CN112811169A

CN112811169A - Grabbing device of wireless node

Info

Publication number: CN112811169A
Application number: CN202110249351.6A
Authority: CN
Inventors: 谭勇强; 颜松; 禤雄亮
Original assignee: Shenzhen Sichang Future Technology Co ltd
Current assignee: Shenzhen Sichang Future Technology Co ltd
Priority date: 2021-03-08
Filing date: 2021-03-08
Publication date: 2021-05-18

Abstract

The invention discloses a grabbing device of a wireless node, which comprises a clamping component for clamping the wireless node, a driving component for driving the clamping component to move, a guiding component for guiding the clamping component to move and a fixing frame, wherein the driving component is arranged on the fixing frame, the clamping component is connected with the driving component, the upper part of the clamping component is connected with the guiding component in a sliding manner, and the driving component controls the clamping component to move along the guiding component to clamp or release the wireless node. The wireless node clamping device is simple in structure, convenient to install and operate and good in clamping stability, meanwhile, the working efficiency is improved, and the problem that the labor intensity is high when a user grasps a wireless node for a long time is solved.

Description

Grabbing device of wireless node

Technical Field

The invention relates to the technical field of grabbing devices, in particular to a grabbing device for a wireless node.

Background

During oil exploration, a wireless node (namely a detector) is used for collecting basic data, and then attributes, structural forms and the like of strata with different depths are analyzed, so that whether raw oil and oil storage conditions exist is preliminarily judged, and finally a drilling well position is provided. In addition, the seismic exploration can be carried out on the area so as to ensure the safety of future oil exploration.

In the existing wireless node installation process, a wireless node is manually placed on an installation surface firstly, and then is pressed into a working surface by applying external force, so that the manual operation efficiency is low; meanwhile, due to the fact that different external forces are applied to manual press fitting, the wireless node may be damaged, the depth of a press fitting working face of the wireless node is inconsistent, and the accuracy of data acquisition of the wireless node is also affected. In addition, the wireless node needs to be recovered after data acquisition is completed, and when the wireless node is manually recovered, the labor intensity is high, the speed is low, and the cost is high.

Thus, the prior art has yet to be improved and enhanced.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a grabbing device for a wireless node, and aims to solve the problems of low manual operation efficiency and high labor intensity in the installation and recovery process of the wireless node in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a grabbing device of wireless node, is including the centre gripping subassembly that is used for centre gripping wireless node, the drive assembly that is used for driving the motion of centre gripping subassembly, guide assembly and the mount that is used for guiding the motion of centre gripping subassembly, drive assembly sets up on the mount, the centre gripping subassembly is connected with drive assembly, the upper portion and the guide assembly sliding connection of centre gripping subassembly, by drive assembly control centre gripping subassembly moves along guide assembly, centre gripping or release wireless node.

The grabbing device of wireless node still includes adjustment assembly and pressure application subassembly, pressure application subassembly and adjustment assembly are connected, adjustment assembly is located one side of guide assembly.

The adjusting assembly comprises a first guide column, an adjusting spring and a moving member are arranged on the first guide column, one end of the adjusting spring is abutted to the fixing frame, and the other end of the adjusting spring is abutted to the moving member.

The grabbing device of wireless node still includes the buffering subassembly, be provided with the middleware between buffering subassembly and the guide subassembly, the subassembly of exerting pressure is located the below of buffering subassembly, the subassembly of exerting pressure loops through guide subassembly and middleware and is connected with the bolster.

The buffer assembly comprises a buffer plate, a buffer spring, a second guide post and a limiting post, the second guide post is fixedly connected with the top plate, the buffer spring is arranged on the second guide post, the upper end of the limiting post is fixedly connected with the top plate, and the lower end of the limiting post is different in height from the buffer plate.

The driving assembly comprises a driving motor and a transmission piece, an output shaft of the driving motor is connected with the transmission piece, the transmission piece is connected with the clamping assembly, a third guide column is further arranged on the side edge of the transmission piece, and the clamping assembly is connected with the third guide column in a sliding mode.

The grabbing device of wireless node still includes the spacing subassembly that is used for restricting centre gripping subassembly displacement, spacing subassembly includes removal portion and spacing sensor, spacing sensor sets up in the one side of the subassembly that exerts pressure, the one end and the centre gripping subassembly fixed connection of removal portion, remove between the other end of removal portion and two spacing sensors.

The clamping assemblies are two and are oppositely arranged on two sides of the pressing assembly.

Be provided with the camera on the subassembly of exerting pressure, the side of camera is provided with the infrared light source that is used for the light filling and is used for surveing the first distance sensor of grabbing device and wireless node interval.

The outside of centre gripping subassembly is provided with second distance sensor, the quantity of second distance sensor is at least one.

Compared with the prior art, the grabbing device for the wireless node provided by the invention comprises a clamping component for clamping the wireless node, a driving component for driving the clamping component to move, a guiding component for guiding the clamping component to move and a fixing frame, wherein the driving component is arranged on the fixing frame, the clamping component is connected with the driving component, the upper part of the clamping component is connected with the guiding component in a sliding manner, and the driving component controls the clamping component to move along the guiding component to clamp or release the wireless node. The wireless node clamping device is simple in structure, convenient to install and operate and good in clamping stability, meanwhile, the working efficiency is improved, and the problem that the labor intensity is high when a user grasps a wireless node for a long time is solved.

Drawings

Fig. 1 is a schematic structural diagram of a grasping apparatus of a wireless node according to the present invention.

Fig. 2 is a schematic structural diagram of another angle of the grasping apparatus of the wireless node according to the present invention.

Fig. 3 is a schematic structural diagram of a part of components of a grasping apparatus of a wireless node provided by the invention.

Fig. 4 is a schematic diagram illustrating a state in which the grabbing device of the wireless node provided by the present invention clamps the wireless node.

Detailed Description

In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "on," "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.

The invention provides a grabbing device of a wireless node, please refer to fig. 1-4, which comprises a clamping component 1 for clamping the wireless node, a driving component (not labeled in the figures) for driving the clamping component 1 to move, a guiding component 3 for guiding the clamping component 1 to move, and a fixing frame 100, wherein the driving component is arranged on the fixing frame 100, the clamping component 1 is connected with the driving component, the upper part of the clamping component 1 is connected with the guiding component 3 in a sliding manner, and the driving component controls the clamping component 1 to move along the guiding component 3 to clamp or release the wireless node. The wireless node clamping device is simple in structure, convenient to install and operate and good in clamping stability, meanwhile, the working efficiency is improved, and the problem that the labor intensity is high when a user grasps a wireless node for a long time is solved. It should be noted that, in this application, the grabbing device of the wireless node is installed on the manipulator, and the manipulator drives the grabbing device to move, and when moving to a predetermined position, the grabbing device is used to grab or release the wireless node. The whole process of the mechanical arm and the movement of the gripping device driven by the mechanical arm is the prior art and is not in the protection scope of the application.

The guide assembly 3 is slide rail 31 and slip table 32, centre gripping subassembly 1 is fixed with slip table 32, slip table 32 slides and sets up on the guide rail, through setting up guide assembly 3 for guide assembly 3 atress avoids centre gripping subassembly 1 self gravity to cause the influence to drive assembly.

Further, the grabbing device of wireless node still includes regulating component 5 and pressure applying component 6, pressure applying component 6 is connected with regulating component 5, regulating component 5 is located one side of guide assembly 3. The adjusting assembly 5 comprises a first guide post 51, an adjusting spring 52 and a moving member 53 are arranged on the first guide post 51, one end of the adjusting spring 52 is abutted with the fixed frame 100, and the other end of the adjusting spring 52 is abutted with the moving member 53.

Specifically, the pressing assemblies 6 are slidably disposed on the first guide posts 51 through the moving members 53, and two sets of the adjusting assemblies 5 are respectively disposed on two sides of the guiding assembly 3. When the wireless node is recovered, the wireless node needs to be identified and the position of the wireless node needs to be judged in advance through the camera 61, but certain error exists in the judgment due to image identification, the grabbing central axis of the grabbing device is not overlapped with the central axis of the wireless node, in order to enable the two axes to be overlapped, the position of the grabbing device is adjusted, or the position of the wireless node is adjusted, the position of the node is pushed to change through the clamping assembly 1, the wireless node is inclined, and the grabbing device can not grab the wireless node from the ground or damage the wireless node can be caused. The proposal makes the two axes coincide by adjusting the position of the gripping device. When the grabbing center of the grabbing device is not at the same point as the center of the wireless node, that is, one side of the clamping component 1 first contacts with the side of the wireless node, in this embodiment, the orientation shown in fig. 1 is taken as an example to describe the adjustment process that the left side of the clamping component 1 first contacts with the side of the wireless node, and the wireless node is still inserted on the ground, when the driving component drives the clamping component 1 to move towards the center along the setting direction of the guiding component 3, because the left clamping component 1 abuts against the left side of the wireless node, the distance that the left clamping component 1 moves towards the center is smaller than the distance that the right clamping component 1 moves towards the center, and meanwhile, the sliding table 32 at the upper end of the clamping component 1 pushes the pressing component 6, so that the pressing component 6 moves towards the left side along the first guiding column 51 through the moving component 53, and the left adjusting spring 52 is in a compressed state, the right adjustment spring 52 is in tension with the center of the gripper at the same point as the center of the wireless node.

Further, the grabbing device of wireless node still includes buffering subassembly 7, be provided with intermediate member 8 between buffering subassembly 7 and the guide assembly 3, subassembly 6 of exerting pressure is located the below of buffering subassembly 7, subassembly 6 of exerting pressure loops through guide assembly 3 and intermediate member 8 and is connected with the bolster. The inside of buffer unit 7 still is provided with pressure sensor 81, pressure sensor 81's upper end and roof fixed connection.

Specifically, middleware 8 is similar to a structure like a Chinese character 'shan', the two sides of middleware 8 are respectively connected with a fixing frame 100, the upper end of middleware 8 is fixedly connected with the lower end of a pressure sensor 81, a guide component 3 is arranged at the lower end of middleware 8, and the guide component 3 and the middleware 8 are both positioned in an open slot of a pressing component 6. When the grabbing device presses the wireless nodes to the ground, the wireless nodes are pressed and fixed through the pressing assembly 6, the lower end of the pressing assembly 6 is abutted to the upper ends of the wireless nodes, the pressing assembly 6 is abutted to the buffering assembly 7 sequentially through the guide assembly 3 and the middle piece 8, and the pressure applied to the wireless nodes in the pressing process is buffered, so that the wireless nodes are more gentle and stable in the laying process, and the vertical state is kept after the laying.

Further, the buffer assembly 7 includes a buffer plate 71, a buffer spring 72, a second guide post 73 and a limit post 74, the second guide post 73 is fixedly connected with the top plate 70, the buffer spring 72 is installed on the second guide post 73, the upper end of the limit post 74 is fixedly connected with the top plate 70, and the lower end of the limit post 74 and the buffer plate 71 have a height difference.

Buffering subassembly 7 mainly plays and keeps away the barrier effect, lays the in-process at wireless node, and grabbing device carries wireless node to laying the point to drive grabbing device through outside manipulator and insert wireless node ground, inserting the in-process on ground, if meet hard stone, then can produce the rigidity collision, cause wireless node's damage. The wireless node is buffered by the buffer component 7 in the process of being inserted into the ground, so that the rigid collision between the wireless node and a stone is avoided. Under normal conditions, lay the in-process promptly and do not meet hard stone, buffering subassembly 7 still can play the cushioning effect to whole process of laying for grabbing device is comparatively gentle to wireless node's pressure equipment, ensures that wireless node is in vertical state after the pressure equipment, avoids because of wireless node slope installation influences data acquisition's accuracy. The second guide post 73 is used for sleeving the buffer spring 72 to play a role of a carrier on one hand, and plays a role of guiding the movement of the buffer plate 71 on the other hand, so that the buffer plate 71 is ensured to be kept in a horizontal state in the whole buffer movement process, and the buffer effect is prevented from being influenced due to uneven stress. The limit post 74 limits the moving position of the buffer plate 71 and the compression amount of the buffer spring 72, so that the buffer spring 72 is prevented from being excessively compressed and the service life of the buffer spring 72 is prevented from being influenced. The height difference between the limiting columns 74 and the buffer plate 71 is the moving height of the buffer plate 71 and the buffer height in the layout process of the wireless nodes. The above-mentioned

Further, the driving assembly comprises a driving motor 21 and a transmission piece 22, an output shaft of the driving motor 21 is connected with the transmission piece 22, the transmission piece 22 is connected with the clamping assembly 1, a third guide column 23 is further arranged on the side edge of the transmission piece 22, and the clamping assembly 1 is connected with the third guide column 23 in a sliding mode. The transmission member 22 can adopt a ball screw, the clamping assembly 1 is fixed on a ball screw nut pair through a bolt, the driving motor 21 is arranged on the outer side of the fixing frame 100, the output end of the driving motor 21 is connected with one end of the transmission member 22, and the other end of the transmission member 22 is connected with the fixing frame 100. The two side edges of the transmission member 22 are provided with third guide posts 23, and the third guide posts 23 guide the movement direction of the clamping component 1, so that the clamping component 1 can clamp the wireless node more stably.

Still further, the grabbing device of wireless node still includes the spacing subassembly 9 that is used for restricting the clamping assembly 1 displacement distance, spacing subassembly 9 includes removal portion 91 and spacing sensor 92, spacing sensor 92 sets up in one side of subassembly 6 that exerts pressure, the one end and the clamping assembly 1 fixed connection of removal portion 91, remove between the other end of removal portion 91 and two spacing sensors 92. In this application spacing sensor 92 adopts photoelectric sensor, spacing sensor 92 has two, and two spacing sensors 92 have a determining deviation, and when centre gripping subassembly 1 carried out centre gripping or release to wireless node, centre gripping subassembly 1 can drive removal portion 91 and remove between two spacing sensors 92, prescribes a limit to the centre gripping scope of centre gripping subassembly 1 through two spacing sensors 92, avoids centre gripping subassembly 1 excessively to open, also avoids the too big damage that causes to wireless node of clamping-force through prescribing a limit to of centre gripping scope.

The two clamping assemblies 1 are oppositely arranged on two sides of the pressing assembly 6, and are used for clamping the wireless node from two side faces respectively, so that the clamping stability is ensured.

Furthermore, a camera 61 is arranged on the pressing assembly 6, and an infrared light source 62 for light supplement and a first distance sensor 63 for measuring the distance between the gripping device and the wireless node are arranged on the side edge of the camera 61. Through camera 61 can look for suitable position and lay wireless node, also can look for wireless node's position when retrieving, carries out the light filling through infrared light source 62 to camera 61 simultaneously for the data that camera 61 gathered are more accurate. When retrieving wireless node, the accessible is first apart from sensor 63 survey grabbing device and wireless node's distance, and then ensures that grabbing device can slow contact wireless node for clamping device is more accurate, stable to grabbing of wireless node.

In addition, a second distance sensor 64 is disposed on the outer side of the clamping assembly 1, and the number of the second distance sensors 64 is at least one. In another embodiment of the present application, the number of the second distance sensors 64 is two, and the two second distance sensors 64 are respectively located at the outer sides of the two clamping assemblies 1. The second distance sensors 64 are used for ranging when the wireless nodes are arranged, the distance between the gripping device and two points on the ground is measured through the two second distance sensors 64, the insertion depth of the wireless nodes during arrangement can be judged, the gripping device can be in a horizontal state during arrangement and pressing of the wireless nodes, and therefore accuracy of data acquisition of the wireless nodes is guaranteed.

In summary, the grabbing device for a wireless node provided by the invention comprises a clamping assembly for clamping the wireless node, a driving assembly for driving the clamping assembly to move, a guiding assembly for guiding the clamping assembly to move, and a fixing frame, wherein the driving assembly is arranged on the fixing frame, the clamping assembly is connected with the driving assembly, the upper part of the clamping assembly is connected with the guiding assembly in a sliding manner, and the driving assembly controls the clamping assembly to move along the guiding assembly to clamp or release the wireless node. The wireless node clamping device is simple in structure, convenient to install and operate and good in clamping stability, meanwhile, the working efficiency is improved, and the problem that the labor intensity is high when a user grasps a wireless node for a long time is solved.

It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.

Claims

1. The utility model provides a grabbing device of wireless node, its characterized in that, is including the centre gripping subassembly that is used for centre gripping wireless node, the drive assembly who is used for driving the motion of centre gripping subassembly, guide assembly and the mount that is used for guiding the motion of centre gripping subassembly, drive assembly sets up on the mount, the centre gripping subassembly is connected with drive assembly, the upper portion and the guide assembly sliding connection of centre gripping subassembly, by drive assembly control centre gripping subassembly moves along guide assembly, centre gripping or release wireless node.

2. The grasping apparatus of a wireless node according to claim 1, further comprising an adjustment member and a pressing member, the pressing member being connected to the adjustment member, the adjustment member being located on a side of the guide member.

3. The grabbing device of claim 2, wherein the adjustment assembly comprises a first guide post, the first guide post is provided with an adjustment spring and a moving member, one end of the adjustment spring abuts against the fixed frame, and the other end of the adjustment spring abuts against the moving member.

4. The grasping apparatus according to claim 3, further comprising a buffer assembly, wherein an intermediate member is disposed between the buffer assembly and the guide assembly, the pressing assembly is located below the buffer assembly, and the pressing assembly is connected to the buffer member sequentially via the guide assembly and the intermediate member.

5. The grabbing device for a wireless node according to claim 4, wherein the buffer assembly comprises a buffer plate, a buffer spring, a second guide post and a limit post, the second guide post is fixedly connected with the top plate, the buffer spring is mounted on the second guide post, the upper end of the limit post is fixedly connected with the top plate, and the lower end of the limit post has a height difference with the buffer plate.

6. The grabbing device of a wireless node according to claim 5, wherein the driving component comprises a driving motor and a transmission member, an output shaft of the driving motor is connected with the transmission member, the transmission member is connected with the clamping component, a third guiding column is further disposed on a side of the transmission member, and the clamping component is slidably connected with the third guiding column.

7. The grasping apparatus of a wireless node according to claim 6, further comprising a limiting component for limiting a moving distance of the clamping component, wherein the limiting component comprises a moving part and a limiting sensor, the limiting sensor is disposed on one side of the pressing component, one end of the moving part is fixedly connected with the clamping component, and the other end of the moving part moves between the two limiting sensors.

8. The apparatus of claim 7, wherein the two clamping members are disposed opposite to each other on both sides of the pressing member.

9. The grasping apparatus according to claim 8, wherein a camera is disposed on the pressure applying assembly, and an infrared light source for light supplement and a first distance sensor for measuring a distance between the grasping apparatus and the wireless node are disposed on a side of the camera.

10. The grasping apparatus of a wireless node according to any one of claims 1 to 9, wherein a second distance sensor is provided outside the gripping member, and the number of the second distance sensors is at least one.