An end assembly and method for high precision labeling on a recessed arc surface

Abstract

The application discloses an end assembly and method for realizing high-precision labeling on a concave arc surface, and relates to the technical field of automatic labeling equipment. The end assembly comprises a gripper connecting plate, a straight-line air cylinder, an air 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 an 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-line air cylinder is vertically arranged and installed on the gripper connecting plate, the cylinder rod of the straight-line air cylinder penetrates through the air cylinder mounting plate, the end of the cylinder rod is fixedly connected with the upper portion of the suction cup connecting seat, and the suction cup is installed at the lower portion 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 air cylinder mounting plate, the bottom of the positioning block is a horizontally arranged semicircular protrusion, and the arc surface of the semicircular protrusion is the same as the arc surface of the perforating bullet shell groove. In the labeling process, the positioning block moves into the perforating bullet shell groove, and the relative position of the end assembly and the perforating bullet shell is determined.

Description

Technical Field

[0001] This invention relates to the field of automatic labeling equipment technology, and more specifically to an end assembly and method for achieving high-precision labeling on a grooved arc surface. Background Technology

[0002] One end of the perforating cartridge case in oil and gas wells has a groove for securing the detonating cord during assembly. A through hole, called the detonation transmission hole, is located in the center of the groove. This hole transmits detonation energy. During perforation ignition, the detonation wave propagates sequentially through the detonation sequence after the initiator fires, with the perforating cartridge case detonated by the detonating cord through the transmission hole. During perforating cartridge case production, before loading the cartridge case with explosives, the transmission hole must be sealed with a label to prevent leakage of the explosives. The label must be tightly fitted to the groove to completely seal the transmission hole. Leakage during pressing significantly increases the safety risk in perforating cartridge case production; leakage during use increases the risk of detonation failure. Therefore, the quality of sealing the transmission hole is crucial.

[0003] Existing labeling grippers typically use suction cups to pick up labels, then move the label to a position directly above the perforation cartridge case recess. The angle between the label and the recess is adjusted, and the label is then lowered to embed it into the recess. However, in practical applications, the suction cups and labels are relatively soft. During contact between the label and the recess, the label deforms under pressure, leading to inaccurate relative positioning. This makes automated labeling of perforation cartridge case recesses difficult to implement.

[0004] In the prior art, patent CN112061533B discloses an automatic labeling device for sealing the detonation holes of cartridge cases. It includes a circular conveyor line, a feeding mechanism, a labeling mechanism, and a discharging mechanism. These mechanisms are distributed along the running direction of the circular conveyor line. A cartridge case tray is placed on the circular conveyor line, which moves the tray along it. A positioning and lifting mechanism lifts the cartridge case tray, positioning it and detaching it from the conveyor line to stop its movement. The advantages of this invention are: automated labeling, improved production efficiency, and the lifting mechanism ensuring the cartridge case tray remains stationary at a designated position, improving the accuracy of labeling and guaranteeing labeling quality.

[0005] The automatic labeling device disclosed in the aforementioned patent features a flat structure in the middle of the suction cup to reduce space occupation, and a contoured structure at the bottom of the suction cup that matches the groove of the perforated cartridge case. In this embodiment, the longitudinal section of the groove is semi-circular, and the contoured structure is a protruding semi-circular shape, which increases the contact area between the bottom of the suction cup and the groove of the perforated cartridge case, helps to prevent edge lifting, and improves the flatness of the labeling.

[0006] The aforementioned patent has the following defects:

[0007] 1. The contouring structure at the bottom of the suction cup serves only to increase the contact area between the bottom of the suction cup and the groove of the perforated cartridge case, which helps prevent edge warping. The contouring structure does not provide complete positioning. After the contouring structure contacts the groove of the perforated cartridge case, it can still move relative to the label, which may cause deformation under stress, resulting in inaccurate relative positioning between the label and the groove of the perforated cartridge case.

[0008] 2. The suction cup has a nozzle at the bottom to pick up the label. In actual operation, the label on the nozzle first contacts the groove of the bullet casing, and then the contouring structure contacts the groove of the bullet casing; that is, labeling first, then "positioning". During the time between the label contacting the groove of the bullet casing and the contouring structure contacting the groove of the bullet casing (the time between labeling and "positioning"), if the contouring structure moves left or right, it will still cause the label to deform under force, resulting in inaccurate relative position between the label and the groove of the bullet casing.

[0009] 3. The suction cup is rigidly connected without any cushioning, which can easily lead to loss of precision points when it comes into contact with objects that collide with it. Furthermore, the suction cup is a non-standard part, making replacement difficult and costly after damage. Summary of the Invention

[0010] To overcome the shortcomings of the prior art, this invention discloses an end assembly and method for achieving high-precision labeling on the curved surface of a groove. The purpose of this invention is to solve the problem in the prior art where labels are easily deformed under stress, leading to inaccurate relative positions between the label and the groove of the perforated cartridge case. This invention, by incorporating a pre-positioning mechanism, can pre-position the groove of the perforated cartridge case during the labeling process, thereby ensuring accurate labeling positioning.

[0011] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0012] In a first aspect, the present invention provides an end assembly for achieving high-precision labeling on a grooved arc surface, including a gripper connecting plate, a straight cylinder, a cylinder mounting plate, a positioning block, a suction cup connecting seat, and a suction cup;

[0013] The gripper connecting plate is installed at the end of the manipulator body for transporting the perforation shell label of the oil and gas well. The cylinder mounting plate is installed at the bottom of the gripper connecting plate. The straight cylinder is vertically arranged and installed on the gripper connecting plate. The cylinder rod of the straight cylinder passes through the cylinder mounting plate. The end of the cylinder 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.

[0014] The positioning block is set vertically, with its top end installed on the lower end face of the cylinder mounting plate. The bottom of the positioning block is a horizontally set semi-circular protrusion. The arc surface of the semi-circular protrusion is the same as the arc surface of the cartridge case groove. The positioning block is provided with space for accommodating the suction cup and the label.

[0015] When gripping a label, the straight cylinder first drives the suction cup to extend downwards from the positioning block, and then the suction cup picks up the label. After picking up the label, the suction cup and the label rise into the positioning block.

[0016] When affixing labels, the semi-circular protrusion of the positioning block driven by the manipulator body of the oil and gas well perforation shell label handling robot enters the groove of the perforation shell for positioning and fixing. Then, the straight cylinder drives the suction cup and the label to extend downwards from the positioning block, affixing the label to the groove of the perforation shell.

[0017] Preferably, there are two positioning blocks, which are symmetrically installed on both sides of the suction cup connector, forming a space between the two positioning blocks to accommodate the suction cup and the label. The length of the label is less than the distance between the adjacent sides of the two positioning blocks.

[0018] Preferably, the suction cup connecting seat has vertical grooves on both sides near the positioning block, and the two positioning blocks are nested in the grooves.

[0019] Preferably, the upper part of the suction cup connector has a horizontal convex through groove, and the end of the cylinder rod of the straight cylinder is embedded in the convex through groove of the suction cup connector.

[0020] Preferably, the manipulator body for transporting perforation shell labels in oil and gas wells has four degrees of freedom, and the manipulator body drives the gripper connecting plate to rotate along the X-axis, Y-axis, Z-axis and around the Z-axis.

[0021] Preferably, a vertical buffer mechanism is provided between the output flange of the oil and gas well perforation shell tag handling robot body and the gripper connecting plate.

[0022] Preferably, the gripper connecting plate has a hollow interior, and the straight-line cylinder is installed in the hollow interior of the gripper connecting plate.

[0023] Preferably, a horizontal air pipe through hole is opened on the other side of the suction cup connecting seat adjacent to the side where the slide groove is located, and a vertical air pipe through hole is opened at the lower part of the suction cup connecting seat. The horizontal air pipe through hole and the vertical air pipe through hole are connected. The air pipe is connected from the horizontal air pipe through hole, and the gas is connected to the suction cup through the horizontal air pipe through hole and the vertical air pipe through hole.

[0024] Preferably, the buffer mechanism is a vertically arranged buffer spring.

[0025] Secondly, the present invention provides a method for achieving high-precision labeling on a grooved arc surface, comprising the following steps:

[0026] S1. The manipulator body of the oil and gas well perforation shell tag handling robot moves the gripper connecting plate to directly above the tag feeding unit;

[0027] S2. The straight cylinder drives the suction cup downwards, and the suction cup extends between the two positioning blocks. After the suction cup reaches the bottom, it picks up the label from the label feeding unit.

[0028] S3. The straight-line cylinder drives the suction cup and label upward, moving the suction cup and label between the two positioning blocks;

[0029] S4. The manipulator body of the oil and gas well perforation shell label handling robot moves the gripper connecting plate to the top of the perforation shell groove.

[0030] S5. The manipulator body of the oil and gas well perforation shell label handling robot drives the gripper connecting plate to rotate until the angle of the semi-circular protrusion at the bottom of the positioning block is consistent with the groove of the perforation shell. Then, the manipulator body of the oil and gas well perforation shell label handling robot drives the gripper connecting plate to move downward, and the semi-circular protrusion of the positioning block moves into the groove of the perforation shell. The positioning block and the groove of the perforation shell are positioned and fixed.

[0031] S6. The straight cylinder drives the suction cup and label downwards. The suction cup and label extend downwards through two positioning blocks, and the label is attached to the groove of the cartridge case.

[0032] The beneficial effects of this invention are:

[0033] The present invention has a positioning block integrated at the end of the end assembly. During the labeling process, the positioning block moves into the groove of the perforation cartridge case to determine the relative position of the end assembly and the perforation cartridge case. The straight cylinder then drives the suction cup downward to ensure that the suction cup can smoothly carry the label into the groove of the perforation cartridge case for labeling.

[0034] The end assembly provided by the present invention has a horizontally arranged semi-circular protrusion at the bottom of the positioning block. The arc surface of the semi-circular protrusion is the same as the arc surface of the perforated bullet shell groove. After the positioning block is positioned with the perforated bullet shell groove, the positioning block is fixed on the perforated bullet shell groove to prevent the label from deforming due to the continued movement of the positioning block.

[0035] The end assembly provided by this invention allows the suction cup and label to be positioned within the positioning block during the labeling process. After the positioning block is positioned, the suction cup and label move out of the positioning block for labeling. That is, positioning is performed first, and then labeling is performed, which prevents the label from being deformed due to the positioning movement of the positioning block during the positioning process.

[0036] The end-effector assembly provided by this invention has a vertical buffer mechanism between the output flange of the oil and gas well perforation shell tag handling robot body and the gripper connecting plate. The buffer mechanism is a vertically arranged buffer spring. The end-effector assembly is flexibly connected to the tag handling robot body, and the spring buffer helps to mitigate impact deformation or system point loss and accuracy reduction after a collision.

[0037] The end assembly provided by this invention uses a standard suction cup. When replacing it, only the lower suction cup needs to be replaced. The suction cup can be directly put onto the suction cup connector to complete the replacement. The suction cup is easy to replace, and the maintenance and manufacturing costs are lower.

[0038] The end assembly provided by this invention can rotate freely 360 degrees and automatically rotates and aligns with the groove of the firing port cartridge case in conjunction with the vision system, without the need for the attitude adjustment mechanism of the aforementioned patent. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the end assembly of the present invention;

[0040] Figure 2 This is a three-dimensional structural diagram of the suction cup connector of the present invention;

[0041] Figure label:

[0042] 1. Handle connecting plate; 2. Straight cylinder; 3. Cylinder mounting plate; 4. Positioning block; 5. Suction cup connecting seat; 501. Slide groove; 502. T-shaped through groove; 503. Horizontal air pipe through hole; 6. Suction cup. Detailed Implementation

[0043] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.

[0044] Example 1

[0045] An end assembly that achieves high-precision labeling on a grooved arc surface, such as... Figure 1 As shown, it includes a gripper connecting plate 1, a straight cylinder 2, a cylinder mounting plate 3, a positioning block 4, a suction cup connecting seat 5, and a suction cup 6;

[0046] The gripper connecting plate 1 is installed at the end of the manipulator body for transporting the perforation shell label of the oil and gas well. The cylinder mounting plate 3 is installed at the bottom of the gripper connecting plate 1. The straight cylinder 2 is vertically arranged and installed on the gripper connecting plate 1. The cylinder rod of the straight 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. The suction cup 6 is installed at the lower part of the suction cup connecting seat 5.

[0047] The positioning block 4 is vertically arranged, with its top end installed on the lower end face of the cylinder mounting plate 3. The bottom of the positioning block 4 is a horizontally arranged semi-circular arc protrusion. The arc surface of the semi-circular arc protrusion is the same as the arc surface of the cartridge case groove. The positioning block 4 is provided with a space for accommodating the suction cup 6 and the label.

[0048] When grabbing the label, the straight cylinder 2 first drives the suction cup 6 to extend downward from the positioning block 4, and then the suction cup 6 picks up the label. After picking up the label, the suction cup 6 and the label rise into the positioning block 4.

[0049] When affixing labels, the semi-circular protrusion of the positioning block 4 driven by the oil and gas well perforation shell label handling robot enters the perforation shell groove for positioning and fixing. Then, the straight cylinder 2 drives the suction cup 6 and the label to extend downward from the positioning block 4, affixing the label to the perforation shell groove.

[0050] In this embodiment, the arc surface of the semi-circular protrusion is the same as the arc surface of the groove in the perforation shell. The semi-circular protrusion and the groove in the perforation shell are designed to mimic each other. The main body of the oil and gas well perforation shell label handling robot moves the gripper connecting plate 1 and its upper components downward. The semi-circular protrusion of the positioning block 4 extends into the groove in the perforation shell to limit the position of the perforation shell.

[0051] After the positioning block 4 is positioned in the groove of the bullet casing, it is fixed in place to prevent label deformation caused by continued movement of the positioning block 4. During positioning, the suction cup 6 and the label are located inside the positioning block 4. After positioning is completed, the suction cup 6 and the label move out of the positioning block 4 for labeling. That is, positioning is done first, and then labeling is done, which prevents label deformation caused by the positioning movement of the positioning block 4 during the positioning process.

[0052] like Figure 1 As shown, there are two positioning blocks 4, which are symmetrically installed on both sides of the suction cup connecting seat 5. The space between the two positioning blocks 4 is used to accommodate the suction cup 6 and the label. The length of the label is less than the distance between the adjacent sides of the two positioning blocks 4. The straight-line cylinder 2 drives the suction cup 6 upward to the space between the adjacent sides 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. The straight-line cylinder 2 drives the suction cup 6 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 end of the positioning blocks 4.

[0053] like Figure 1 and 2 As shown, the suction cup connecting seat 5 has vertical grooves 501 on both sides near the positioning blocks 4, and the two positioning blocks 4 are nested in the grooves 501. This arrangement guides the movement of the suction cup connecting seat 5 and limits the horizontal sway range of the suction cup connecting seat 5 along the direction perpendicular to the connection of the two positioning blocks 4.

[0054] like Figure 1 and 2 As shown, the upper part of the suction cup connecting seat 5 has a horizontal convex through groove 502, and the end of the cylinder rod of the straight cylinder 2 is embedded in the convex through groove 502 of the suction cup connecting seat 5, thereby realizing the quick disassembly of the suction cup connecting seat 5 and the straight cylinder 2.

[0055] In a preferred embodiment of this invention, the manipulator body for transporting perforating cartridge cases and tags in oil and gas wells has four degrees of freedom. The manipulator body drives the gripper connecting plate 1 to rotate along the X, Y, and Z axes, as well as around the Z axis. Furthermore, a vertical buffer mechanism is provided between the output flange of the manipulator body and the gripper connecting plate 1. The buffer mechanism is a vertically arranged buffer spring. When the manipulator body drives the gripper connecting plate 1 downwards, the positioning block 4 extends into the perforating cartridge case groove, and the buffer mechanism buffers the contact force between the positioning block 4 and the perforating cartridge case groove.

[0056] In a preferred embodiment of this invention, the gripper connecting plate 1 has a hollow interior, and the straight-moving cylinder 2 is installed within the hollow interior of the gripper connecting plate 1. This arrangement of the straight-moving cylinder 2 reduces both the weight of the end assembly and the space occupied by the end assembly.

[0057] like Figure 1 and 2 As shown, a horizontal air pipe through hole 503 is opened on the other side of the suction cup connecting seat 5 adjacent to the side where the slide groove 501 is located, and a vertical air pipe through hole is opened at the lower part of the suction cup connecting seat 5. The horizontal air pipe through hole 503 and the vertical air pipe through hole are connected. 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.

[0058] Example 2

[0059] A method for achieving high-precision labeling on a grooved arc surface includes the following steps:

[0060] S1. The main body of the oil and gas well perforation shell label handling robot moves the gripper connecting plate 1 to directly above the label feeding unit;

[0061] S2. The straight cylinder 2 drives the suction cup 6 to move downward. The suction cup 6 extends between the two positioning blocks 4. After the suction cup 6 moves to the position, it picks up the label on the label feeding unit.

[0062] S3, the straight cylinder 2 drives the suction cup 6 and the label to move upward, moving the suction cup 6 and the label between the two positioning blocks 4;

[0063] S4. The manipulator body of the oil and gas well perforation shell label handling robot moves the gripper connecting plate 1 to the top of the perforation shell groove;

[0064] S5. The manipulator body of the oil and gas well perforation shell label handling robot drives the gripper connecting plate 1 to rotate until the angle of the semi-circular protrusion at the bottom of the positioning block 4 is consistent with the groove of the perforation shell. Then, the manipulator body of the oil and gas well perforation shell label handling robot drives the gripper connecting plate 1 to move downward. The semi-circular protrusion of the positioning block 4 moves into the groove of the perforation shell, and the positioning block 4 is positioned and fixed with the groove of the perforation shell.

[0065] S6, the straight cylinder 2 drives the suction cup 6 and the label downwards, the suction cup 6 and the label extend downwards to the two positioning blocks 4, and the label is attached to the groove of the cartridge case of the firing hole.

[0066] The embodiments of the present invention have been described in detail above, 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 equivalents or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. An end assembly for high precision labelling on a recessed arc surface, characterised in that, It comprises a gripper connecting plate (1), a straight 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 oil and gas well perforating bullet shell body label carrying manipulator body, the cylinder mounting plate (3) is installed at the bottom end of the gripper connecting plate (1), the straight cylinder (2) is vertically arranged and installed on the gripper connecting plate (1), the cylinder rod of the straight cylinder (2) penetrates through the cylinder mounting plate (3), and the end of the cylinder rod is fixedly connected with the upper part of the suction cup connecting seat (5), the suction cup (6) is installed on 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 face of the cylinder mounting plate (3), the bottom of the positioning block (4) is a horizontally arranged semicircular protrusion, the arc surface of the semicircular protrusion is the same as the arc surface of the perforating bullet shell groove, and a space for accommodating the suction cup (6) and the label is arranged on the positioning block (4). The number of the positioning block (4) is two, the two positioning blocks (4) are symmetrically installed on the two sides of the suction cup connecting seat (5), the 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 the adjacent side faces of the two positioning blocks (4). The two sides of the suction cup connecting seat (5) close to the positioning block (4) are each provided with a vertical sliding groove (501), and the two positioning blocks (4) are nested in the sliding grooves (501). The upper part of the suction cup connecting seat (5) is provided with a horizontal convex-shaped through groove (502), and the end of the cylinder rod of the straight cylinder (2) is embedded in the convex-shaped through groove (502) of the suction cup connecting seat (5). When the label is grabbed, the straight cylinder (2) first drives the suction cup (6) to stretch out below the positioning block (4), then the suction cup (6) sucks the label, and after sucking, the suction cup (6) and the label rise into the positioning block (4). When the label is pasted, after the oil and gas well perforating bullet shell body label carrying manipulator body drives the semicircular protrusion of the positioning block (4) to enter the perforating bullet shell groove to be positioned and fixed, the straight cylinder (2) drives the suction cup (6) and the label to stretch out below the positioning block (4), and the label is pasted in the perforating bullet shell groove.

2. The tip assembly of claim 1, wherein, The oil and gas well perforating bullet shell body label carrying manipulator body has four degrees of freedom, the oil and gas well perforating bullet shell body label carrying manipulator body drives the gripper connecting plate (1) to move along the X axis, the Y axis, the Z axis and rotate around the Z axis.

3. The tip assembly of claim 1, wherein, A vertical buffer mechanism is arranged between the output flange of the oil and gas well perforating bullet shell body label carrying manipulator body and the gripper connecting plate (1).

4. The tip assembly of claim 1, wherein, The inside of the gripper connecting plate (1) is a cavity, and the straight cylinder (2) is installed in the internal cavity of the gripper connecting plate (1).

5. The tip assembly of claim 1, wherein, The other side of the suction cup connecting seat (5) adjacent to the side face where the sliding groove (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 from the horizontal air pipe through hole (503), and the gas is connected into the suction cup (6) through the horizontal air pipe through hole (503) and the vertical air pipe through hole.

6. The tip assembly of claim 3, wherein, The buffering mechanism is a vertically arranged buffering spring.

7. A method of high-precision labelling on a recessed arc surface using the end assembly according to any one of claims 1 to 6, characterized in that, The method comprises the following steps: S1, the oil and gas well perforating bullet shell label carrying manipulator body drives the gripper connecting plate (1) to move to the front of the label supply unit; S2, the straight cylinder (2) drives the suction cup (6) to move downward, the suction cup (6) extends between the two positioning blocks (4), and after the suction cup (6) moves to the position, the label on the label supply unit is sucked; S3, the straight cylinder (2) drives the suction cup (6) and the label to move upward, and the suction cup (6) and the label are moved between the two positioning blocks (4); S4, the oil and gas well perforating bullet shell label carrying manipulator body drives the gripper connecting plate (1) to move to the front of the perforating bullet shell groove; S5, the oil and gas well perforating bullet shell label carrying manipulator body drives the gripper connecting plate (1) to rotate to the angle consistent with the half-arc convex of the positioning block (4) and the perforating bullet shell groove, and then the oil and gas well perforating bullet shell label carrying manipulator body drives the gripper connecting plate (1) to move downward, the half-arc convex 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 cylinder (2) drives the suction cup (6) and the label to move downward, the suction cup (6) and the label extend downward between the two positioning blocks (4), and the label is pasted into the perforating bullet shell groove.

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