Research And Development Of Automated Pick-and-Place Devices For Oil And Gas Pipeline Corrosion

At present,corrosion pendant pick and place device in the major domestic oil and gas fields is widely used,in the pipeline to be measured when the corrosion pendant work,the operator in the completion of the installation of equipment,according to the standard operating procedures for the pick and place device to complete the work of pendant pick and place.However,when working under medium pressure conditions,it is necessary to tighten and remove the cocks through the T-handle on the twisting device,which is usually not possible for one person to complete the change operation alone due to the reason of manpower,and the safety of the operator is not guaranteed.In view of the above problems,the design of an automated system is proposed to design a corrosion pegging automatic pick and place system,through the control of the motor to provide power source to complete the pegging pick and place operation.Through the microcontroller control to make it safe and reliable operation,so as to realize the corrosion hanging automatic pick and place operation,not only can guarantee the operator’s personal safety,but also reduce labor.This design combines the working environment and operation process of corrosion hanging piece pick and place device,and proposes a scheme of corrosion hanging piece automatic pick and place system.The system is divided into two modules: lifting motion and circumferential motion.First of all,the structure design of the two modules is carried out.The lifting and lowering motion module is completed by the gear shaft and spline shaft,and the structural design and calculation of the gear shaft and spline shaft as well as the strength check are carried out to meet the working requirements;the circumferential motion module is carried out by the worm gear drive instead of the T-handle and drive change,and the design calculation and strength check of the worm gear are carried out to meet the operation requirements.Then,the main force structure of the pick-and-place device is analyzed,designed and calculated.Through the static mechanics and static seal simulation analysis and calculation of the main components,the rationality of the structural design is verified.The results show that the strength and sealing performance of the main parts meet the requirements and are within the safety range.Finally,the workflow and structural functions of the automatic control system are determined by combining the operation process of the pick and place device,and the integrated circuit control system is developed and the design of the control circuit is completed according to the operation requirements of the device.The system uses AT89C51 microcontroller as the main controller of the system,sending control instructions through the infrared remote control,which is processed by the infrared receiver and passed to the main microcontroller,which sends instructions to the driver circuit and cooperates with the corresponding sensor instructions to drive the motor to complete the corresponding action.The key operation is simulated using Proteus simulation software and the control program is written using keil uVision software.The overall system achieves automatic control of the oil and gas pipeline corrosion hanging piece picker and placeer,improves operator safety and security,and satisfies the picker and placeer’s operational requirements after structural design of the two motion modules,calculation and calibration,control system circuit design,and simulation analysis.