Design and Development of Pipe Traversing Robot

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 09 Issue: 06 | June 2022 www.irjet.net p-ISSN: 2395-0072
© 2022, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 196
Design and Development of Pipe Traversing Robot
Swaraj Ramdhave1, Mr. Pritish. G. Chitte2, Sanskar Shrawane3, Abhinav Fating4,
Prajwal Kahate5
1234Student, Dept. of Mechanical Engineering, Walchand Institute of Technology, Solapur, Maharashtra, India
5Professor, Dept. of Mechanical Engineering, Walchand Institute of Technology, Solapur, Maharashtra, India
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Abstract - In the past twenty years, various in-pipe scrutiny robots (IPIRs) are designed and used. per the propulsion
mechanism quantity, these in-pipe scrutiny robots (IPIRs) will be summarized into 2 classes, i.e. single locomotion system and
multiple locomotion system.
This paper presents the classic structure options and characters of the 2 classes of IPIRs, and moreover compares their own
benefits and limitations, further as performances of every kind IPIR. Ultimately, it's finished that the multiple locomotion kind
In-pipe scrutiny golem has become more and more current developing trend.
Key Words: Robot, Pipes defects, Electronics control systems,Digital video.
1. INTRODUCTION
Robotics is one of the fastest growing engineering fieldsof today. Robots are designed to remove the human factor from
labour intensive or dangerous work and also to act in inaccessible environment. The inspectionof pipes may be relevant
for improving security and efficiency in industrial plants. These specific operationsas inspection, maintenance, cleaning etc.
are expensive,thus the application of robots is appearing to be one of the most attractive solutions. The pipelines are the
major tools for transporting of drinking water, effluent water, fuel oils and the gas. A lot of trouble is caused by piping
networks aging, corrosion, cracks, and mechanical damages are possible. So, continuously inspecting, maintaining and
repairing are strongly demanded. With a considerable history behind the development in robotics, in-pipe robots can be
classified into seven different sub categories, based on their applications. These are named as pig type robot, wheel type
robot, caterpillar type robot, wall-press robot, walking type robot, inchworm type robot and screw type robot
Recently, the using of in-pipe inspection robot hasgrown increasingly popular in engineering fields including nuclear power
plant industry, sewage system,and petroleum industry etc. With carrying various sensors, these in-pipe inspection robots
(IPIRs), walking along the pipeline inside, are applied to inspectdefects, cracks and erosion caused by strain ageing, creep
deformation, water erosion, etc. During the latest20 years, numerous in-pipe inspection robots (IPIRs) have been designed
and fabricated based on several elementary forms according to the locomotionpatterns.
1.1 Objectives
 Study existing model of Pipe Traversing Robot.
 To analyze different types of robotsand their different positions for optimized results suitable for the industry.
 Design and development of Pipe Traversing Robot.
 To address the problem of the weight of robot &increasing efficiency of machine at low cost.
 Development of the prototype model using CADsoftware.
1.2 Methodology
 Investigating pre-existing Pipe Traversing Robot with the help ofresearch paper and manufacturers CatLog.
 Studying and selecting the optimumcombinationofparts forIn-pipe inspection robot.
 Designing pipe traversing robot by performing various mathematical calculations to reach out maximum output
fromthe machine and carry out static structural analysis to support themathematical calculations.
 Selecting parts from the manufacturers CatLog that are best optimized according to thecalculations and the factor of
safety.

 Modelling the design in CAD software for the best possibledepiction of the actual machine.
1. Camera
A battery is an electrochemical device that may be chargedand discharged as needed with an electric current. Small electric
devices such as cell phones, remote controls, and flash lights are typically powered by batteries. In the past, the term "battery"
was used to refer to the combination of two or more electrochemical cells. We have used 12V, 12Ah battery in our project
to carry out the operations such as topowertheArduinoUno,the DCmotors etc.
Fig -1: Camera
2. DC Motor:
A DC motor, conjointly referred to as an on the spot current motor, is AN electrical machine that converts power into
energy by making an on the spot current force field. supported following calculations the motors area unit being
designated.
Technical specification
Fig -2: DC Motor
The 12V DC Geared Motor can be used invariety of robotics applications and is available with wide range of RPM and
Torque.
 Length: 80mm
 Torque: 1.5 kg.cm
 Weight: 130.00g m
 Speed : 10 RPM
3. Arduino UNO:
The Arduino board contains variety of controllers and microprocessors. The Arduino Uno could be a microcontroller
board that uses the ATmega328P microcontroller. There square measure fourteen digital input/output pins, 6analogue
inputs, a16 megahertz ceramic resonator, a USB instrumentality, an influence jack, associate degree ICSP header, and a
push on this board. The hardware could be a programmable board and therefore the software system we have a tendency
to use is named the “Arduino Integrated Development Environment”.

Fig -3: Arduino Uno
4. Distance Motor
Fig -4 Distance Meter
Advanced digit counter, which have five digit counters. These are especially made for low cost hand winding machines. Our
Digital Counters are equipped with left/right lever reset & both side drive shaft extension. Along with this, these are
equipped with top going or top coming drive direction. Further specifications are as the following:
•Overall size (mm) : L-166, W-66, H-70
•Mounting holes: 4 hole, 5mm X-98.5 mm, Y-16.5 mm.
5. Wheels
Diameter – 72 mm

6. Translational Element
Inner diameter – 18 mm Length of the element – 25 mmMaterial – Mild steel
7. Helical Spring
Inner diameter – 18 mmOuter diameter – 20 mm Pitch – 5 mm
Length of the spring – 60 mmMaterial – Stainless steel
8. Extreme Links

Distance between the extreme links
Drilled Holes
Link 1 – 30 mm
Link2 – 85 mm
Link3 – 105 mm
Thickness – 3 mm
Drilled holes – 12 and 6 mm
Material – Acrylic
2. BLOCK DIAGRAM:
Fig 5:- Block Diagram showing working of Pipe InspectionRobot
3. WORKING OF IN-PIPE INSPECTION ROBOT
Working of PIR is starts from its insertion in pipe. The front 3 arms is compressed by hand and so inserted within the pipe
and so back 3 arms is inserted by pushing the PIR. The motors driven ar the primary six arms mentioned here, they pull
whole setup. PIR is regarding a hundred seventy five cm long and to maneuver it freely within the bend pipes, a two degree
of freedom connection is provided at the center in order that it will flip simply. As switch is on and current is flowing
through wires, wheels starts moving and forces PIR to propel forward. exploitation the friction between wheels and pipe,
the motion of wheels become attainable.
PIR may have quite 3 arms for higher judgment and perfection however it'd increase the load and price of producing and
thus we'd like to try to to trade-off between cash involvement and perfection. PIR wheel motion is given ten revolutions
per minute, twelve V DC motors thus its speed are often maintained between -10 to ten revolutions per minute. the ability
provided to motors is from single 12V dc adapter thus load on every motor are going to be minimum that expected.
As we tend to mentioned earlier that PIR are going to be able to move within any diameter travel between 203mm to
254mm, we tend to had to produce automobile adjusting mechanism which will expand and get in touch with as PIR moves
within the pipe Spring of appropriate stiffness is mounted aboard rod, as seen in figure, in order that as arms gets
contracted thanks to load of compression against pipe, spring get compressed and have a tendency to expand outward
attempting to push arms back to their traditional position however as pipe prohibit them, they can't move.

Fig -6 Draft Model
Fig -7 Final 3D Model
4. CALCULATIONS
TORQUE CALCULATION FOR WHEEL MOTOR
RatingoftheBattery:12Volt,12AhPower produced: 12X 12 =144 Wh Speed of the motor: 45 rpm Torque of motor:
P =[2πNT]/60
144 = [(2π) x 45 x T]/60T = 30.557Nm
For 3 wheels, T = 15.2788 Nm
Hence the efficient torque is produced than the ratedtorque of the motor.
PROPOSED WORK
Pipe Traversing automaton is to make associate autonomous automaton used for in-pipe scrutiny. once some amount, each
pipeline needs scrutiny and maintenance to confirm their safety and integrity.

The system uses 12V battery to power the vehicle movement motors.
Pipe scrutiny robots ar accustomed examine varies pipeline components like straight pipelines, elbow, and branches
internally.
The automaton is intended to handle diameter of one hundred twenty five millimetre to a hundred and eighty millimetre.
the overall length of the automaton is three hundred millimetre, and therefore the weight is 840 grams.
The vehicle motors ar interfaced to Arduino Uno through motor driver that controls the operating of the motors.
The fore and rear legs ar connected so as to be parallel to every different in their mutual positions. On the opposite hand,
the gap and shutting angles of the legs is unbroken at an equivalent price. moreover, this automaton contains a giant
folding vary because of that automaton will move freely within pipes of various diameters. A CCD camera is put in at the
front a part of the forelimb system to observe and valuate the defects of the pipe
.ADVANTAGES
 The pipe inspection robot inspects situation inside the pipe which will be recorded and display on the monitor
screen, it alsofacilitates working personnel for effective observation, detection, quick analysis and diagnosis.
 Save comprehensive investment, improve workefficiency, more accurate detection.
 Reduce the frequency of entering into the testingenvironment.
 Operating cost related to other method and modelis low.
 Higher cake solid concentrations when comparedto a belt filter press.
 Cost of manufacturing of this robotis relatively low.
5. CONCLUSIONS
 Robots play a vital role in within pipe-network maintenance and their repairing. a number of them were designed to
comprehend specific tasks for pipes with constant diameters, and alternative could adapt the structure operate of
the variation of the inspected pipe.
• In this project within pipe standard robotic system area unit planned. a vital style goal of those robotic systems is
that the ability to the inner diameters of the pipes. The given model permits the usage of a mini-cam for visual image
of the in-pipe review or alternative devices required for failure detection that seem within the inner a part of pipe
(measuring systems with optical maser, device etc).
• The major advantage is that it may be utilized in case of pipe diameter variation with the easy mechanism. we tend
to developed a pipe review automaton which will be applied to 203mm – 254mmpipeline. a true model was
developed to check the feasibleness of this automaton for review of in-house pipeline.
• The varieties of review tasks area unit terribly completely different. A standard style was thought-about for simply
custom-made to new environments with little changes. Presence of obstacles inside the pipeline could be a
troublesome issue. within the planned mechanism the matter is solved by a spring effort and increasing the
flexibleness of the mechanism.
Future Scope
 Flocculation tank can be installedfor maximum efficiency of the machine which can control the water concentration
of the feed sludge.
 Automated pressure plate can be implemented for adjusting the clearance at the discharge end to control the
dewatering rate but thismight come as the cost of increasedprice.
 Moving filter plates can be installedinstead of mesh for maximum dewatering of the sludge.
 Considering variable feed sludge water concentration, a computerized system can be generated that can control the

clearance between the pressure plate and the screw for maximumdewatering depending upon the type of sludge
input.
 Modular designs can be used foreasy repair and maintenance.
REFERENCES
[1] Ref @ Biogas Potential in Household Waste after Screw PressPre-treatment (Chalmers) by Harun Uluyol
[2] https://en.wikipedia.org/wiki/Dewatering_screw_press.
[3] https://www.linkedin.com/pulse/what-dewatering-screw-press-sludge-treatment- disposal-victor-qiu
[4] HTTPS://AOSTS.COM/WHAT-IS-A-SLUDGE-DEWATERING-SCREW-PRESS/
[5] https://www.linkedin.com/pulse/what-dewatering-screw- press-sludge-treatment- disposal-victor-qiu
[6] https://www.researchgate.net/publication/3266971

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