1. PIPE INSPECTION ROBOT

2. TIMELINE

3. SOLIDWORK MODEL

4. ASSEMBLY

5. 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.

6. 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.

7. ASSEMBLY WITH ELECTRICAL COMPONENT

8. ELECTRICAL CIRCUIT

9. 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.

10. PRICE LIST
COMPONENT 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

11. 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

12. 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.

13. Result Analysis
Temperature sensor :
In side Mechanical vibration Lab 32 degree Celsius
Out 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

14. THANK YOU