This document presents a pipe inspection robot designed to traverse inside pipes with forward and backward motion. The robot is meant to move through pipes of various diameters. It uses a mechanical design with angled passive wheels that remain parallel to the pipe surface to prevent engaging with walls. The robot has applications in pipe inspection, locating holes, painting pipes from the inside, and material dosing through pipes. Future developments include coupling the robot's hands to prevent wobbling and adding a wireless controller and battery for longer inspections.

1. PRESENTATION ON PIPE
INSPECTION ROBOT
SUBMITTED BY :
AJAY MALAV(K10473)
GIRRAJ PRASAD(K10476)
NAVED AKHTAR MEV(K10194)
NITESH PRASAD (K10023)

2. CONTENTS
1.Objectives
2.Mechanical design
3.Manufcturing
3.Electronics
4.Applications
5.Future Developments

3. OBJECTIVES
To traverse a robot inside a pipe with forward and backward
motion in pipe.
It should be able to move in various diameters of pipe.
The instalment of the angled passive wheels with the so
that when the hands our even folded the wheels remain
parallel to the pipe surface and it prevents any of the rotor
part of the robot to engage with the walls of pipe while
moving.

4. Manufacturing & Assembling

5. Remote Control

6. LCD

7. Final Project

8. MECHANICAL DESIGN
In order to operate the in-pipe robot to perform inspection
task well, several factors should be considered in the design:
1) Fast mobility
2) Good performance with minimum control of requirement
3) Small and lightweight
4) High energy efficiency
To achieve these goals, we propose an in-pipe robot by
combining three types of mechanisms(wheeled, wall pressing,
and screw type). The first part is a wheeled mechanism
because wheels can move at relatively high speed compared to
the walking type and snake type mechanisms. The second part
is the wall-pressing mechanism.

9. ELECTRONICS
HIGH TORQUE MOTORS
These motors are required in the master ground vehicle so that
it can successfully traverse rough terrains and slightly steep
obstacles depending upon the gradient of the surface as
discussed in the algorithms section.

10. .
It could be fitted with ultrasonic sensors and can pin point
us the location of a hole.
It even has an application in painting up the old installed
pipe from the inside very easily.
It could be even used for the DOSING purpose through a
pipe as its pitch is fixed we could attach some material to be
dosed and control the feeding of the material inside where
we want.
APPLICATIONS
The robot has great application in accessing the regions of
pipe in which human doesn’t have reach. It could be
mounted with a GSM module which would send us message
when it find any hole inside.

11. FUTURE DEVELOPMENTS
There’s a major problem of our robots wobbling over its vertical
axis while moving, for this we have the solution to couple the
three hands together so that they open up simultaneously
together leaving no option for the wobbling to happen and
giving it a clean swift motion in pipe. The coupling mechanism
would involve removing of the spring mechanism of now and by
creating platform which would be touch all the three hands and
this would be then pushed using springs to provide the required
purpose of our earlier setup and as well as the coupling
The instalment of ps2 controller and a li-po battery would make
our motor driving wireless and would enable the robot to be
traversable in longer pipes.

12. Thank You