A gripper for I-Nodal V2 node instruments

Abstract

The utility model discloses a kind of I-Nodal V2 node instrument clamping clamping jaw, including connecting arm, the connecting arm one end connects slide platform air cylinder, the slide platform air cylinder is clamping air cylinder, is provided with the first sliding plate of opposite movement, second sliding plate, the first sliding plate connects first movable jaw, the second sliding plate connects second movable jaw, the second sliding plate is connected longitudinal guide rod air cylinder between second movable jaw and first movable jaw, the longitudinal moving end of longitudinal guide rod air cylinder connects top support piece, the top support piece is in the clamping area longitudinal projection between first movable jaw, second movable jaw;Horizontal guide rod air cylinder is arranged between the longitudinal guide rod air cylinder and first movable jaw, and the horizontal moving end of horizontal guide rod air cylinder is towards clamping area.The utility model serves the automatic upper and lower cabinet system of I-Nodal V2 node instrument, can complete the clamping, push in, top support etc. action of clamping jaw in automatic upper and lower cabinet process, guarantee node upper and lower cabinet success.

Description

Technical Field

[0001] This utility model relates to the field of seismic exploration technology, specifically to an I-Nodal V2 node instrument clamping gripper. Background Technology

[0002] Currently, domestic oil and gas exploration is developing towards higher density and larger scale, which places higher demands on the download / charging efficiency and labor costs of seismic acquisition instruments (hereinafter referred to as nodal instruments). Applying automation technology to the download / charging process of nodal instruments can improve the efficiency of the download / charging process to a certain extent and reduce labor costs.

[0003] Currently, an automated cabinet loading and unloading system has been designed to automate the loading and unloading of node instruments. The gripper design for holding the node needs to meet the requirements of good coupling with the node and stable gripping. Furthermore, the gripper needs to be able to perform actions such as gripping, pushing in, and supporting. To meet this standard, a gripper for the I-Nodal V2 node instrument serving the automated cabinet loading system has been designed.

[0004] Publication No. CN117508954A discloses an automated storage and retrieval system for node instruments, comprising: a node buffer mechanism for sequential assembly, a gantry robot, and a storage bin; wherein, the node buffer mechanism includes a first mounting gantry and a first power unit fixedly mounted on the first mounting gantry, the first power unit being configured with a tray for accommodating node instruments; the gantry robot includes a second mounting gantry and a second power unit fixedly mounted on the second mounting gantry, the second power unit being configured with a robot arm assembly; the storage bin includes a tray for storing the node instruments.

[0005] Publication number CN118025791A discloses a gripper for deploying and retrieving instruments at land nodes, comprising a frame, a drive mechanism, a gripper assembly, a vertical buffer mechanism, a horizontal buffer mechanism, a data acquisition and transmission mechanism, and a control device. The drive mechanism includes a ball screw and a motor. The gripper assembly includes a first gripper and a second gripper. The vertical buffer mechanism includes a vertical guide sleeve and a vertical guide post, with a first spring sleeved on the vertical guide post. It also includes a pressure measuring push rod and a pressure sensor. The horizontal buffer mechanism includes a horizontal guide post, with two horizontal guide sleeves slidably connected to the horizontal guide post, and a central support plate fixed on the horizontal guide sleeves. A second spring is sleeved on the horizontal guide post. The data acquisition and transmission mechanism includes a distance measuring sensor and a camera.

[0006] Publication No. CN116299661A discloses a high-precision seismic detector and its matching fixture suitable for oil and gas exploration, including a fixture device and a detector; the fixture device mainly includes a gearbox, a clamping plate, and a fixture frame; the detector mainly includes a signal receiving device and a tail cone device; the gearbox mainly includes a driven gear shaft, a driven gear, a lower gearbox housing, a gearbox bevel gear, a driving gear, a driving shaft, and a gearbox upper housing; the fixture frame mainly includes a transverse bevel gear shaft and a transverse bevel gear; the signal receiving device mainly includes a cover plate, a signal receiving device body, a clamping plate groove, and a sliding bearing; the tail cone device mainly includes a support ring, a sliding groove, a lower tail cone housing, an upper tail cone housing, and a secondary tail cone transmission device.

[0007] The aforementioned existing technologies cannot be applied to the I-Nodal V2 node instrument. Therefore, this patent proposes an I-Nodal V2 node instrument clamping gripper.

[0008] In summary, the technical solutions, technical problems to be solved, and beneficial effects of the above-disclosed technologies are all different from those of this utility model. For more technical features, technical problems to be solved, and beneficial effects of this utility model, the above-disclosed technical documents do not provide any technical inspiration. Utility Model Content

[0009] In order to overcome the shortcomings of the prior art and solve at least one of the technical problems mentioned in the background art, this utility model provides an I-Nodal V2 node instrument clamping gripper.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] A clamping gripper for an I-Nodal V2 node instrument includes a connecting arm. One end of the connecting arm is connected to a slide cylinder, which is a clamping cylinder. The slide cylinder has a first sliding plate and a second sliding plate that move in opposite directions. The first sliding plate is connected to a first movable gripper, and the second sliding plate is connected to a second movable gripper. A longitudinal guide rod cylinder is connected between the second movable gripper and the first movable gripper. The longitudinally moving end of the longitudinal guide rod cylinder is connected to a top support plate, which is located within the longitudinal projection of the clamping area between the first and second movable grippers. A transverse guide rod cylinder is disposed between the longitudinal guide rod cylinder and the first movable gripper, with its transversely moving end facing the clamping area.

[0012] Furthermore, the first movable claw and the second movable claw are in the shape of vertical plates. The faces of the first movable claw and the second movable claw facing each other are provided with a boss at the end away from the slide cylinder. The vertical surface of the boss is provided with a friction plate, and the area between the two friction plates is the clamping area.

[0013] Furthermore, the friction pad is a silicone sheet, and the friction pad is connected to the boss by an adhesive bonding method.

[0014] Furthermore, the upper end of the longitudinal guide rod cylinder is connected to a first transition plate, and the upper end of the first transition plate is connected to a second sliding plate.

[0015] Furthermore, the transverse guide rod cylinder is connected to the connecting arm via an L-shaped plate, and the transverse guide rod cylinder is located at the center of the slide cylinder; after clamping the node instrument, the transverse guide rod cylinder is located above the interface of the node instrument.

[0016] Furthermore, the connecting arm is connected to the slide cylinder by setting a thick vertical plate, the lower end of the thick vertical plate is connected to the horizontal part of the L-shaped plate, and the transverse guide rod cylinder is connected to the vertical part of the L-shaped plate;

[0017] The end of the connecting arm furthest from the slide cylinder is provided with a robot connecting flange.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] This utility model serves the automatic loading and unloading system of the I-Nodal V2 node instrument, and can complete the clamping, pushing, and supporting actions of the grippers during the automatic loading and unloading process to ensure the successful loading and unloading of the node. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a clamping claw for an I-Nodal V2 node instrument according to this utility model.

[0021] Figure 2 This is a schematic diagram of the I-Nodal V2 node instrument of this utility model.

[0022] In the figure: connecting arm 1, slide cylinder 2, first sliding plate 3, first movable claw 4, second sliding plate 5, second movable claw 6, longitudinal guide rod cylinder 7, longitudinal moving end 8, friction plate 9, top support plate 10, transverse guide rod cylinder 11, transverse moving end 12, boss 13, thick vertical plate 14, robot connecting flange 15, second transition plate 21, first transition plate 22, L-shaped plate 23, node instrument 100. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figures 1 to 2 This utility model provides an I-Nodal V2 node instrument clamping gripper, including a connecting arm 1. One end of the connecting arm 1 is connected to a slide cylinder 2, which is a clamping cylinder. The slide cylinder 2 has a first sliding plate 3 and a second sliding plate 5 that move in opposite directions. The first sliding plate 3 of the slide cylinder 2 is connected to a first movable claw 4, and the second sliding plate 5 of the slide cylinder 2 is connected to a second movable claw 6. A longitudinal guide rod cylinder 7 is connected between the second movable claw 6 and the first movable claw 4. The longitudinally moving end 8 of the longitudinal guide rod cylinder 7 is connected to a top support plate 10, which is located within the longitudinal projection of the clamping area between the first movable claw 4 and the second movable claw 6. A transverse guide rod cylinder 11 is provided between the longitudinal guide rod cylinder 7 and the first movable claw 4, with its transversely moving end 12 facing the clamping area. Its functions include stable clamping of the node instrument 100, lateral pushing of the node instrument 100, and snap-fit ​​support of the node cabinet base.

[0025] Furthermore, the first movable claw 4 and the second movable claw 6 are in the shape of vertical plates. The faces of the first movable claw 4 and the second movable claw 6 facing each other are provided with a boss 13 at the end away from the slide cylinder 2. The vertical surface of the boss 13 is provided with friction plates 9, and the area between the two friction plates 9 is the clamping area.

[0026] Specifically, the friction pad 9 is a silicone pad, and the friction pad 9 is connected to the boss 13 by adhesive bonding.

[0027] Specifically, the upper end of the longitudinal guide rod cylinder 7 is connected to the first transition plate 22, and the upper end of the first transition plate 22 is connected to the second sliding plate 5. This arrangement allows the second movable claw 6 to act as a positioning component for the longitudinal guide rod cylinder 7, enabling the top support plate 10 to align with the buckle on the base of the node cabinet, and also allows the longitudinal guide rod cylinder 7 to be offset to prevent interference with the interface of the node instrument 100.

[0028] Specifically, the lower end of the first sliding plate 3 is connected to the second transition plate 21, which can be used to connect other auxiliary tools.

[0029] Furthermore, the transverse guide cylinder 11 is connected to the connecting arm 1 via the L-shaped plate 23, and the transverse guide cylinder 11 is located at the center of the slide cylinder 2; after clamping the node instrument 100, the transverse guide cylinder 11 is located above the interface of the node instrument 100 to avoid interference.

[0030] Furthermore, the connecting arm 1 is connected to the slide cylinder 2 via a thick vertical plate 14. The lower end of the thick vertical plate 14 is connected to the horizontal part of the L-shaped plate 23, and the transverse guide cylinder 11 is connected to the vertical part of the L-shaped plate 23. A robot connecting flange 15 is provided at the end of the connecting arm 1 away from the slide cylinder 2 to facilitate connection with the robot and achieve automated operation.

[0031] It should be noted that the slide cylinder 2, longitudinal guide rod cylinder 7, and transverse guide rod cylinder 11 used in this patent are all prior art, and those skilled in the art are clear about their structure and usage methods, so they will not be described in detail here. The related I-Nodal V2 node instrument 100 and node cabinet are also prior art, so they will not be described in detail here. Furthermore, the connection between the various components in this patent is a countersunk bolt connection, and the reserved connection holes can be seen in the figure. Those skilled in the art can clearly understand the connection method between the various components, so they will not be described in detail here.

[0032] During use, the robot connecting flange 15 is installed and connected to the robot end, and the first movable claw 4 and the second movable claw 6 are fitted to the outer shell of the node instrument 100 to ensure uniform clamping force. The friction plate 9 protects the node shell and increases friction.

[0033] The slide cylinder 2 serves the clamping action, the longitudinal guide rod cylinder 7 serves the supporting action, and the transverse guide rod cylinder 11 serves the pushing action, completing three sets of six actions: clamping, releasing, pushing, returning, and lifting. The three sets of actions are independent of each other.

[0034] During clamping, the second sliding plate 5 is positioned on one side of the node instrument 100, the slide cylinder 2 then retracts the first sliding plate 3 to complete the clamping action, and the longitudinal guide rod cylinder 7 retracts the top support plate 10 to complete the retraction action, thereby achieving stable clamping of the node instrument 100.

[0035] The gripper holds the node instrument 100 for cabinet loading and unloading operations. When loading the node, after the gripper reaches the upper cabinet position, the horizontal guide rod cylinder 11 performs a pushing action to push the node instrument 100 into the cabinet base. When unloading the node, the vertical guide rod cylinder 7 performs a pushing action, and the top support plate 10 pops open the buckle at the bottom of the cabinet base to release the node instrument 100 before the gripping operation is performed again.

[0036] All components not discussed in detail in this application, as well as the connection methods of these components, are well-known technologies in this field. They can be directly applied and will not be elaborated further.

[0037] In this utility model, the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit 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 utility model.

[0039] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0040] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A clamping gripper for an I-Nodal V2 node instrument, comprising a connecting arm, one end of which is connected to a slide cylinder, the slide cylinder being a clamping cylinder, and equipped with a first sliding plate and a second sliding plate that move in opposite directions, the first sliding plate being connected to a first movable gripper, and the second sliding plate being connected to a second movable gripper, characterized in that... The second sliding plate is connected to a longitudinal guide rod cylinder between the second movable claw and the first movable claw. The longitudinal moving end of the longitudinal guide rod cylinder is connected to a top support plate. The top support plate is located within the longitudinal projection of the clamping area between the first movable claw and the second movable claw. A transverse guide cylinder is provided between the longitudinal guide cylinder and the first movable claw, with the transverse moving end of the transverse guide cylinder facing the clamping area.

2. The I-Nodal V2 node instrument clamping gripper according to claim 1, characterized in that, The first movable claw and the second movable claw are in the shape of vertical plates. The faces of the first movable claw and the second movable claw facing each other are provided with a boss at the end away from the slide cylinder. The vertical surface of the boss is provided with a friction plate, and the area between the two friction plates is the clamping area.

3. The I-Nodal V2 node instrument clamping gripper according to claim 2, characterized in that, The friction pad is a silicone sheet, and the friction pad is connected to the boss by adhesive bonding.

4. The I-Nodal V2 node instrument clamping gripper according to claim 1, characterized in that, The upper end of the longitudinal guide rod cylinder is connected to the first transition plate, and the upper end of the first transition plate is connected to the second sliding plate.

5. The I-Nodal V2 node instrument clamping gripper according to claim 4, characterized in that, The transverse guide rod cylinder is connected to the connecting arm via an L-shaped plate, and the transverse guide rod cylinder is located at the center of the slide cylinder; after clamping the node instrument, the transverse guide rod cylinder is located above the interface of the node instrument.

6. The I-Nodal V2 node instrument clamping gripper according to claim 5, characterized in that, The connecting arm is connected to the slide cylinder by a thick vertical plate. The lower end of the thick vertical plate is connected to the horizontal part of the L-shaped plate, and the transverse guide rod cylinder is connected to the vertical part of the L-shaped plate. The end of the connecting arm furthest from the slide cylinder is provided with a robot connecting flange.

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