A gripping module for mounting on a robot

Abstract

The utility model discloses a kind of clamping modules for being installed on manipulator, it is related to the field of component structure of calandria machine, including shell, shell is connected with the connecting structure for being detachably connected with the pincer arm of manipulator;The inside of the shell is equipped with mounting groove, mounting groove is assembled with pincer tooth component, the bottom surface of pincer tooth component and the groove bottom of mounting groove are pasted, and the top surface of pincer tooth component has tooth.The utility model can be installed on manipulator, realize not needing to replace manipulator also can quickly adapt to the clamping demand of original manipulator to small size pipe column.

Description

Technical Field

[0001] This utility model relates to the field of pipe laying machine component structure, and in particular to a clamping module for mounting on a robotic arm. Background Technology

[0002] With the continuous development of oil and gas drilling equipment, semi-automatic or automated equipment is now widely used in a large number of drilling and workover operations. During the tubing string deployment process, it is typically necessary to install a tubing string deployment device on both the drilling platform and the secondary platform of the derrick, working in conjunction with the traveling block system at the top of the derrick to complete the deployment. During the tubing string deployment process, the robotic arm in the deployment device located on the secondary platform usually only performs a single support function.

[0003] Different sizes of tubing require different functionalities during discharge. For example, smaller tubing (…) For pipes (3.5 inches and below), the robotic arm in the two-tiered discharge device needs to provide clamping functionality; for larger pipes (3.5 inches and above), the robotic arm in the two-tiered discharge device is more suitable for providing support functionality.

[0004] Therefore, for discharge equipment that has already been equipped with a robotic arm with a support function, when discharging small-sized tubular columns, it is necessary to replace it with a robotic arm with a clamping function. However, the robotic arm is large in size, heavy in weight, and has many connection points, making disassembly and replacement quite troublesome. Therefore, a clamping module that can be installed on the robotic arm is needed. Utility Model Content

[0005] The purpose of this utility model is to provide a gripping module for installation on a robotic arm, which can be installed on the robotic arm and can quickly adapt to the existing robotic arm's gripping needs for small-sized tubular columns without replacing the robotic arm.

[0006] The technical solution adopted by this utility model is as follows: a clamping module for installation on a robotic arm includes a housing, and the housing is connected to a connection structure for detachable connection with the clamp arm of the robotic arm; an installation groove is provided on the inner side of the housing, and a clamping jaw assembly is assembled in the installation groove, the bottom surface of the clamping jaw assembly fits against the bottom of the installation groove, and the top surface of the clamping jaw assembly has teeth.

[0007] Furthermore, the connection structure includes a connecting seat for detachable connection with the clamp arm, the connecting seat having a threaded through hole for detachable connection between the connecting seat and the clamp arm; the outer shell is connected to the connecting seat.

[0008] Furthermore, a connector is provided between the outer shell and the connecting seat. The upper end of the outer shell is rotatably connected to one end of the connector, and the connecting seat is rotatably connected to the other end of the connector, so as to enable the outer shell to be rotatably connected to the clamp arm. A locking mechanism is provided between the outer shell and the connecting seat. After the clamping module is installed on the clamp arm, there are two states as follows: When the clamping module is in the unlocked state, the clamping module is located within the space surrounded by the two clamping arms; When the clamping module is in the locked state, the clamping module is locked outside the space surrounded by the two clamping arms by the locking mechanism.

[0009] Furthermore, the locking mechanism includes a locking block, a placement groove, and a locking pin; the locking block is disposed on the upper end of the housing, and the locking block has a first locking hole, the axis of the first locking hole being non-collinear with the rotation axis of the housing; the placement groove is disposed on the connecting seat and is used to place the locking block, and a second locking hole is provided on the groove wall of the placement groove; when locking the clamping module, the locking block is located in the placement groove, and the locking pin passes through the first locking hole and the second locking hole to achieve locking.

[0010] Furthermore, the mounting groove is a wedge-shaped groove with an inclined bottom, and the upper side of the mounting groove is close to the upper end of the outer shell, while the lower side of the mounting groove is close to the lower end of the outer shell. The upper side of the mounting groove is deeper than the lower side. The jaw assembly is slidably connected to the mounting groove, and the normal vector of the bottom surface of the jaw assembly is a first normal vector, while the normal vector of the surface where the bottom of the mounting groove is located is a second normal vector. The first normal vector and the second normal vector are parallel. An elastic element is provided between the lower end of the jaw assembly and the lower sidewall of the mounting groove.

[0011] Furthermore, the elastic element is a compression spring, and at least one guide rod passes sequentially through the upper material of the housing, the jaw assembly in the mounting groove, and the compression spring before being fixedly connected to the lower material of the housing.

[0012] Furthermore, the guide rod is a long screw rod, which is threadedly connected to the lower end material of the outer casing.

[0013] Furthermore, the forceps assembly includes a base and a plate, the plate being fixed to the front of the base, and the back of the base serving as the bottom surface of the forceps assembly; the teeth are mounted on the plate, and the teeth are triangular in shape, arranged with their cusps pointing upwards. Furthermore, the number of dental plates is at least two, and there are at least two dental plates whose cusp faces form an obtuse angle. The cusp face refers to the plane formed by the cusps of all teeth on the dental plate.

[0014] Furthermore, the back of the tooth holder is provided with a star-shaped groove, and the front of the tooth holder is provided with an oil cup, which is connected to the star-shaped groove through an oil hole.

[0015] Furthermore, a guide plate is installed on the outer shell, and the guide plates in the clamping modules on the two clamping arms together form a wide-mouth guide structure. After the clamping modules are installed on the clamping arms, the guide structure is located in the space surrounded by the two clamping arms and is located at the entrance of the two clamping arms.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are: The clamping module disclosed in this utility model can be installed on the gripper head of the robotic arm according to the actual situation, so as to achieve the ability to clamp small-sized tubular columns without disassembling the robotic arm with support function. Attached Figure Description

[0017] This utility model will be described by way of example and with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the assembly inside the outer casing; Figure 3 This is a schematic diagram of the cross-sectional structure of the outer shell; Figure 4 This is a schematic diagram of the back structure of the dental arch; Figure 5 This is a schematic diagram of the front structure of the dental arch. The markings in the diagram are: 1-connecting seat; 11-second locking hole; 2-connecting piece; 3-locking pin; 41-outer shell; 411-mounting groove; 412-weight reduction hole; 42-locking pressure plate; 43-tooth seat; 431-oil cup; 432-cross groove; 433-dovetail groove; 434-limiting block; 44-tooth plate; 45-elastic element; 46-guide rod; 421-first locking hole; 47-guide plate. Detailed Implementation

[0018] In the description of this specification, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, they are only for the convenience of describing this specification and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this specification.

[0019] Furthermore, the use of terms such as "horizontal" or "vertical" in this specification does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0020] In the description of this specification, it should also be noted that, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” should be interpreted broadly. For example, a link can be a fixed link, a detachable link, or an integral link; it can be a mechanical link or an electrical link; it can be a direct link or an indirect link through an intermediate medium; it can be a connection within two components.

[0021] like Figures 1-5 As shown, a gripping module for mounting on a robotic arm includes a housing 41. The upper end of the housing 41 is connected to a connection structure for detachable connection with the gripper arm of the robotic arm. An installation groove 411 is provided on the inner side of the housing 41. A jaw assembly is assembled in the installation groove 411. The bottom surface of the jaw assembly fits against the bottom of the installation groove 411. The top surface of the jaw assembly has teeth.

[0022] In this embodiment, when the robotic arm needs to grip a small-sized tubular column, the gripping module can be installed on the gripper arm of the robotic arm via a connecting structure, and the gripping module is located within the space surrounded by the two gripper arms. Both gripper arms of the robotic arm are equipped with the gripping module, thereby coordinating with the closing and opening of the gripper arms to achieve the gripping and releasing of small-sized tubular columns. When the robotic arm needs to support a large-sized tubular column, the gripping module can be disassembled, allowing the robotic arm to regain its original ability to support the tubular column. Alternatively, the gripping module can be rotated outside the space surrounded by the two gripper arms, which also allows the robotic arm to regain its original ability to support the tubular column. See the detailed description below for more details.

[0023] In this embodiment, the teeth in the clamping assembly can act on the surface of the column, and the obtuse angle of the teeth improves clamping stability.

[0024] In one feasible implementation, the connection structure includes a connecting seat 1 for detachable connection with the clamp arm, the connecting seat 1 having a threaded through hole for detachable connection between the connecting seat 1 and the clamp arm; the outer shell 41 is connected to the connecting seat 1.

[0025] Specifically, when installing the clamping module, screws can be used to pass through the threaded through-hole and connect to the clamp arm, so that the connecting seat 1 can be detachably installed on the clamp arm, thereby allowing the outer shell 41 or the clamping module to be detachably installed on the clamp arm. The connection between the outer shell 41 and the connecting seat 1 can be a fixed connection or a rotating connection. If it is a fixed connection, when restoring the original support column capability of the robot, it is necessary to disassemble the connecting seat 1 connected to the clamp arm to disassemble the clamping module. If it is a rotating connection, when restoring the original support column capability of the robot, it is necessary to rotate the clamping module so that the clamping module is located outside the space surrounded by the two clamp arms.

[0026] The connection between the outer casing 41 and the connecting seat 1 is a rotatable connection, as detailed below.

[0027] A connector 2 is provided between the outer shell 41 and the connecting seat 1. The upper end of the outer shell 41 is rotatably connected to one end of the connector 2, and the connecting seat 1 is rotatably connected to the other end of the connector 2, so that the outer shell 41 can be rotatably connected to the clamp arm. A locking mechanism is provided between the outer shell 41 and the connecting seat 1. After the clamping module is installed on the clamp arm, there are two states as follows: When the clamping module is in the unlocked state, the clamping module is located within the space surrounded by the two clamping arms; When the clamping module is in the locked state, the clamping module is locked outside the space surrounded by the two clamping arms by the locking mechanism.

[0028] In this embodiment, the outer casing 41 is rotatably connected to the connecting seat 1 via the connector 2, enabling the clamping module to switch between being inside and outside the space surrounded by the two clamping arms. When the clamping module is rotated and located inside the space surrounded by the two clamping arms, the robotic arm has a clamping function and can be used to clamp small-sized tubing. When the clamping module is rotated and located outside the space surrounded by the two clamping arms, the robotic arm has its original supporting function. A locking mechanism locks the clamping module in the position outside the space surrounded by the two clamping arms to prevent loosening and impact damage to the tubing.

[0029] It should be noted that by setting the connecting seat 1, whether the connection between the outer shell 41 and the connecting seat 1 is fixed or rotatable, it can be directly added to the existing robotic arm without changing the structure of the robotic arm. On the other hand, for the rotatable connection between the outer shell 41 and the connecting seat 1, it actually realizes the rotatable connection between the outer shell 41 and the gripper arm. Setting the connecting seat 1 and the connecting part 2, in fact, utilizes the cooperation between the connecting seat 1 and the connecting part 2. Compared with the gripping module being directly rotatably connected to the gripper arm, it has a size compensation effect, allowing the gripping module to hang freely and fit against the inner wall of the gripper arm, avoiding the angle between the gripping module and the inner wall of the gripper arm. At the same time, the inner wall of the gripper arm can also support the gripping module. At the same time, setting the connecting seat 1 also allows the placement groove to be set on the connecting seat 1. Compared with opening the connection groove on the gripper arm, the setting of the connecting seat 1 has the advantage of being easier to process.

[0030] In one feasible implementation, the locking mechanism includes a locking plate 42 and a locking pin 3. The locking plate 42 is disposed on the end of the clamping module 4 that is rotatably connected to the clamping arm 31. The locking plate 42 has a first locking hole 421, the axis of which is not collinear with the rotation axis of the clamping module 4. The clamping arm 31 has a second locking hole 11. After the clamping module 4 rotates to the outside of the space enclosed by the clamping arm 31, it is in a vertical installation state. The opening position of the second locking hole 11 matches the position of the first locking hole 421 when the clamping module 4 is in a vertical state. When locking the clamping module 4, the locking pin 3 passes through the first locking hole 421 and the second locking hole 11 to achieve locking.

[0031] In this embodiment, the design of the first locking hole 421 on the locking plate 42, under the constraint that the axis is not collinear with the rotation axis of the clamping module 4, allows the clamping module 4 to rotate outside the space surrounded by the clamping arm 31. Then, the locking pin 3 passes through the first locking hole 421 and the second locking hole 11 to constrain it, so that there are two connection points between the clamping module 4 and the clamping arm 31, thereby constraining the degree of freedom of rotational connection and achieving the purpose of locking.

[0032] In this embodiment, the preferred design is that the locking plate 42 is U-shaped and is fixed to the clamping module 4 by bolts or screws. The U-shaped locking plate 42 can use its recessed space to avoid other structures, thereby avoiding positional interference and ensuring that the first locking hole 421 and the second locking hole 11 can be aligned.

[0033] Specifically, a U-shaped groove is provided at the upper end of the outer shell 41 near the back side, and a rotating shaft is provided in the U-shaped groove. The rotating shaft is rotatably connected to the connector 2. The purpose of providing the U-shaped groove is to leave space for the assembly of the outer shell 41 and the connector 2. Two weight reduction holes 412 are provided at the lower end of the outer shell 41 to reduce the weight of the clamping module and reduce the load on the robot arm.

[0034] In one feasible implementation, the mounting groove 411 is a wedge-shaped groove with an inclined bottom. The upper side of the mounting groove 411 is close to the upper end of the outer shell 41, and the lower side of the mounting groove 411 is close to the lower end of the outer shell 41. The upper side of the mounting groove 411 is deeper than the lower side. The jaw assembly is slidably connected to the mounting groove 411. The normal vector of the bottom surface of the jaw assembly is the first normal vector, and the normal vector of the surface where the bottom of the mounting groove 411 is located is the second normal vector. The first normal vector and the second normal vector are parallel. In fact, the angle between the bottom surface of the jaw assembly and the direction of gravity is equal to the angle between the bottom of the mounting groove 411 and the direction of gravity, ensuring that the top surface of the jaw assembly is always in a vertical state, that is, ensuring that the jaw assembly and the column have the maximum clamping area. An elastic element 45 is provided between the lower end of the jaw assembly and the lower sidewall of the mounting groove 411.

[0035] In this embodiment, the restriction of the mounting groove 411 structure and the sliding connection feature between the clamping jaw assembly and the mounting groove 411 make the clamping module slide along the mounting groove 411 with the clamping column due to the gravity of the column itself after clamping the column. This makes the distance between the clamping jaw assemblies on the two clamping modules smaller and smaller, and thus the clamping force of the clamping jaw assembly on the column becomes tighter and tighter, ensuring the stability of clamping the column.

[0036] In this embodiment, the elastic element 45 has two functions. The first function is to provide a buffering effect, that is, when the jaw assembly moves downward with the tube column, the elastic element 45 can provide a buffer to prevent the jaw assembly and the outer shell 41 from being subjected to a large impact when the tube column is lifted. The second function is that after the tube column is removed, the elastic element 45 resets, along with the jaw assembly, to prepare for the next tube column insertion, while also ensuring that the state of inserting a larger tube column can be maintained.

[0037] In one feasible implementation, the elastic element 45 is a compression spring, and at least one guide rod 46 passes sequentially through the upper end material of the outer shell 41, the jaw assembly in the mounting groove 411, and the compression spring, and is fixedly connected to the lower end material of the outer shell 41. The guide rod plays a guiding role, while also limiting the extension and retraction direction of the elastic element 45, and constraining the elastic element 45 and the jaw assembly within the mounting groove 411 to prevent the elastic element 45 and the jaw assembly from falling out of the mounting groove 411.

[0038] In one feasible implementation, the guide rod 46 is a long screw rod, which is threadedly connected to the lower end material of the housing 41, facilitating installation and disassembly; this structure also allows the jaw assembly to be replaced.

[0039] In one feasible implementation, the forceps assembly includes a forceps base 43 and a forceps plate 44. The forceps plate 44 is fixed to the front side of the forceps base 43, and the back side of the forceps base 43 serves as the bottom surface of the forceps assembly. The teeth are set on the forceps plate 44, and the teeth are triangular in shape, arranged with their cusps pointing upwards. Specifically, the forceps base 43 is provided with a dovetail groove 433, and a limiting block 434 is provided at the lower end of the dovetail groove 433. The forceps plate 44 is inserted into the dovetail groove 433, and the lower end of the forceps plate 44 abuts against the limiting block 434, which allows for independent disassembly of the forceps plate 44 and ensures the connection strength between the forceps plate 44 and the forceps base 43. The limiting block 434 prevents the forceps plate 44 from slipping out of the dovetail groove 433.

[0040] It should be noted that the tooth has a triangular shape with the cusp pointing upwards, which provides better force distribution. In other words, when clamping the tube, it can effectively reduce the damage to the tooth caused by the force.

[0041] Furthermore, there are two tooth plates 44, and the angle between the tooth cusps of the two tooth plates 44 is an obtuse angle. The tooth cusp plane refers to the plane formed by the cusps of all the teeth on the tooth plate 44. That is, the tooth plates 44 are arranged at an obtuse angle. On the one hand, this increases the position where the tube is clamped and improves the clamping stability. On the other hand, this arrangement can clamp the tube in an encircling posture, further ensuring the stability of the tube clamping.

[0042] Furthermore, the back of the tooth holder 43 is provided with a star-shaped groove 432, and the front of the tooth holder 43 is provided with an oil cup 431. The oil cup 431 and the star-shaped groove 432 are connected through an oil hole. Lubricating oil can be injected into the star-shaped groove 432 through the oil cup 431 and the oil hole to lubricate the sliding connection between the tooth holder 43 and the bottom of the mounting groove 411.

[0043] Furthermore, a guide plate 47 is installed on the outer shell 41. The guide plates 47 in the clamping modules on the two clamping arms together form a wide-mouth guide structure. After the clamping modules are installed on the clamping arms, the guide structure is located in the space surrounded by the two clamping arms and is located at the entrance of the two clamping arms, playing a guiding role so that the tubing can stably enter between the two clamping modules.

[0044] This invention is not limited to the specific embodiments described above. This invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A gripping module for mounting on a robotic arm, characterized in that: Includes a housing (41), which is connected to a connection structure for detachable connection with the gripper arm of the robot; the inner side of the housing (41) is provided with a mounting groove (411), and a gripper assembly is assembled in the mounting groove (411). The bottom surface of the gripper assembly fits against the bottom of the mounting groove (411), and the top surface of the gripper assembly has teeth.

2. The clamping module according to claim 1, characterized in that: The connection structure includes a connecting seat (1) for detachable connection with the clamp arm, the connecting seat (1) having a threaded through hole for detachable connection between the connecting seat (1) and the clamp arm; the outer shell (41) is connected to the connecting seat (1).

3. The clamping module according to claim 2, characterized in that: A connector (2) is provided between the outer shell (41) and the connecting seat (1). The upper end of the outer shell (41) is rotatably connected to one end of the connector (2), and the connecting seat (1) is rotatably connected to the other end of the connector (2), so that the outer shell (41) can be rotatably connected to the clamp arm. A locking mechanism is provided between the outer shell (41) and the connecting seat (1). After the clamping module is installed on the clamp arm, there are two states as follows: When the clamping module is in the unlocked state, the clamping module is located within the space surrounded by the two clamping arms; When the clamping module is in the locked state, the clamping module is locked outside the space surrounded by the two clamping arms by the locking mechanism.

4. The clamping module according to claim 3, characterized in that: The locking mechanism includes a locking plate (42) and a locking pin (3); the locking plate (42) is disposed on one end of the clamping module and the clamp arm rotatably connected. The locking plate (42) has a first locking hole (421). The axis of the first locking hole (421) is not collinear with the rotation axis of the clamping module. The clamp arm has a second locking hole (11). When the clamping module is locked, the locking pin (3) passes through the first locking hole (421) and the second locking hole (11) to achieve locking.

5. The clamping module according to claim 1, characterized in that: The mounting groove (411) is a wedge-shaped groove with an inclined bottom. The upper side of the mounting groove (411) is close to the upper end of the outer shell (41), and the lower side of the mounting groove (411) is close to the lower end of the outer shell (41). The upper side of the mounting groove (411) is deeper than the lower side of the mounting groove (411). The jaw assembly is slidably connected to the mounting groove (411), and the normal vector of the bottom surface of the jaw assembly is the first normal vector, and the normal vector of the surface where the bottom of the mounting groove (411) is located is the second normal vector. The first normal vector and the second normal vector are parallel. An elastic element (45) is provided between the lower end of the jaw assembly and the lower sidewall of the mounting groove (411).

6. The clamping module according to claim 5, characterized in that: The elastic element (45) is a compression spring, and there is at least one guide rod (46) that passes through the upper material of the outer shell (41), the jaw assembly in the mounting groove (411) and the compression spring in sequence, and is then fixedly connected to the lower material of the outer shell (41).

7. The clamping module according to claim 1, characterized in that: The forceps assembly includes a tooth base (43) and a tooth plate (44). The tooth plate (44) is fixed on the front side of the tooth base (43), and the back side of the tooth base (43) serves as the bottom surface of the forceps assembly. The teeth are set on the tooth plate (44), and the tooth shape is triangular, with the teeth arranged with the cusps pointing upwards.

8. The clamping module according to claim 7, characterized in that: The number of dental plates (44) is at least two, and there are at least two dental plates (44) with an obtuse angle between the surfaces where the cusps are located. The surface where the cusps are located refers to the plane formed by the cusps of all the teeth on the dental plate (44).

9. The clamping module according to claim 7, characterized in that: The back of the tooth holder (43) is provided with a cross groove (432), and the front of the tooth holder (43) is provided with an oil cup (431). The oil cup (431) and the cross groove (432) are connected through an oil hole.

10. The clamping module according to claim 1, characterized in that: A guide plate (47) is installed on the outer shell (41). The guide plates (47) in the clamping modules on the two clamping arms together form a wide-mouth guide structure. After the clamping modules are installed on the clamping arms, the guide structure is located in the space surrounded by the two clamping arms and is located at the entrance of the two clamping arms.

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