Study On Design And Optimization Of Working Device Of Pipeline Grabber

With the rapid development of the global economy,the demand for energy is also rapidly increasing.Petroleum is the main energy used.In recent years,the proportion of petroleum consumption in the total energy consumption is also on the rise.Because the distribution of oil resources is not balanced,and because of the inconsistency of oil producing area and main consumption area,the transportation of oil becomes inevitable.Pipeline transportation has obvious advantages in the way of oil transportation,but the traditional pipeline grasping and handling also take crane or crane,which consumes a lot of manpower,low efficiency.Based on this,this paper designed a kind of pipe grabper which can automatically identify the midpoint of the pipeline and optimized it,which improved the efficiency and stability of pipe grabper and saved energy consumption.The main contents of this paper are as follows:(a)Based on the grasping and handling requirements of oil pipelines,the structure of the working device of the pipe grabper is designed,and the three-dimensional modeling of the pipe grabper is carried out by Solidworks software.(b)A system is designed to assist operators to identify the midpoint of oil pipelines.The existing YOLOv5 S algorithm is improved by adding the mechanism after CBAM and Eca fusion.The rationality of the innovative YOLOv5 S algorithm is verified by identifying the midpoint of the pipeline.(c)The kinematics and dynamics simulation of the whole process of the space movement of the pipe grabper was carried out by Adams software,and the specific parameters of the movement state of the pipe grabper were obtained.On the basis of simulation,the hydraulic push rod elongation as the parameter variable,hydraulic push rod thrust as the objective function to optimize the design,obtain the best group of hydraulic push rod elongation to make each hydraulic push rod thrust to a smaller level.The rationality of the optimization was verified by post-processing analysis and comparison of the dynamics before optimization.(d)The static analysis of the big arm,forearm and claw part of the pipe grabber was carried out by Ansys software,and the deformation cloud map and stress cloud map were solved.The maximum deformation value and maximum stress value of the big arm,forearm and claw met the use requirements.On the basis of simulation,topology optimization simulation of big arm,forearm and claw was carried out by topology optimization theory.Finally,the optimized model was re-established,and the rationality of the optimization was verified by comparing the mechanical properties of the optimized arms,forearms and claws with those before optimization.