A gripping device for a wireless node

Abstract

The application discloses a kind of grabbing device of wireless node, including the clamping component for clamping wireless node, the driving component for driving clamping component movement, the guide component for guiding clamping component movement and fixed frame, the driving component is set on fixed frame, the clamping component is connected with driving component, the upper portion of the clamping component is slidably connected with guide component, clamping component is controlled along guide component movement by the driving component, and wireless node is clamped or released.The application has simple structure, convenient installation operation, good clamping stability, improves work efficiency at the same time, avoids the problem that labor intensity is higher when artificial long-time grabbing wireless node.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grabbing devices, in particular to a wireless node grabbing device. BACKGROUND

[0002] In oil exploration, wireless nodes (i.e. geophones) are needed to collect basic data, and then analyze the properties and configurations of different depth formations, so as to preliminarily determine whether there are oil generation and storage conditions, and finally provide drilling well sites. In addition, seismic exploration can be carried out in the region to ensure the safety of future oil exploration.

[0003] In the existing wireless node installation process, the wireless node needs to be placed on the installation surface by manual operation, and then pressed into the working surface by external force. The manual operation is low in efficiency. At the same time, due to the difference in the external force applied by manual pressing, the wireless node may be damaged, and the depth of the pressing working surface is inconsistent, which also affects the accuracy of data collection of the wireless node. In addition, the wireless node needs to be retrieved after data collection. Manual retrieval of the wireless node is high in labor intensity, slow in speed and high in cost.

[0004] Therefore, the prior art still needs to be improved and enhanced. SUMMARY

[0005] In view of the above problems in the prior art, the present application provides a wireless node grabbing device, aiming to solve the problems of low efficiency and high labor intensity in the process of installing and retrieving the wireless node in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0007] A wireless node grabbing device, comprising a clamping assembly for clamping the wireless node, a driving assembly for driving the clamping assembly to move, a guide assembly for guiding the movement of the clamping assembly, and a fixing frame, wherein the driving assembly is arranged on the fixing frame, the clamping assembly is connected with the driving assembly, the upper part of the clamping assembly is slidingly connected with the guide assembly, the movement of the clamping assembly along the guide assembly is controlled by the driving assembly, and the wireless node is clamped or released.

[0008] The wireless node grabbing device further comprises an adjusting assembly and a pressing assembly, wherein the pressing assembly is connected with the adjusting assembly, and the adjusting assembly is located on one side of the guide assembly.

[0009] The adjusting assembly comprises a first guide column, an adjusting spring and a moving piece are arranged on the first guide column, one end of the adjusting spring is in abutment with the fixing frame, and the other end of the adjusting spring is in abutment with the moving piece.

[0010] The grabbing device of the wireless node further comprises a buffering assembly, an intermediate piece is arranged between the buffering assembly and the guide assembly, the pressing assembly is arranged below the buffering assembly, and the pressing assembly is connected with the buffering assembly through the guide assembly and the intermediate piece in sequence.

[0011] The buffering assembly comprises a buffering plate, a buffering spring, a second guide column and a limiting column, the second guide column is fixedly connected with the top plate, the buffering spring is arranged on the second guide column, the upper end of the limiting column is fixedly connected with the top plate, and the lower end of the limiting column has a height difference with the buffering plate.

[0012] The driving assembly comprises a driving motor and a transmission piece, the output shaft of the driving motor is connected with the transmission piece, the transmission piece is connected with the clamping assembly, the side of the transmission piece is further provided with a third guide column, and the clamping assembly is slidably connected with the third guide column.

[0013] The grabbing device of the wireless node further comprises a limiting assembly for limiting the moving distance of the clamping assembly, the limiting assembly comprises a moving part and a limiting sensor, the limiting sensor is arranged on one side of the pressing assembly, one end of the moving part is fixedly connected with the clamping assembly, and the other end of the moving part moves between the two limiting sensors.

[0014] The clamping assembly is two and is arranged on the two sides of the pressing assembly.

[0015] The pressing assembly is provided with a camera, the side of the camera is provided with an infrared light source for light compensation and a first distance sensor for measuring the distance between the grabbing device and the wireless node.

[0016] The outer side of the clamping assembly is provided with a second distance sensor, and the number of the second distance sensor is at least one.

[0017] Compared with the prior art, the grabbing device of the wireless node provided by the application comprises a clamping assembly for clamping the wireless node, a driving assembly for driving the clamping assembly to move, a guide assembly for guiding the movement of the clamping assembly and a fixing frame, the driving assembly is arranged on the fixing frame, the clamping assembly is connected with the driving assembly, the upper part of the clamping assembly is slidably connected with the guide assembly, the movement of the clamping assembly along the guide assembly is controlled by the driving assembly, and the wireless node is clamped or released. The application has the advantages of simple structure, convenient installation and operation, good clamping stability, improved work efficiency and avoidance of the problem of high labor intensity caused by long-time manual grabbing of the wireless node. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The structure diagram of the grabbing device of the wireless node provided by the application.

[0019] Figure 2Another angle structural schematic view of the wireless node grabbing device provided by the present application.

[0020] Figure 3 Another angle structural schematic view of the wireless node grabbing device provided by the present application.

[0021] Figure 4 Another angle structural schematic view of the wireless node grabbing device provided by the present application. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and effects of the present application clearer and more explicit, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and should not be used to limit the present application.

[0023] It should be noted that when a component is referred to as being "mounted on", "fixed on" or "disposed on" another component, it can be directly on the other component or there can be a middle component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there can be a middle component.

[0024] It should also be noted that the terms "left", "right", "upper", "lower", and the like in the embodiments of the present application are only relative concepts or are referenced to the normal use state of the product, and should not be considered as limiting.

[0025] The present application provides a wireless node grabbing device, please refer to Figures 1-4 , comprising a clamping assembly 1 for clamping a wireless node, a driving assembly (not marked in the figure) for driving the clamping assembly 1 to move, a guide assembly 3 for guiding the clamping assembly 1 to move, and a fixing frame 100, the driving assembly is arranged on the fixing frame 100, the clamping assembly 1 is connected with the driving assembly, the upper part of the clamping assembly 1 is slidingly connected with the guide assembly 3, the clamping assembly 1 is controlled by the driving assembly to move along the guide assembly 3, and the wireless node is clamped or released. The present application has the advantages of simple structure, convenient installation and operation, good clamping stability, improved work efficiency, and avoidance of the problem of high labor intensity caused by long-time manual grabbing of the wireless node. It should be noted that the wireless node grabbing device in the present application is mounted on a mechanical hand, and the grabbing device is moved by the mechanical hand, and when it is moved to a predetermined position, the wireless node is grabbed or released by the grabbing device. The whole process of the mechanical hand and the movement of the grabbing device driven by the mechanical hand is prior art and is not within the protection scope of the present application.

[0026] The guide component 3 consists of a slide rail 31 and a slide table 32. The clamping component 1 is fixed to the slide table 32, and the slide table 32 is slidably disposed on the guide rail. By setting the guide component 3, the guide component 3 is subjected to force, thus avoiding the influence of the gravity of the clamping component 1 on the drive component.

[0027] Furthermore, the grasping device for the wireless node also includes an adjustment component 5 and a pressure application component 6. The pressure application component 6 is connected to the adjustment component 5, and the adjustment component 5 is located on one side of the guide component 3. The adjustment component 5 includes a first guide post 51, on which an adjustment spring 52 and a moving part 53 are provided. One end of the adjustment spring 52 abuts against the fixing frame 100, and the other end of the adjustment spring 52 abuts against the moving part 53.

[0028] Specifically, the pressure application component 6 is slidably mounted on the first guide post 51 via the moving part 53. There are two sets of adjustment components 5, located on either side of the guide component 3. When retrieving the wireless node, it is necessary to pre-identify the wireless node and determine its position using the camera 61. However, due to certain errors in image recognition, the gripping center axis of the gripping device does not coincide with the center axis of the wireless node. To make these two axes coincide, either the position of the gripping device or the position of the wireless node must be adjusted. Pushing the node position by the clamping component 1 often causes the wireless node to tilt, potentially preventing the gripping device from picking it up from the ground or damaging it. Therefore, this solution adjusts the position of the gripping device to make the two axes coincide. When the gripping center of the gripping device and the center of the wireless node are not at the same point, one side of the clamping component 1 will first contact the side of the wireless node. In this embodiment, using... Figure 1 The adjustment process is described using the orientation of each component as shown. Taking the left side of the clamping component 1 first contacting the side of the wireless node as an example, the wireless node is still inserted in the ground. When the driving component drives the clamping component 1 to move towards the center along the setting direction of the guide component 3, the left clamping component 1 abuts against the left side of the wireless node, so the distance the left clamping component 1 moves towards the center is less than the distance the right clamping component 1 moves towards the center. At the same time, the slide 32 at the upper end of the clamping component 1 pushes the pressure component 6, so that the pressure component 6 moves to the left along the first guide post 51 through the moving part 53. The left adjusting spring 52 is in a compressed state, and the right adjusting spring 52 is in a stretched state. At this time, the center of the gripping device and the center of the wireless node are at the same point.

[0029] Further, the grabbing device of the wireless node further comprises a buffer assembly 7, an intermediate piece 8 is arranged between the buffer assembly 7 and the guide assembly 3, the pressing assembly 6 is located below the buffer assembly 7, and the pressing assembly 6 is connected with the buffer assembly 7 through the guide assembly 3 and the intermediate piece 8 in sequence. The inside of the buffer assembly 7 is further provided with a pressure sensor 81, and the upper end of the pressure sensor 81 is fixedly connected with the top plate.

[0030] Specifically, the intermediate piece 8 is similar to a "mountain" shape structure, two sides of the intermediate piece 8 are respectively connected with the fixing frame 100, the upper end of the intermediate piece 8 is fixedly connected with the lower end of the pressure sensor 81, the guide assembly 3 is arranged at the lower end of the intermediate piece 8, and the guide assembly 3 and the intermediate piece 8 are located in the opening groove of the pressing assembly 6. When the grabbing device presses the wireless node to the ground, the wireless node is pressed and fixed by the pressing assembly 6, the lower end of the pressing assembly 6 abuts against the upper end of the wireless node, the pressing assembly 6 abuts against the buffer assembly 7 through the guide assembly 3 and the intermediate piece 8 in sequence, the pressure received by the wireless node during the pressing process is buffered, so that the laying process of the wireless node is more gentle and stable, and the wireless node can keep a vertical state after being laid.

[0031] Further, the buffer assembly 7 comprises a buffer plate 71, a buffer spring 72, a second guide column 73 and a limiting column 74, the second guide column 73 is fixedly connected with the top plate 70, the buffer spring 72 is arranged on the second guide column 73, the upper end of the limiting column 74 is fixedly connected with the top plate 70, and the lower end of the limiting column 74 has a height difference with the buffer plate 71.

[0032] The buffer assembly 7 mainly plays a role of obstacle avoidance. In the process of wireless node laying, the grabbing device carries the wireless node to the laying point, and the wireless node is inserted into the ground by the external mechanical arm driving the grabbing device. If a hard stone is encountered in the process of insertion into the ground, a rigid collision will occur, causing damage to the wireless node. The buffer assembly 7 buffers the wireless node in the process of insertion into the ground, thereby avoiding the rigid collision of the wireless node with the stone. Under normal circumstances, i.e. without encountering a hard stone in the laying process, the buffer assembly 7 can also buffer the entire laying process, so that the pressing of the grabbing device on the wireless node is more gentle, ensuring that the wireless node is in a vertical state after pressing, avoiding the influence of the inclined installation of the wireless node on the accuracy of data acquisition. The second guide column 73 is used to sleeve the buffer spring 72, plays a role of carrier, and guides the movement of the buffer plate 71, ensuring that the buffer plate 71 maintains a horizontal state during the entire buffer movement process, avoiding the influence of uneven stress on the buffer effect. The movement position of the buffer plate 71 and the compression amount of the buffer spring 72 are limited by the limiting column 74, avoiding excessive compression of the buffer spring 72 and affecting the service life of the buffer spring 72. The height difference between the limiting column 74 and the buffer plate 71 is the movement height of the buffer plate 71 and the buffer height in the process of laying the wireless node. The

[0033] Further, the driving assembly includes a driving motor 21 and a transmission member 22, the output shaft of the driving motor 21 is connected with the transmission member 22, the transmission member 22 is connected with the clamping assembly 1, and the side of the transmission member 22 is further provided with a third guide column 23, and the clamping assembly 1 is slidably connected with the third guide column 23. The transmission member 22 can adopt a ball screw, the clamping assembly 1 is fixed on the ball screw nut pair through bolts, the driving motor 21 is arranged outside the fixed frame 100, the output end of the driving motor 21 is connected with one end of the transmission member 22, and the other end of the transmission member 22 is connected with the fixed frame 100. The two side edges of the transmission member 22 are provided with third guide columns 23, the movement direction of the clamping assembly 1 is guided by the third guide columns 23, so that the clamping of the clamping assembly 1 on the wireless node is more stable.

[0034] Further, the grabbing device of the wireless node further comprises a limiting assembly 9 for limiting the moving distance of the clamping assembly 1, the limiting assembly 9 comprises a moving part 91 and a limiting sensor 92, the limiting sensor 92 is arranged on one side of the pressing assembly 6, one end of the moving part 91 is fixedly connected with the clamping assembly 1, and the other end of the moving part 91 moves between the two limiting sensors 92. In the application, the limiting sensor 92 is an optical sensor, there are two limiting sensors 92, and the two limiting sensors 92 have a certain spacing. When the clamping assembly 1 clamps or releases the wireless node, the clamping assembly 1 drives the moving part 91 to move between the two limiting sensors 92. The clamping range of the clamping assembly 1 is limited by the two limiting sensors 92, so as to avoid excessive opening of the clamping assembly 1, and also to avoid damage to the wireless node caused by excessive clamping force through the limitation of the clamping range.

[0035] The clamping assembly 1 is provided on the two sides of the pressing assembly 6, and clamps the wireless node from two sides, so as to ensure the stability of clamping.

[0036] Further, the pressing assembly 6 is provided with a camera 61, the side of the camera 61 is provided with an infrared light source 62 for light supplement and a first distance sensor 63 for measuring the distance between the grabbing device and the wireless node. The camera 61 can be used to find a suitable position to arrange the wireless node, and also can be used to find the position of the wireless node when recycling. At the same time, the camera 61 is lighted by the infrared light source 62, so that the data collected by the camera 61 is more accurate. When recycling the wireless node, the distance between the grabbing device and the wireless node can be measured by the first distance sensor 63, so as to ensure that the grabbing device can slowly contact the wireless node, so that the grabbing of the clamping device to the wireless node is more accurate and stable.

[0037] In addition, the outer side of the clamping assembly 1 is provided with a second distance sensor 64, and the number of the second distance sensor 64 is at least one. In another embodiment of the application, the number of the second distance sensor 64 is two, and the two second distance sensors 64 are respectively located on the outer sides of the two clamping assemblies 1. The second distance sensor 64 is used for distance measurement when arranging the wireless node. The distance between the grabbing device and two points on the ground can be measured by the two second distance sensors 64, so as to judge the insertion depth of the wireless node when arranging, and also to make the grabbing device in a horizontal state when arranging and pressing the wireless node, so as to ensure the accuracy of data collection of the wireless node.

[0038] In summary, the application provides a wireless node grabbing device, which comprises a clamping assembly for clamping the wireless node, a driving assembly for driving the clamping assembly to move, a guide assembly for guiding the movement of the clamping assembly, and a fixing frame, wherein the driving assembly is arranged on the fixing frame, the clamping assembly is connected with the driving assembly, the upper part of the clamping assembly is slidingly connected with the guide assembly, the movement of the clamping assembly along the guide assembly is controlled by the driving assembly, and the wireless node is clamped or released. The application has the advantages of simple structure, convenient installation and operation, good clamping stability, improved work efficiency, and avoidance of the problem of high labor intensity caused by long-time manual grabbing of the wireless node.

[0039] It can be understood that, for those skilled in the art, equivalent replacements or changes can be made according to the technical solutions and the inventive concept of the application, and all the changes or replacements shall belong to the protection scope of the appended claims of the application.

Claims

1. A gripping device of a wireless node, characterized by The wireless node clamping assembly, the driving assembly for driving the clamping assembly to move, the guide assembly for guiding the clamping assembly to move, and the fixed frame, the driving assembly is arranged on the fixed frame, the clamping assembly is connected with the driving assembly, the upper part of the clamping assembly is slidably connected with the guide assembly, the clamping assembly is controlled by the driving assembly to move along the guide assembly, and the wireless node is clamped or released; The wireless node grabbing device further comprises an adjusting assembly and a pressing assembly, the pressing assembly is connected with the adjusting assembly, and the adjusting assembly is located on one side of the guide assembly; The adjusting assembly comprises a first guide column, an adjusting spring and a moving piece are arranged on the first guide column, one end of the adjusting spring abuts against the fixed frame, and the other end of the adjusting spring abuts against the moving piece; The guide assembly is a sliding rail and a sliding table, the clamping assembly is fixed with the sliding table, and the sliding table is slidably arranged on the sliding rail; The driving assembly comprises a driving motor and a transmission piece, the output shaft of the driving motor is connected with the transmission piece, the transmission piece is connected with the clamping assembly, and the side of the transmission piece is further provided with a third guide column; The clamping assembly is slidably connected with the third guide column; The transmission piece is a ball screw, and the clamping assembly is fixed on the ball screw nut pair through bolts; The clamping assembly is two and is oppositely arranged on the two sides of the pressing assembly; The pressing assembly is slidably arranged on the first guide column through the moving piece; The guide assembly is located in the opening groove of the pressing assembly.

2. The gripping device of a wireless node according to claim 1, characterized in that, Further comprising a buffer assembly, the buffer assembly and the guide assembly are provided with an intermediate piece, the pressing assembly is located below the buffer assembly, and the pressing assembly is connected with the buffer piece through the guide assembly and the intermediate piece in sequence.

3. The gripping device of a wireless node according to claim 2, characterized in that, The buffer assembly comprises a buffer plate, a buffer spring, a second guide column and a limiting column, the second guide column is fixedly connected with the top plate, the buffer spring is arranged on the second guide column, the upper end of the limiting column is fixedly connected with the top plate, and the lower end of the limiting column has a height difference with the buffer plate.

4. The gripping device of a wireless node according to claim 3, characterized in that, Further comprising a limiting assembly for limiting the moving distance of the clamping assembly, the limiting assembly comprises a moving part and a limiting sensor, the limiting sensor is arranged on one side of the pressing assembly, one end of the moving part is fixedly connected with the clamping assembly, and the other end of the moving part moves between the two limiting sensors.

5. The gripping device of a wireless node according to claim 4, characterized in that, A camera is arranged on the pressing assembly, an infrared light source for light supplementing and a first distance sensor for measuring the distance between the grabbing device and the wireless node are arranged on the side of the camera.

6. The gripping device of a wireless node according to any one of claims 1-5, characterized in that, A second distance sensor is arranged on the outer side of the clamping assembly, and the number of the second distance sensor is at least one.

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