes , cracks , dent marks , material loss , welding defects. ï‚— Internal blockage.
  • 24. ï‚— Pipe Inspection Robot is inspect the situation inside the pipe which will be recorded and displayed on the monitor screen, it also facilitates working personnel for effective observation, detection, quick analysis and diagnosis . ï‚— Save comprehensive investment, improve work efficiency, more accurate detection. ï‚— Easy to operate.
  • 25. ï‚— Pipe inspection robots have such limitations as their ability to turn in a T-shaped pipe or move in a plug valve. ï‚— Another drawback of earlier robots is that the friction between the pipe and the cables for communication and power supply makes it difficult to move a long distance. A fiber optic communication system can reduce the friction. ï‚— This robot does not work inside the water.
  • 26. ï‚— 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 robot for inspection of in-house pipelines. We used a PCB board that can operate DC motor. Good conceptive and element design could manage all the problems. The types of 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 obstacles within the pipelines is difficult issue.
  • 27. NUCLEAR POWER PLANT CONVENTIONAL POWER PLANT REFINERIES CHEMICAL & PETROCHEMICAL PLANT.

Editor's Notes

  • #20: FIG.:ACTUAL CONSRUTION