Tail end assembly and method for realizing high-precision labeling on arc-shaped surface of groove

Abstract

The invention discloses a tail end assembly and method for achieving high-precision labeling on an arc-shaped face of a groove, and relates to the technical field of automatic labeling equipment. The tail end assembly comprises a gripper connecting plate, a straight movement air cylinder, an air cylinder mounting plate, a positioning block, a suction cup connecting base and a suction cup; the gripper connecting plate is installed at the tail end of the oil and gas well perforating bullet shell label carrying manipulator body, the air cylinder mounting plate is installed at the bottom end of the gripper connecting plate, the straight air cylinder is vertically arranged and installed on the gripper connecting plate, a cylinder rod of the straight air cylinder penetrates through the air cylinder mounting plate, and the tail end of the cylinder rod is fixedly connected with the upper portion of the suction cup connecting base. The sucker is mounted at the lower part of the sucker connecting seat; the positioning block is vertically arranged, the top end of the positioning block is installed on the lower end face of the air cylinder installation plate, the bottom of the positioning block is a semi-arc-shaped protrusion which is horizontally arranged, and the arc-shaped face of the semi-arc-shaped protrusion is the same as the arc-shaped face of a perforating bullet shell groove. In the labeling process, the positioning block moves into the groove of the perforating bullet shell, and the relative position of the tail end assembly and the perforating bullet shell is determined.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic labeling equipment, and more specifically to an end assembly and method for achieving high-precision labeling on the arc surface of a groove. Background Art

[0002] One end of the casing of an oil and gas well perforating charge is provided with a groove, which is used to fix the detonating cord during the assembly of the perforator. A through hole is opened in the middle of the groove, which is called a detonating hole. The detonating hole of the perforating charge plays a role in transmitting detonation energy. During the perforating ignition operation, after the initiator is activated, the detonation wave is transmitted in the detonation sequence in turn. Among them, the perforating charge is detonated by the detonating cord through the detonating hole. During the production process of the perforating charge, before filling the casing with explosive, it is necessary to label and seal the detonating hole of the perforating charge casing to prevent the explosive filled in the casing from leaking out of the hole. The label paper should be closely attached to the groove to achieve the effect of completely sealing the detonating hole. If there is a situation of explosive leakage from the detonating hole during pressing, it will significantly increase the production safety risk of the perforating charge; if there is explosive leakage in the detonating hole during the use of the perforating charge, it will increase the risk of detonation failure of the perforating charge. Therefore, the sealing quality of the detonating hole of the perforating charge is very important. Generally, the grasping part of the existing labeling gripper uses a suction cup to suck the label, and then drives the label to move to directly above the groove of the perforating charge casing, adjusts the angle of the label to be consistent with the groove of the perforating charge casing, and drives the label to move downward to embed the label into the groove of the perforating charge casing. In the actual application process, the texture of the suction cup and the label is relatively soft. During the process of the suction cup driving the label to contact the groove of the perforating charge casing, the label deforms under force, resulting in an inaccurate relative position between the label and the groove of the perforating charge casing, thus making the actual application of automatic labeling of the groove of the perforating charge casing more difficult.

[0003] In the prior art, the patent with the publication number of CN112061533B discloses an automatic labeling device for sealing the detonating hole of a perforating charge casing. It includes an annular conveyor line, a feeding mechanism, a labeling mechanism, and a discharging mechanism. The feeding mechanism, the labeling mechanism, and the discharging mechanism are distributed along the running direction of the annular conveyor line. There is a cartridge tray placed on the annular conveyor line. The annular conveyor line drives the cartridge tray to move along it, and the cartridge tray is lifted by a positioning lifting mechanism so that the cartridge tray is positioned and separated from the annular conveyor line to stop moving. The beneficial effect of the present invention is: realizing automatic labeling, improving production efficiency, and enabling the cartridge tray to remain stationary at a specified position through the lifting mechanism, improving the accuracy of positioning labeling, and ensuring the labeling quality.

[0004] In the automatic labeling device disclosed in the above patent, it is disclosed that: the middle part of the suction cup is of a flat structure, reducing space occupation, and the lower part of the suction cup is a profiling structure matching the groove of the perforating cartridge case. In this embodiment, the longitudinal section of the groove is semicircular arc-shaped, and the profiling structure is a protruding semicircular arc-shaped, increasing the contact area between the lower part of the suction cup and the groove of the perforating cartridge case, which is beneficial to preventing warping and improving the flatness of labeling.

[0005] The above patent has the following defects: 1. The function of the profiling structure at the lower part of the suction cup is only to increase the contact area between the lower part of the suction cup and the groove of the perforating cartridge case, which is beneficial to preventing warping. The profiling structure does not have a complete positioning function. After the profiling structure contacts the groove of the perforating cartridge case, the profiling structure can still move relatively, and there will still be a problem that the label is deformed by force, resulting in inaccurate relative positions between the label and the groove of the perforating cartridge case.

[0006] 2. A suction nozzle is provided at the bottom of the suction cup to suck the label by the suction nozzle. In actual operation, the label on the suction nozzle first contacts the groove of the perforating cartridge case, and then the profiling structure contacts the groove of the perforating cartridge case, that is, labeling is performed first and then "positioning". During the period from when the label contacts the groove of the perforating cartridge case to when the profiling structure contacts the groove of the perforating cartridge case (the period from labeling to "positioning"), if the profiling structure moves left and right, the label will still be deformed by force, resulting in inaccurate relative positions between the label and the groove of the perforating cartridge case.

[0007] 3. The overall installation of the suction cup is a hard connection without a buffer device. When encountering collisions and other situations on site, it is easy to cause the loss of precision positioning points. The suction cup is a non-standard part, and it is difficult and costly to replace after damage. Summary of the Invention

[0008] In order to overcome the defects existing in the above-mentioned prior art, the present invention discloses an end assembly and method for realizing high-precision labeling on the arc surface of a groove. The purpose of the present invention is to solve the problem that in the prior art, the label is easily deformed by force, resulting in inaccurate relative positions between the label and the groove of the perforating cartridge case. The present invention is provided with a pre-positioning mechanism, which can pre-position the groove of the perforating cartridge case during the labeling process, thereby ensuring accurate labeling positions.

[0009] In order to achieve the above purpose, the technical solution adopted by the present invention is: In the first aspect, the present invention provides an end assembly for realizing high-precision labeling on the arc surface of a groove, including a gripper connecting plate, a linear cylinder, a cylinder mounting plate, a positioning block, a suction cup connecting seat and a suction cup; The gripper connecting plate is installed at the end of the manipulator body for handling the labels of the perforating charge casing in the oil and gas well. The cylinder mounting plate is installed at the bottom end of the gripper connecting plate. The linear cylinder is vertically arranged and installed on the gripper connecting plate. The piston rod of the linear cylinder penetrates through the cylinder mounting plate, and the end of the piston rod is fixedly connected to the upper part of the suction cup connecting seat. The suction cup is installed at the lower part of the suction cup connecting seat; The positioning block is vertically arranged. The top end of the positioning block is installed on the lower end face of the cylinder mounting plate. The bottom of the positioning block is a horizontally arranged semi-circular arc-shaped protrusion. The arc surface of the semi-circular arc-shaped protrusion is the same as the arc surface of the groove of the perforating charge shell. A space for accommodating the suction cup and the label is provided on the positioning block; When grasping the label, the linear cylinder first drives the suction cup to extend downward out of the positioning block, and then the suction cup sucks the label. After sucking, the suction cup and the label rise and enter the positioning block; When pasting the label, after the manipulator body for handling the labels of the perforating charge casing in the oil and gas well drives the semi-circular arc-shaped protrusion of the positioning block into the groove of the perforating charge shell for positioning and fixing, the linear cylinder then drives the suction cup and the label to extend downward out of the positioning block, and pastes the label in the groove of the perforating charge shell.

[0010] Preferably, the number of the positioning blocks is two. The two positioning blocks are symmetrically installed on both sides of the suction cup connecting seat. A space for accommodating the suction cup and the label is formed between the two positioning blocks. The length of the label is less than the distance between the adjacent side faces of the two positioning blocks.

[0011] Preferably, vertical sliding grooves are opened on both sides of the suction cup connecting seat close to the positioning blocks, and the two positioning blocks are nested in the sliding grooves.

[0012] Preferably, a horizontally arranged convex-shaped through groove is opened at the upper part of the suction cup connecting seat, and the end of the piston rod of the linear cylinder is embedded in the convex-shaped through groove of the suction cup connecting seat.

[0013] Preferably, the manipulator body for handling the labels of the perforating charge casing in the oil and gas well has four degrees of freedom. The manipulator body for handling the labels of the perforating charge casing in the oil and gas well drives the gripper connecting plate to move along the X-axis, Y-axis, Z-axis and rotate around the Z-axis.

[0014] Preferably, a vertical buffer mechanism is arranged between the output flange of the manipulator body for handling the labels of the perforating charge casing in the oil and gas well and the gripper connecting plate.

[0015] Preferably, the interior of the gripper connecting plate is a cavity, and the linear cylinder is installed in the internal cavity of the gripper connecting plate.

[0016] Preferably, another side of the suction cup connecting seat adjacent to the side where the chute is located is provided with a horizontal air pipe through hole, and the lower part of the suction cup connecting seat is provided with a vertical air pipe through hole. The horizontal air pipe through hole and the vertical air pipe through hole are communicated. The air pipe is connected through the horizontal air pipe through hole, and the gas accesses the suction cup through the horizontal air pipe through hole and the vertical air pipe through hole.

[0017] Preferably, the buffer mechanism is a buffer spring arranged vertically.

[0018] In a second aspect, the present invention provides a method for achieving high-precision labeling on the arc surface of a groove, including the following steps: S1. The manipulator body of the oil and gas well perforating charge shell label handling drives the gripper connecting plate to move directly above the label feeding unit; S2. The linear cylinder drives the suction cup to move downward. The suction cup extends between the two positioning blocks. After the suction cup moves in place downward, it sucks the label on the label feeding unit; S3. The linear cylinder drives the suction cup and the label to move upward, and moves the suction cup and the label between the two positioning blocks; S4. The manipulator body of the oil and gas well perforating charge shell label handling drives the gripper connecting plate to move directly above the groove of the perforating charge shell; S5. The manipulator body of the oil and gas well perforating charge shell label handling drives the gripper connecting plate to rotate until the semi-circular arc-shaped protrusion at the lower part of the positioning block is at the same angle as the groove of the perforating charge shell. Then, the manipulator body of the oil and gas well perforating charge shell label handling drives the gripper connecting plate to move downward. The semi-circular arc-shaped protrusion of the positioning block moves into the groove of the perforating charge shell, and the positioning block is positioned and fixed with the groove of the perforating charge shell; S6. The linear cylinder drives the suction cup and the label to move downward. The suction cup and the label extend downward between the two positioning blocks, and the label is pasted into the groove of the perforating charge shell.

[0019] Advantages of the present invention: The present invention has a positioning block, which is integrated at the end of the end assembly. During the labeling process, the positioning block moves into the groove of the perforating charge shell, determining the relative position between the end assembly and the perforating charge shell. Then, the linear cylinder drives the suction cup to move downward, ensuring that the suction cup drives the label to smoothly enter the groove of the perforating charge shell for labeling.

[0020] For the end assembly provided by the present invention, the bottom of the positioning block is a horizontally arranged semi-circular arc-shaped protrusion, and the arc surface of the semi-circular arc-shaped protrusion is the same as the arc surface of the groove of the perforating charge shell. After the positioning block is positioned with the groove of the perforating charge shell, the positioning block is fixed on the groove of the perforating charge shell, preventing the label from deforming due to the continuous movement of the positioning block.

[0021] The end assembly provided by the present invention, during the labeling process, when the positioning block is positioning, the suction cup and the label are located within the positioning block. After the positioning block completes positioning, the suction cup and the label then move out of the positioning block for labeling, that is, first position and then label, preventing the label from being deformed due to the positioning movement of the positioning block during the positioning process.

[0022] The end assembly provided by the present invention has a vertical buffer mechanism provided between the output flange of the label handling manipulator body of the oil and gas well perforating cartridge shell and the gripper connecting plate. The buffer mechanism is a vertically arranged buffer spring. The end assembly is softly connected to the label handling manipulator body, with spring buffering to relieve impact deformation, or prevent the system from losing its position or reducing its accuracy after a collision.

[0023] The suction cup of the end assembly provided by the present invention is a standard part. When replacing, only the suction cup below needs to be replaced, and the suction cup can be directly sleeved on the suction cup connecting seat to complete the replacement. The suction cup is convenient to replace, and the maintenance cost and manufacturing cost are lower.

[0024] The end assembly provided by the present invention can rotate freely 360 degrees as a whole, and cooperate with the vision system to automatically rotate and align with the groove of the perforating cartridge shell, without the need for the attitude adjustment mechanism in the above patent. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the end assembly of the present invention; Figure 2 It is a three-dimensional structural schematic diagram of the suction cup connecting seat of the present invention; Reference Numerals: 1. Gripper connecting plate; 2. Linear cylinder; 3. Cylinder mounting plate; 4. Positioning block; 5. Suction cup connecting seat; 501. Chute; 502. Convex-shaped through groove; 503. Horizontal air pipe through hole; 6. Suction cup. Detailed Embodiments

[0026] The following will clearly and completely describe the concept, specific structure and technical effects generated by the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, features and effects of the present invention.

[0027] Embodiment 1 An end assembly for achieving high-precision labeling on the arc surface of a groove, as Figure 1 shown, includes a gripper connecting plate 1, a linear cylinder 2, a cylinder mounting plate 3, a positioning block 4, a suction cup connecting seat 5 and a suction cup 6; The gripper connecting plate 1 is installed at the end of the label handling manipulator body of the oil and gas well perforating cartridge shell. The cylinder mounting plate 3 is installed at the bottom end of the gripper connecting plate 1. The linear cylinder 2 is vertically arranged and installed on the gripper connecting plate 1. The cylinder rod of the linear cylinder 2 passes through the cylinder mounting plate 3, and the end of the cylinder rod is fixedly connected to the upper part of the suction cup connecting seat 5. The suction cup 6 is installed at the lower part of the suction cup connecting seat 5; The positioning block 4 is vertically arranged, the top end of the positioning block 4 is installed on the lower end surface of the cylinder mounting plate 3, the bottom of the positioning block 4 is a horizontally arranged semi-circular arc-shaped protrusion, the arc surface of the semi-circular arc-shaped protrusion is the same as the arc surface of the perforating charge cartridge groove, and a space for accommodating the suction cup 6 and the label is provided on the positioning block 4; When grasping the label, the linear cylinder 2 first drives the suction cup 6 to extend downward out of the positioning block 4, and then the suction cup 6 sucks the label. After sucking, the suction cup 6 and the label rise and enter the positioning block 4; When pasting the label, after the manipulator body for transporting the label of the oil and gas well perforating charge cartridge drives the semi-circular arc-shaped protrusion of the positioning block 4 to enter the perforating charge cartridge groove for positioning and fixing, the linear cylinder 2 then drives the suction cup 6 and the label to extend downward out of the positioning block 4, and fits the label in the perforating charge cartridge groove.

[0028] In this embodiment, the arc surface of the semi-circular arc-shaped protrusion is the same as the arc surface of the perforating charge cartridge groove. The semi-circular arc-shaped protrusion and the groove in the perforating charge cartridge are in a profiling design. The manipulator body for transporting the label of the oil and gas well perforating charge cartridge drives the gripper connecting plate 1 and its upper components to move downward, and the semi-circular arc-shaped protrusion of the positioning block 4 extends into the perforating charge cartridge groove to limit the position of the perforating charge.

[0029] After the positioning block 4 is positioned with the perforating charge cartridge groove, the positioning block 4 is fixed on the perforating charge cartridge groove to prevent the deformation of the label caused by the continuous movement of the positioning block 4. When the positioning block 4 is positioning, the suction cup 6 and the label are located inside the positioning block 4. After the positioning block 4 completes the positioning, the suction cup 6 and the label move out of the positioning block 4 to perform label pasting, that is, first position and then paste, preventing the deformation of the label caused by the positioning movement of the positioning block 4 during the positioning process.

[0030] As Figure 1 shown, the number of the positioning blocks 4 is two, the two positioning blocks 4 are symmetrically installed on both sides of the suction cup connecting seat 5, and a space for accommodating the suction cup 6 and the label is formed between the two positioning blocks 4. The length of the label is less than the distance between the adjacent side surfaces of the two positioning blocks 4. The linear cylinder 2 drives the suction cup 6 to move upward between the adjacent side surfaces of the two positioning blocks 4, that is, the lower end of the suction cup 6 is higher than the lower ends of the two positioning blocks 4 on both sides. The linear cylinder 2 drives the suction cup 6 to move downward, and the suction cup 6 extends out of the two positioning blocks 4, that is, the lower end of the suction cup 6 is slightly lower than the lower ends of the positioning blocks 4.

[0031] As Figure 1 and 2 shown, vertical sliding grooves 501 are opened on both sides of the suction cup connecting seat 5 close to the positioning block 4, and the two positioning blocks 4 are nested in the sliding grooves 501. This arrangement realizes the guidance of the movement of the suction cup connecting seat 5 on the one hand, and limits the horizontal shaking range of the suction cup connecting seat 5 along the direction perpendicular to the connection direction of the two positioning blocks 4 on the other hand.

[0032] AsFigure 1 and 2 As shown in 2 , a horizontal convex-shaped through groove 502 is formed in the upper part of the suction cup connecting seat 5, and the end of the cylinder rod of the linear cylinder 2 is embedded in the convex-shaped through groove 502 of the suction cup connecting seat 5, so as to realize the quick disassembly of the suction cup connecting seat 5 and the linear cylinder 2.

[0033] As a preferred embodiment of this embodiment, the oil and gas well perforating charge shell label handling manipulator body has four degrees of freedom, and the oil and gas well perforating charge shell label handling manipulator body drives the gripper connecting plate 1 to move along the X-axis, Y-axis, Z-axis and rotate around the Z-axis. Further, a vertical buffer mechanism is provided between the output flange of the oil and gas well perforating charge shell label handling manipulator body and the gripper connecting plate 1. The buffer mechanism is a vertically arranged buffer spring. When the oil and gas well perforating charge shell label handling manipulator body drives the gripper connecting plate 1 to move downward, the positioning block 4 extends into the groove of the perforating charge shell, and the buffer mechanism is used to buffer the contact force between the positioning block 4 and the groove of the perforating charge shell.

[0034] As a preferred embodiment of this embodiment, the interior of the gripper connecting plate 1 is a cavity, and the linear cylinder 2 is installed in the internal cavity of the gripper connecting plate 1. This arrangement of the linear cylinder 2 reduces the weight of the end assembly on the one hand and reduces the space occupied by the end assembly on the other hand.

[0035] As Figure 1 and 2 As shown in Figure 1 and 2 , another side of the suction cup connecting seat 5 adjacent to the side where the chute 501 is located is provided with a horizontal air pipe through hole 503, and the lower part of the suction cup connecting seat 5 is provided with a vertical air pipe through hole. The horizontal air pipe through hole 503 and the vertical air pipe through hole are communicated. The air pipe is connected through the horizontal air pipe through hole 503, and the gas is connected to the suction cup 6 through the horizontal air pipe through hole 503 and the vertical air pipe through hole.

[0036] Embodiment 2 A method for realizing high-precision labeling on the arc surface of a groove, comprising the following steps: S1. The oil and gas well perforating charge shell label handling manipulator body drives the gripper connecting plate 1 to move to directly above the label feeding unit; S2. The linear cylinder 2 drives the suction cup 6 to move downward, and the suction cup 6 extends between the two positioning blocks 4. After the suction cup 6 moves in place downward, it sucks the label on the label feeding unit; S3. The linear cylinder 2 drives the suction cup 6 and the label to move upward, and moves the suction cup 6 and the label between the two positioning blocks 4; S4. The oil and gas well perforating charge shell label handling manipulator body drives the gripper connecting plate 1 to move to directly above the groove of the perforating charge shell; S5. The manipulator body of the oil and gas well perforating cartridge shell label handling device drives the gripper connecting plate 1 to rotate until the angle between the semi-circular protrusion at the lower part of the positioning block 4 and the groove of the perforating cartridge shell is the same. Then, the manipulator body of the oil and gas well perforating cartridge shell label handling device drives the gripper connecting plate 1 to move downward, and the semi-circular protrusion of the positioning block 4 moves into the groove of the perforating cartridge shell, and the positioning block 4 is positioned and fixed with the groove of the perforating cartridge shell. S6. The linear cylinder 2 drives the suction cup 6 and the label to move downward. The suction cup 6 and the label extend downward out of the two positioning blocks 4, and the label is pasted into the groove of the perforating cartridge shell.

[0037] The above has specifically described the embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A terminal assembly for achieving high-precision labeling on a grooved arc surface, characterized in that: It comprises a gripper connecting plate (1), a straight-moving cylinder (2), a cylinder mounting plate (3), a positioning block (4), a suction cup connecting seat (5) and a suction cup (6); The gripper connecting plate (1) is mounted on the end of the oil and gas well perforating bullet shell label handling manipulator body, the cylinder mounting plate (3) is mounted on the bottom end of the gripper connecting plate (1), the straight-moving cylinder (2) is vertically arranged and mounted on the gripper connecting plate (1), the cylinder rod of the straight-moving cylinder (2) passes through the cylinder mounting plate (3), the end of the cylinder rod is fixedly connected to the upper part of the suction cup connecting seat (5), and the suction cup (6) is mounted on the lower part of the suction cup connecting seat (5); The positioning block (4) is arranged vertically, the top of the positioning block (4) is mounted on the lower end surface of the cylinder mounting plate (3), the bottom of the positioning block (4) is a horizontally arranged semi-circular arc-shaped protrusion, the arc surface of the semi-circular arc-shaped protrusion is the same as the arc surface of the groove of the perforating bullet shell, and the positioning block (4) is provided with a space for accommodating the suction cup (6) and the label; When grabbing a label, the straight-moving cylinder (2) first drives the suction cup (6) to extend downward out of the positioning block (4), and then the suction cup (6) absorbs the label. After absorption, the suction cup (6) and the label rise and enter the positioning block (4); When labeling, the oil and gas well perforating bullet shell label handling manipulator body drives the semicircular arc-shaped protrusion of the positioning block (4) to enter the groove of the perforating bullet shell for positioning and fixing, and then the straight-moving cylinder (2) drives the suction cup (6) and the label to extend downward from the positioning block (4) to fit the label into the groove of the perforating bullet shell.

2. The terminal assembly according to claim 1, characterized in that: The number of the positioning blocks (4) is two, and the two positioning blocks (4) are symmetrically mounted on both sides of the suction cup connecting seat (5). A space for accommodating the suction cup (6) and the label is formed between the two positioning blocks (4), and the length of the label is less than the distance between adjacent side surfaces of the two positioning blocks (4).

3. The terminal assembly according to claim 2, characterized in that: The suction cup connection seat (5) is provided with vertical sliding grooves (501) on both sides close to the positioning blocks (4), and the two positioning blocks (4) are both nested in the sliding grooves (501).

4. The terminal assembly according to claim 1, characterized in that: A horizontal convex through groove (502) is formed on the upper portion of the suction cup connection seat (5), and the end of the cylinder rod of the straight-moving cylinder (2) is embedded in the convex through groove (502) of the suction cup connection seat (5).

5. The terminal assembly according to claim 1, characterized in that: The oil and gas well perforating bullet shell label handling robot body has four degrees of freedom, and the oil and gas well perforating bullet shell label handling robot body drives the gripper connecting plate (1) to rotate along the X-axis, the Y-axis, the Z-axis and around the Z-axis.

6. The terminal assembly according to claim 1, characterized in that: A vertical buffer mechanism is provided between the output flange of the oil and gas well perforating bullet shell label handling manipulator body and the gripper connecting plate (1).

7. The terminal assembly according to claim 1, characterized in that: The interior of the gripper connecting plate (1) is a cavity, and the straight-moving cylinder (2) is installed in the interior cavity of the gripper connecting plate (1).

8. The terminal assembly according to claim 3, characterized in that: A horizontal air pipe through hole (503) is formed on the other side of the suction cup connection seat (5) adjacent to the side where the slide groove (501) is located, and a vertical air pipe through hole is formed at the lower part of the suction cup connection seat (5). The horizontal air pipe through hole (503) and the vertical air pipe through hole are in communication with each other, and the air pipe is connected to the horizontal air pipe through hole (503), and the gas is connected to the suction cup (6) through the horizontal air pipe through hole (503) and the vertical air pipe through hole.

9. The terminal assembly according to claim 6, characterized in that: The buffer mechanism is a vertically arranged buffer spring.

10. A method for achieving high-precision labeling on a grooved arc surface, characterized in that: The following steps are involved: S1. The oil and gas well perforating bullet shell label handling manipulator body drives the gripper connecting plate (1) to move to the top of the label feeding unit; S2, the straight-moving cylinder (2) drives the suction cup (6) downward, and the suction cup (6) extends between the two positioning blocks (4). After the suction cup (6) moves downward to the right position, it absorbs the label on the label feeding unit; S3, the straight-moving cylinder (2) drives the suction cup (6) and the label upward, and moves the suction cup (6) and the label to between the two positioning blocks (4); S4, the oil and gas well perforating bullet shell label handling manipulator body drives the gripper connecting plate (1) to move to the top of the perforating bullet shell groove; S5, the oil and gas well perforating bullet shell label handling manipulator body drives the gripper connecting plate (1) to rotate until the angle of the semi-circular arc-shaped protrusion at the lower part of the positioning block (4) is consistent with the angle of the perforating bullet shell groove, and then the oil and gas well perforating bullet shell label handling manipulator body drives the gripper connecting plate (1) downward, and the semi-circular arc-shaped protrusion of the positioning block (4) moves into the perforating bullet shell groove, and the positioning block (4) is positioned and fixed with the perforating bullet shell groove; S6, the straight-moving cylinder (2) drives the suction cup (6) and the label downward, the suction cup (6) and the label extend downward from the two positioning blocks (4), and the label is attached to the groove of the perforating bullet shell.

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