Research On The Load Safety System Of The Pipelayer Collaborative Work

Pipelayer has been applied in specific loading mechanics such as oil and gas pipelines construction.With the rapid development of national economy,multi-pipelayers are required to work together in collaboration under complex circumstance and loading cases especially in the condition of setting the whole pipe into the channel.However,multi-pipelayers working together are controlled by subjective estimation of experienced drivers who can only manipulate one pipelayer rather than overall controlling whole pipelines.As a consequence,the pipelayers are often under higher or lower loading condition which can not satisfy efficiency and security of pipeline instruction.This thesis studied the work-together pipelayers’ loading security system to improve efficiency and security.Firstly,the loading stability condition of crawler crane machine has been analyzed,using CREO2.0 to simulate the spread process of digital counterweight model in order to get linear relationship of oil cylinder stroke and mass center position change of the counterweight.Then,experiments were performed to verify the robustness of linear relationship.In addition to that,we also applied polynomial interpolation to match the relationship of rated load lifting capacity and boom working rate to meet matching accuracy and save computing storage.Moreover,force analysis was used in the process of multi-pipelayers when self-putting the whole pipes into the channel with pipeline automatic ditching machine,and decided the load distribution strategy which distributed residual load of all pipelayers on average.Furthermore,the overall scheme of load security system has been decided based on the residual load distribution.The main control circuit based on DSP,input/output circuit of peripherals and network building plans with ZigBee were designed.In software system,the programme project and data transmission process in wireless communication network were given at length.The control process of counterweight load self-adjusting was given and there was a multi-pipelayers loading security control strateagy to monitor loading distribution and safety of the process during pipelines lowing into the channels.In this period,ZigBee network module combined with DSP controller which can cooperate the security loading data,node controller calculated every machine’s distribution of load and transmitted to each pipelayer.Lastly,by testing the communication between wireless network module and the upper machine,the effect of data packets to send and receive among nodes can entirely satisfy the multi-pipelayers’ networking communication requirements.To conclude that this loading security study and design has provided guideline and reference to the intellectualization of collaborative pipelayers.