pipe line inspection robot ppt

DESIGN & FABRICATION OF PIPE INSPECTION ROBOT

•INTRODUCTION•PROBLEM STAEMENT•FIELD APPLICATION OF PIPE INSPECTION•INSPECTION METHODS•CONSTRUCTION•DESIGN•WORKING •APPLICATION•COST ESTIMATION•ADVANTAGES•LIMATION•REFERENCES

CONTENT

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.

INTRODUCTION

TYPES OF INSPECTION METHODUltrasonic inspectionMAGNETIC FLUXX-RAYVisual 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 MMDIAMETER OF PIPE :- 12.5 MMNO. OF LINK FOR ONE ROBOT :- 12 NOSSPRING LENGTH :- 50 MMBUSH DIA. :- 13 MMNO. 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 28mmE 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

CALCULATION

CONSTRUCTION

FIG - 2Side wives & top wives

Corrosion Inside the Pipe.

Internal defects such as holes , cracks , dent marks , material loss , welding defects.

Internal blockage.

DEFECTS IN PIPE

WELDING DEFECT &MATERIAL LOSS

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 .

Save comprehensive investment, improve work efficiency, more accurate detection.

Easy to operate.

Advantages Of Pipe Inspection Robot

Pipe inspection robots have such limitations as

their ability to turn in a T-shaped pipe or move in a plug valve.

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.

This robot does not work inside the water.

Limitation Of Pipe Inspection Robot

APPLICATION NUCLEAR POWER PLANT

CONVENTIONAL POWER PLANT

REFINERIES

CHEMICAL & PETROCHEMICAL PLANT.

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.

conclusion

THANKS