Multifunctional mechanical hand for oil sampling

Abstract

The present application relates to a kind of multifunctional mechanical hand claw of oil sampling, including mechanical hand claw assembly, sampling oil bottle and valve opening and closing tooling, mechanical hand claw assembly includes hand claw base and the first mechanical claw and second mechanical claw being arranged in hand claw base two sides, the shape of the first mechanical claw and second mechanical claw is matched with the sampling oil bottle;Hand claw base one end is equipped with electromagnet and valve tooling fixed column;Valve opening and closing tooling includes valve opening and closing tooling base plate and valve fixed column, valve opening and closing tooling base plate is equipped with the magnetic attraction material matched with electromagnet, valve opening and closing tooling base plate is equipped with the installation hole corresponding with valve tooling fixed column, valve fixed column is installed on valve opening and closing tooling base plate, and with the hole distribution in valve cooperation.Compared with prior art, the present application can be beneficial to realize the opening and closing of valve, and can be beneficial to realize the collection of oil sample, function is rich, substantially improve the work efficiency of oil sample collection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical gripper, in particular to a multifunctional mechanical gripper for oil sampling. BACKGROUND

[0002] Traditional substations usually use manual methods to collect and detect oil samples from transformers. Most sampling environments are in high-risk production operation areas, and multiple protective measures are usually required for workers to carry out the work. The safety process is complicated, inconvenient to check, and has low frequency. In addition, manual sampling has the defects of non-standard operation, high labor intensity, low work efficiency, and rough sampling method.

[0003] With the application of intelligent mobile robots, robots can replace manual oil sampling to effectively improve the safety, quality and frequency of work tasks. At the same time, different transformer stations have different oil sampling scenes and actual sampling conditions, and different sampling valve opening and closing requires customized special grippers. Therefore, it is of great significance to provide a mechanical gripper that can switch between different opening and closing sizes and has grasping function, which can standardize the sampling method, has strong universality, and further improves the unmanned and automation of power stations. SUMMARY

[0004] The purpose of the present application is to overcome the defects of the prior art and provide a multifunctional mechanical gripper for oil sampling that can switch between different opening and closing sizes and has grasping function.

[0005] The purpose of the present application can be achieved by the following technical solutions:

[0006] A multifunctional mechanical gripper for oil sampling includes a mechanical gripper assembly, a sampling oil bottle and a valve opening and closing tool. The mechanical gripper assembly includes a gripper base and first and second mechanical grippers disposed on both sides of the gripper base. The gripping portions of the first and second mechanical grippers are matched with the shape of the sampling oil bottle.

[0007] One end of the gripper base is provided with an electromagnet and a valve tool fixing column. The valve opening and closing tool includes a valve opening and closing tool base plate and a valve fixing column. The valve opening and closing tool base plate is made of magnetic material matched with the electromagnet. The valve opening and closing tool base plate is provided with a mounting hole corresponding to the valve tool fixing column. The valve fixing column is installed on the valve opening and closing tool base plate and matched with the hole distribution in the valve.

[0008] Further, the first mechanical claw and the second mechanical claw are both mechanical claw structures, the mechanical claw structure comprising a push rod mounting base, an electric push rod, a hand claw swing arm and a hand claw, the push rod mounting base being fixedly installed on a hand claw base, one end of the hand claw swing arm being rotatably installed on the hand claw base, one end of the electric push rod being rotatably connected to the push rod mounting base and the other end being rotatably connected to the hand claw swing arm, and the hand claw being fixed to one end of the hand claw swing arm opposite to the electric push rod.

[0009] Further, one end of the hand claw swing arm is rotatably installed on the hand claw base through a rotating pin.

[0010] Further, the hand claw is made of polyurethane material.

[0011] Further, the hand claw base opposite to the electromagnet is provided with a hand claw adapter plate.

[0012] Further, the valve tool fixing column is a bolt, and the mounting hole is a bolt hole.

[0013] Further, the valve fixing column is a bolt.

[0014] Further, the oil sampling multifunctional mechanical claw further comprises a visual camera, which is installed on the hand claw base.

[0015] Further, the number of valve fixing columns on the valve tool fixing column of the hand claw base is multiple.

[0016] Further, the number of valve fixing columns on the valve tool fixing column of the hand claw base is multiple.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] (1) The oil sampling multifunctional mechanical claw can not only realize automatic opening and closing of the valve, but also realize automatic collection of the oil sample, and has rich functions, which greatly improves the automation degree of oil sample collection; and the structure of the valve opening and closing tool is simple and ingenious, and the fixing mode and magnetic attraction connection mode of the valve fixing column of the valve opening and closing tool and the hand claw base also ensure the reliability of the connection.

[0019] (2) The present application provides a mechanical claw with multiple specifications of opening and closing size at the end joint of the sampling robot and with grasping function, which realizes standardization and strong universality of oil sampling mode in different sampling scenes, effectively avoids the risk of manual sampling, ensures personnel safety and improves sampling quality and efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural schematic view of an oil sampling multifunctional mechanical claw provided in the embodiments of the present application;

[0021] Figure 2 A front view of a mechanical gripper assembly provided in an embodiment of the present application;

[0022] Figure 3 A right view of a mechanical gripper assembly provided in an embodiment of the present application;

[0023] Figure 4 A top view of a mechanical gripper assembly provided in an embodiment of the present application;

[0024] Figure 5 A structural schematic view of a large valve opening and closing tool provided in an embodiment of the present application;

[0025] Figure 6 A structural schematic view of a small valve opening and closing tool provided in an embodiment of the present application;

[0026] Figure 7 A schematic view of a state before a sample oil bottle is grabbed by a multifunctional mechanical gripper for sampling oil provided in an embodiment of the present application;

[0027] Figure 8 A schematic view of a state when a sample oil bottle is grabbed by a multifunctional mechanical gripper for sampling oil provided in an embodiment of the present application;

[0028] Figure 9 A schematic view of a state before a large valve opening and closing tool is grabbed by a multifunctional mechanical gripper for sampling oil provided in an embodiment of the present application;

[0029] Figure 10 A schematic view of a state when a large valve opening and closing tool is grabbed by a multifunctional mechanical gripper for sampling oil provided in an embodiment of the present application;

[0030] Figure 11 A schematic view of a state when a large valve is opened and closed by a multifunctional mechanical gripper for sampling oil provided in an embodiment of the present application;

[0031] Figure 12 A schematic view of a state before a small valve opening and closing tool is grabbed by a multifunctional mechanical gripper for sampling oil provided in an embodiment of the present application;

[0032] Figure 13 A schematic view of a state when a small valve opening and closing tool is grabbed by a multifunctional mechanical gripper for sampling oil provided in an embodiment of the present application;

[0033] Figure 14 A schematic view of a state when a small valve is opened and closed by a multifunctional mechanical gripper for sampling oil provided in an embodiment of the present application;

[0034] In the figure, 1. robotic gripper assembly, 11. gripper base, 12. first robotic gripper, 13. second robotic gripper, 14. electromagnet, 15. valve fixture fixing post, 16. gripper adapter plate, 17. vision camera, 101. push rod mounting base, 102. electric push rod, 103. gripper swing arm, 104. gripper, 105. rotating pin, 2. sampling oil bottle, 3. valve opening and closing fixture, 31. large valve opening and closing fixture, 32. small valve opening and closing fixture, 301. valve opening and closing fixture base plate, 302. valve fixing post, 303. mounting hole. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0037] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0038] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0039] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0040] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0041] Example 1

[0042] like Figure 1 As shown, this embodiment provides a multi-functional robotic gripper for oil sampling, including a robotic gripper assembly 1. The multi-functional robotic gripper for oil sampling also includes a sampling oil bottle 2 and a valve opening and closing fixture 3. The robotic gripper assembly 1 includes a gripper base 11 and a first robotic gripper 12 and a second robotic gripper 13 disposed on both sides of the gripper base 11. The gripping parts of the first robotic gripper 12 and the second robotic gripper 13 are both matched with the shape of the sampling oil bottle 2.

[0043] One end of the gripper base 11 is provided with an electromagnet 14 and a valve tooling fixing post 15; the valve opening and closing tooling 3 includes a valve opening and closing tooling base plate 301 and a valve fixing post 302. The valve opening and closing tooling base plate 301 is provided with a magnetic material that cooperates with the electromagnet 14. The valve opening and closing tooling base plate 301 is provided with mounting holes 303 corresponding to the valve tooling fixing post 15. The valve fixing post 302 is mounted on the valve opening and closing tooling base plate 301 and cooperates with the distribution of holes in the valve.

[0044] Working principle: When collecting oil samples, the multi-functional robotic gripper is first driven by an external drive mechanism to reach the location of the sampling oil bottle 2. Then, the first robotic gripper 12 and the second robotic gripper 13 are driven to grab the sampling oil bottle 2 and reach the bottom of the oil pipeline valve through the external drive mechanism to place the sampling oil bottle 2.

[0045] An external drive mechanism drives a multi-functional robotic gripper for oil sampling to approach the valve opening and closing fixture 3, aligns the valve fixture fixing post 15 with the mounting hole 303 of the valve opening and closing fixture 3, and inserts it; then, the electromagnet 14 magnetically attracts the valve opening and closing fixture base plate 301 of the valve opening and closing fixture 3 to achieve fixation; further, the external drive mechanism drives the valve fixing post 302 of the valve opening and closing fixture 3 to extend into the hole of the oil pipeline valve, thereby driving the valve opening and closing fixture 3 to rotate, thereby automatically opening the valve, and the oil sample is taken from the sampling oil bottle 2;

[0046] After the oil sample is taken, the valve is closed by rotating it in the opposite direction through the external drive mechanism, and the valve opening and closing fixture 3 is placed in the predetermined position. The connection between the electromagnet 14 and the valve opening and closing fixture 3 is then disconnected. Then, the first mechanical claw 12 and the second mechanical claw 13 are driven to grab the sampled oil bottle 2 and reach the predetermined oil sample placement position through the external drive mechanism.

[0047] This solution's multi-functional robotic gripper for oil sampling not only facilitates the automatic opening and closing of valves but also the automatic collection of oil samples, offering a wide range of functions and significantly improving the automation level of oil sample collection. Furthermore, the proposed valve opening and closing fixture 3 has a simple and ingenious structure, and the fixing method and magnetic connection method between the gripper base 11 and the valve fixing column 302 of the valve opening and closing fixture 3 also ensure the reliability of the connection.

[0048] As an optional implementation method, such as Figures 2-4 As shown, both the first mechanical claw 12 and the second mechanical claw 13 are mechanical claw structures. The mechanical claw structure includes a push rod mounting base 101, an electric push rod 102, a claw swing arm 103, and a claw 104. The push rod mounting base 101 is fixedly mounted on the claw base 11. One end of the claw swing arm 103 is rotatably mounted on the claw base 11. One end of the electric push rod 102 is rotatably connected to the push rod mounting base 101, and the other end is rotatably connected to the claw swing arm 103. The claw 104 is fixed in the claw swing arm 103 at the end opposite to the electric push rod 102.

[0049] The above-mentioned rotatable connection can be achieved using existing rotatable connection structures. In this embodiment, the rotatable pin 105 is used to achieve the connection. For example, the gripper arm 103 can be rotatably mounted on the gripper base 11 via the rotatable pin 105.

[0050] The gripper 104 needs to match the shape of the sampling oil bottle 2. The material is not limited to one type. To improve the protection of the outer wall of the sampling oil bottle 2 and the friction, the gripper 104 is preferably made of polyurethane.

[0051] A gripper adapter plate 16 is provided on the side of the gripper base 11 opposite to the electromagnet 14 for mounting an external drive mechanism.

[0052] The valve fixture fixing post 15 is a columnar structure. In this embodiment, a pin is selected, and the mounting hole 303 is a pin hole. The valve fixing post 302 is a pin. The use of a pin allows for detachable connection and facilitates replacement.

[0053] Preferably, the multi-functional robotic gripper for oil sampling also includes a vision camera 17, which is mounted on the gripper base 11 and can monitor the status of the valve and the oil sampling bottle.

[0054] The number of valve fixture fixing posts 15 on the gripper base 11 is multiple. The number of valve fixing posts 302 on the valve opening and closing fixture base plate 301 is multiple. In this embodiment, each valve fixture fixing post 15 is evenly distributed on the gripper base 11, and the number of valve fixture fixing posts 15 can be two, three, four, etc., with multiple arrangements. Valves in the prior art generally have three through holes, so in this embodiment, the number of valve fixing posts 302 is three. The number of valve fixing posts 302 can be set according to the number of through holes in the valve. The distribution and spacing of the three valve fixing posts 302 are matched with the size of the valve. In this embodiment, a large valve opening and closing fixture 31 and a small valve opening and closing fixture 32 are provided.

[0055] like Figure 5 As shown, the large valve opening and closing fixture 31 is used for opening and closing the large valve of the oil pipe, and includes a large valve opening and closing fixture base plate 301, a first fixture pin hole, and a large valve pin. Figure 6 As shown, the small valve opening and closing fixture 32 is used for opening and closing small valves in the oil pipe, including a small valve opening and closing fixture base plate 301, a second fixture pin hole, and a small valve pin.

[0056] The work process is as follows:

[0057] 1. For example Figure 7 and 8 As shown, when it is necessary to grasp the oil sample bottle, the miniature electric push rods 102 on both sides of the robotic gripper assembly 1 extend, driving the gripper arms 103 on both sides and the polyurethane grippers 104 on both sides to close, thus clamping the oil sample bottle.

[0058] 2. For example Figures 9-11 As shown, when it is necessary to grasp the large valve opening and closing fixture 31, the miniature electric push rods 102 on both sides of the robotic gripper assembly 1 retract, driving the gripper arms 103 and the polyurethane grippers 104 on both sides to be in the opening and closing state. The large and small valve fixture pins in the robotic gripper assembly 1 align with the first fixture pin hole on the large valve opening and closing fixture 31. After the pin is in place, the electromagnet 14 attracts the large valve opening and closing fixture base plate 301, completing the grasping of the large valve opening and closing fixture 31. The robotic gripper assembly 1 inserts the pin of the large valve opening and closing fixture 31 into the gap of the large valve, and by controlling the rotation of the robotic gripper assembly 1, the large valve is rotated, realizing the opening and closing of the oil pipe valve.

[0059] 3. For example Figures 12-14As shown, when it is necessary to grasp the small valve opening and closing fixture 32, the miniature electric push rods 102 on both sides of the robotic gripper assembly 1 retract, driving the gripper arms 103 and the polyurethane grippers 104 on both sides to be in the opening and closing state. The large and small valve fixture pins in the robotic gripper assembly 1 align with the second fixture pin holes on the small valve opening and closing fixture 32. After the pins are in place, the electromagnet 14 attracts the small valve opening and closing fixture base plate 301, completing the grasping of the small valve opening and closing fixture 32. The pins of the small valve opening and closing fixture 32 in the robotic gripper assembly 1 are inserted into the gap of the small valve, and the small valve is rotated by controlling the rotation of the robotic gripper assembly 1, thereby realizing the opening and closing of the oil pipe valve.

[0060] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A multifunctional robotic gripper for oil sampling, comprising a robotic gripper assembly (1), characterized in that, The multi-functional robotic gripper for oil sampling also includes a sampling oil bottle (2) and a valve opening and closing fixture (3). The robotic gripper assembly (1) includes a gripper base (11) and a first robotic gripper (12) and a second robotic gripper (13) disposed on both sides of the gripper base (11). The gripping parts of the first robotic gripper (12) and the second robotic gripper (13) are all matched with the shape of the sampling oil bottle (2). One end of the gripper base (11) is provided with an electromagnet (14) and a valve tooling fixing post (15); the valve opening and closing tooling (3) includes a valve opening and closing tooling base plate (301) and a valve fixing post (302). The valve opening and closing tooling base plate (301) is provided with a magnetic material that cooperates with the electromagnet (14). The valve opening and closing tooling base plate (301) is provided with mounting holes (303) corresponding to the valve tooling fixing post (15). The valve fixing post (302) is mounted on the valve opening and closing tooling base plate (301) and cooperates with the distribution of holes in the valve. The first mechanical claw (12) and the second mechanical claw (13) are both mechanical claw structures. The mechanical claw structure includes a push rod mounting base (101), an electric push rod (102), a claw swing arm (103), and a claw (104). The push rod mounting base (101) is fixedly mounted on the claw base (11). One end of the claw swing arm (103) is rotatably mounted on the claw base (11). One end of the electric push rod (102) is rotatably connected to the push rod mounting base (101), and the other end is rotatably connected to the claw swing arm (103). The claw (104) is fixed in the claw swing arm (103) at the end opposite to the electric push rod (102). The multi-functional robotic gripper for oil sampling also includes a vision camera (17), which is mounted on the gripper base (11).

2. The multifunctional robotic gripper for oil sampling according to claim 1, characterized in that, One end of the gripper arm (103) is rotatably mounted on the gripper base (11) via a rotating pin (105).

3. The multifunctional robotic gripper for oil sampling according to claim 1, characterized in that, The gripper (104) is made of polyurethane material.

4. The multifunctional robotic gripper for oil sampling according to claim 1, characterized in that, The gripper base (11) is provided with a gripper adapter plate (16) on the side opposite to the electromagnet (14).

5. The multifunctional robotic gripper for oil sampling according to claim 1, characterized in that, The valve tooling fixing column (15) is a pin, and the mounting hole (303) is a pin hole.

6. The multifunctional robotic gripper for oil sampling according to claim 1, characterized in that, The valve fixing post (302) is a pin.

7. The multifunctional robotic gripper for oil sampling according to claim 1, characterized in that, The number of valve tooling fixing columns (15) on the gripper base (11) is multiple.

8. The multifunctional robotic gripper for oil sampling according to claim 1, characterized in that, The valve fixing posts (302) on the valve opening and closing tooling base plate (301) are multiple.

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