Transformer operation and maintenance oil taking robot

Abstract

The present application relates to a kind of transformer operation and maintenance oil taking robot, it includes: mobile chassis, mechanical arm and oil taking device;Wherein, mobile chassis is used to autonomously motion under the operation environment;Oil taking device is set at the end of mechanical arm, oil taking device is used to interface with the oil taking valve of transformer to carry out screwing and oil taking operation;Mechanical arm is set on mobile chassis, for the position and posture of oil taking device are controlled;Oil taking device includes base, valve cover screwing mechanism and valve core screwing mechanism, valve cover screwing mechanism and valve core screwing mechanism are rotationally arranged on base, valve cover screwing mechanism is connected with driving mechanism, valve core screwing mechanism is synchronously transmission connection with valve cover screwing mechanism.The transformer operation and maintenance oil taking robot can reduce the intensity of human operation, while it can improve the efficiency of oil taking and the safety when oil taking operation;Its oil taking device structure is compact, can realize the miniaturization of oil taking device overall structure, to facilitate use in small space.

Description

Technical Field

[0001] This invention relates to the field of transformer operation and maintenance technology, and more specifically, to a transformer operation and maintenance oil sampling robot. Background Technology

[0002] Traditional manual oil extraction without power interruption is labor-intensive, carries high safety risks, operates in harsh environments, is easily affected by weather conditions, and involves high-altitude, high-risk, and high-intensity work. While the advent of insulated bucket trucks for live oil extraction has reduced risks such as electric shock and falls from heights, workers still need to directly or indirectly contact high-voltage live parts using insulated tools. Tool performance and the working environment still significantly impact personal and equipment safety.

[0003] Currently, transformer inspection robots are used in transformer operation and maintenance. However, these robots only provide inspection functions, taking photos and videos of the transformer and performing inspection work. They do not operate the transformer or other equipment and have no operational functions. When performing uninterrupted oil extraction from the transformer, a robotic arm and oil extraction device are still required.

[0004] However, existing oil extraction devices mostly adopt the form of three-jaw or six-jaw, which are large in size and weight, making them inconvenient to use in confined spaces. In addition, the oil extraction devices are relatively bulky, and the related motion platforms such as robotic arms have high load-bearing requirements, which leads to a significant increase in the complexity and cost of the equipment itself. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a transformer maintenance oil extraction robot, which aims to solve the problems existing in the prior art.

[0006] According to the present invention, a transformer maintenance oil sampling robot is provided, comprising: a mobile chassis, a robotic arm, and an oil sampling device; wherein,

[0007] The mobile chassis is used for autonomous movement in the working environment;

[0008] The oil extraction device is located at the end of the robotic arm and is used to connect with the oil extraction valve of the transformer to perform screwing and oil extraction operations.

[0009] The robotic arm is mounted on the mobile chassis and is used to control the position and attitude of the oil extraction device;

[0010] The oil extraction device includes a base, a valve cover screwing mechanism, and a valve core screwing mechanism. Both the valve cover screwing mechanism and the valve core screwing mechanism are rotatably mounted on the base. The valve cover screwing mechanism is connected to a drive mechanism, and the valve core screwing mechanism is synchronously driven by the valve cover screwing mechanism.

[0011] Preferably, the mobile chassis is a tracked mobile chassis.

[0012] Preferably, a slewing support platform is provided on the top of the mobile chassis, and the robotic arm is connected to the slewing support platform.

[0013] Preferably, the robotic arm is a hydraulic robotic arm, comprising multiple rotating arms and multiple hydraulic cylinders, wherein the multiple rotating arms are rotatably connected to each other, and adjacent rotating arms are driven to connect through the hydraulic cylinders.

[0014] Preferably, it also includes an image recognition module, which is used to acquire and analyze the position of the transformer's oil tap valve.

[0015] Preferably, the valve cover screwing mechanism includes a valve cover screwing shaft and a valve cover screwing sleeve. The valve cover screwing shaft is rotatably connected to the base, the valve cover screwing sleeve is fixed to the front end of the valve cover screwing shaft, and the rear end of the valve cover screwing shaft is connected to the drive mechanism.

[0016] The valve core turning mechanism includes a valve core turning shaft and a valve core turning sleeve. The valve core turning shaft is rotatably connected to the base, and the valve core turning sleeve is fixed to the front end of the valve core turning shaft.

[0017] The valve cover screwing shaft and the valve core screwing shaft are spaced apart, and the axis of the valve cover screwing shaft is parallel to the axis of the valve core screwing shaft. The valve core screwing shaft is connected to the valve cover screwing shaft through a synchronous transmission assembly.

[0018] Preferably, the valve cover screwing sleeve is provided with a first snap-fit ​​groove that matches the snap-fit ​​connector on the valve cover, and the valve core screwing sleeve is provided with a second snap-fit ​​groove that matches the snap-fit ​​connector on the valve core;

[0019] An oil intake channel is provided at the center of the valve core screwing shaft, and the oil intake channel passes through the rear end face of the valve core screwing shaft and the second snap-fit ​​groove.

[0020] Preferably, the oil extraction device further includes an oil passage cover screwing mechanism and a docking oil passage;

[0021] The oil passage cover screwing mechanism is rotatably mounted on the base, and the oil passage cover screwing mechanism is synchronously driven and connected to the valve cover screwing mechanism;

[0022] A horizontal slide rail extends outward from the base. The horizontal slide rail is located at a predetermined distance below the valve core turning mechanism. The extension direction of the horizontal slide rail is parallel to the axis of the valve core turning mechanism. The docking oil passage is slidably disposed on the horizontal slide rail.

[0023] Preferably, both the valve cover screwing mechanism and the valve core screwing mechanism are rotatably mounted on the upper part of the base, and the valve cover screwing mechanism and the valve core screwing mechanism are spaced apart in the horizontal direction, with the axis of the valve core screwing mechanism being parallel to the axis of the valve cover screwing mechanism;

[0024] The oil passage cover screwing mechanism is rotatably mounted on the front of the base, and the axis of the oil passage cover screwing mechanism is perpendicular to the axis of the valve cover screwing mechanism.

[0025] The valve core turning mechanism is synchronously connected to the valve cover turning mechanism via a first transmission component; the oil passage cover turning mechanism is synchronously connected to the valve cover turning mechanism via a second transmission component.

[0026] Preferably, the valve cover screwing mechanism includes a main shaft and a valve cover snap-fit ​​component. The main shaft is rotatably connected to the base, the valve cover snap-fit ​​component is fixed to the front end of the main shaft, and the rear end of the main shaft is used to connect to a rotary drive component.

[0027] The valve core turning mechanism includes a valve core turning shaft and a valve core snap-fit ​​component. The valve core turning shaft is rotatably connected to the base, and the valve core snap-fit ​​component is fixed to the front end of the valve core turning shaft.

[0028] The oil passage cover screwing mechanism includes an oil passage cover screwing shaft and an oil passage cover snap-fit ​​component. The oil passage cover screwing shaft is rotatably connected to the base, and the oil passage cover snap-fit ​​component is fixed to the upper end of the oil passage cover screwing shaft.

[0029] The first transmission assembly includes two first synchronous pulleys and a first synchronous belt. The two first synchronous pulleys are respectively fixed on the main shaft and the valve core rotating shaft, and the two first synchronous pulleys are connected and transmitted through the first synchronous belt.

[0030] The second transmission assembly includes two second synchronous pulleys, a second synchronous belt, a transmission shaft, and two bevel gears. The transmission shaft is rotatably connected to the lower part of the base. The two second synchronous pulleys are respectively fixed on the main shaft and the transmission shaft. The two bevel gears are respectively fixed on the front end of the transmission shaft and the lower end of the oil passage cover screwing shaft. The two second synchronous pulleys are connected and driven by the second synchronous belt, and the two bevel gears mesh and drive each other.

[0031] The transformer maintenance oil sampling robot provided by this invention can be moved to the work area via a mobile chassis. It performs oil sampling operations on the transformer through an oil sampling device at the end of the robotic arm, replacing manual oil sampling. This reduces the intensity of manual labor and improves oil sampling efficiency and safety during the oil sampling operation. The oil sampling device at the end of the robotic arm can drive the valve cover screwing mechanism and the valve core screwing mechanism to rotate synchronously through a drive mechanism, making the oil sampling device compact and miniaturizing the overall structure of the oil sampling device for convenient use in confined spaces. Attached Figure Description

[0032] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings.

[0033] Figure 1 A three-dimensional structural schematic diagram of a transformer maintenance oil sampling robot according to an embodiment of the present invention is shown.

[0034] Figure 2 A three-dimensional structural schematic diagram of the oil extraction device according to Embodiment 1 of the present invention is shown.

[0035] Figure 3 A schematic diagram of the valve core screwing mechanism in the oil extraction device of Embodiment 1 of the present invention is shown.

[0036] Figure 4 A schematic diagram of the structure of the transformer oil extraction valve targeted by the oil extraction device of Embodiment 1 of the present invention is shown.

[0037] Figure 5 shows the state diagram of the oil extraction device of Embodiment 1 of the present invention when the valve cover is screwed on.

[0038] Figure 6 shows the state diagram of the oil extraction device of Embodiment 1 of the present invention when the valve core is turned.

[0039] Figure 7 and Figure 8 The diagram shows a three-dimensional structural schematic of the oil extraction device according to Embodiment 2 of the present invention when viewed from different directions.

[0040] Figure 9 A schematic diagram of the oil passage cover screwing mechanism in the oil extraction device of Embodiment 2 of the present invention is shown.

[0041] Figure 10 for Figure 9 The diagram shows the arrangement of the ratchet teeth in the oil passage cover screwing mechanism within the housing.

[0042] Figure 11 A schematic diagram of the structure of the transformer oil extraction valve targeted by the oil extraction device of Embodiment 2 of the present invention is shown.

[0043] Figure 12 shows the state diagram of the oil extraction device of Embodiment 2 of the present invention when the valve cover is screwed on.

[0044] Figure 13 shows the state diagram of the oil extraction device of Embodiment 2 of the present invention when the oil passage cover is screwed on.

[0045] Figure 14 shows the state diagram of the oil pipe connection between the oil passage and the oil valve in the oil extraction device of Embodiment 2 of the present invention.

[0046] Figure 15 shows the state diagram of the oil extraction device of Embodiment 2 of the present invention when the valve core is turned.

[0047] The image includes the following annotations:

[0048] 01. Mobile chassis; 02. Robotic arm; 03. Oil extraction device;

[0049] 11. Base; 111. First bearing seat; 12. Valve cover screwing mechanism; 121. Valve cover screwing sleeve; 1211. First snap-fit ​​groove; 13. Valve core screwing mechanism; 131. Valve core screwing sleeve; 1311. Second snap-fit ​​groove; 132. Valve core screwing shaft; 133. Oil intake channel; 1331. Oil pipe connection groove; 134. Pagoda connector; 14. Drive mechanism; 15. Synchronous transmission assembly; 151. Synchronous pulley; 152. Synchronous belt; 16. Oil intake valve; 161. Valve cover; 162. Valve core; 1621. Oil outlet pipe; 163. Valve body;

[0050] 21. Base; 210. Main base; 211. First base; 212. Second base; 213. Third base; 214. Fourth base; 215. Horizontal slide rail; 216. Slider; 217. Spring; 22. Valve cover screwing mechanism; 221. Valve cover snap-fit ​​component; 222. Main shaft; 23. Valve core screwing mechanism; 231. Valve core snap-fit ​​component; 232. Valve core screwing shaft; 24. Oil passage cover screwing mechanism; 241. Oil passage cover snap-fit ​​component; 2411. Outer 2412, Cover plate; 2413, Racket; 242, Oil passage cover screwing shaft; 25, Connecting oil passage; 251, Oil passage joint; 252, Pipe joint; 261, First synchronous pulley; 262, First synchronous belt; 271, Second synchronous pulley; 272, Second synchronous belt; 273, Transmission shaft; 274, Bevel gear; 28, Oil take-up valve; 281, Valve cover; 282, Valve core; 283, Oil passage cover; 284, Oil passage pipe; 285, Valve body. Detailed Implementation

[0051] Various embodiments of the invention will now be described in more detail with reference to the accompanying drawings. In the various drawings, the same elements are indicated by the same or similar reference numerals. For clarity, the various parts in the drawings are not drawn to scale.

[0052] Example 1:

[0053] This invention provides a transformer maintenance oil sampling robot, see [link to documentation]. Figure 1 The transformer maintenance oil sampling robot includes a mobile chassis 01, a robotic arm 02, and an oil sampling device 03. The mobile chassis 01 is used for autonomous movement in the working environment; the oil sampling device 03 is located at the end of the robotic arm 02 and is used to connect with the transformer's oil sampling valve for turning and sampling operations; the robotic arm 02 is mounted on the mobile chassis 01 and is used to control the position and attitude of the oil sampling device 03; the oil sampling device 03 includes a base, a valve cover turning mechanism, and a valve core turning mechanism. Both the valve cover turning mechanism and the valve core turning mechanism are rotatably mounted on the base. The valve cover turning mechanism is connected to a drive mechanism, and the valve core turning mechanism is synchronously driven by the valve cover turning mechanism.

[0054] Specifically, the mobile chassis 01 is a tracked mobile chassis. Tracked mobile chassis have good passability, good obstacle-crossing ability, strong terrain adaptability, and good turning performance, enabling movement under various complex terrain conditions. A slewing support platform is provided on the top of the mobile chassis 01, and the robotic arm 02 is connected to the slewing support platform. The robotic arm 02 is a hydraulic robotic arm, comprising multiple rotating arms and multiple hydraulic cylinders. The rotating arms are rotatably connected, and adjacent rotating arms are driven by hydraulic cylinders. By moving the mobile chassis 01, it can be moved to the transformer oil sampling area. By rotating the slewing support platform, the robotic arm 02 can rotate horizontally in the horizontal plane to control the horizontal position of the oil sampling device 03 at the end of the robotic arm 02. By extending and retracting the hydraulic cylinders, the robotic arm 02 can move vertically and forward / backward to control the vertical and forward / backward position of the oil sampling device 03 at the end of the robotic arm 02.

[0055] The transformer maintenance oil extraction robot also includes an image recognition module. In practice, the image recognition module can be mounted on the mobile chassis 01 or the robotic arm 02. This module is used to acquire and analyze the position of the transformer's oil extraction valve, and to perform oil extraction by recognizing the position of the valve. The image recognition module can utilize existing AI-based image recognition technology; this invention is not limited to any particular image recognition technology, as long as it can identify the position of the oil extraction valve. During oil extraction, the oil extraction device 03 at the end of the robotic arm 02 is controlled by the movement of the robotic arm 02 to rotate the valve cover and valve core of the oil extraction valve, extracting transformer oil. Specifically, the oil extraction device 03 at the end of the robotic arm 02 moves to the vicinity of the oil extraction valve under machine vision guidance. Simultaneously, under Kalman filter calibration frequency, the movement pattern of the oil extraction device 03 matches the three-dimensional vibration pattern of the oil extraction valve location on the transformer, thus successfully performing the oil extraction operation.

[0056] The transformer maintenance oil sampling robot also includes a control module, which is electrically connected to the drive mechanism of the mobile chassis 01, the slewing bearing platform, the robotic arm 02, the oil sampling device 03, and the image recognition module. The control module controls the movement of the mobile chassis 01, the slewing bearing platform, and the robotic arm 02 based on the position information analyzed by the image recognition module, so that the oil sampling device 03 is aligned with the transformer oil sampling valve, and controls the oil sampling device 03 to open the oil sampling valve to perform oil sampling work on the transformer.

[0057] In this transformer maintenance oil extraction robot, the oil extraction device 03, located at the end of the robotic arm 02, has a valve cover screwing mechanism and a valve core screwing mechanism for screwing the valve cover and valve core of the transformer oil extraction valve, respectively. The valve core screwing mechanism and the valve cover screwing mechanism are synchronously connected and driven. The valve cover screwing mechanism is connected to the drive mechanism. While the drive mechanism drives the valve cover screwing mechanism to rotate, it can also drive the valve core screwing mechanism to rotate simultaneously. Therefore, only one drive mechanism is needed to complete the screwing operation of the valve cover screwing mechanism and the valve core screwing mechanism at the same time. This makes the structure of the oil extraction device compact, enabling the miniaturization of the overall structure of the oil extraction device, reducing its size and weight, reducing the load on the robotic arm, and enabling its use in confined spaces, thus enhancing its applicability.

[0058] like Figure 2 The diagram shown is a structural schematic of the oil extraction device in this embodiment. In this embodiment, the valve cover screwing mechanism 12 and the valve core screwing mechanism 13 in the oil extraction device are both rotatably mounted on the upper part of the base 11, and the valve cover screwing mechanism 12 and the valve core screwing mechanism 13 are connected by a synchronous transmission assembly 15.

[0059] See Figure 4 , Figure 4 This is a schematic diagram of the transformer oil sampling valve targeted by the oil sampling device in this embodiment. The transformer oil sampling valve 16 includes a valve body 163, a valve core 162, and a valve cover 161. The valve body 163 is connected to the transformer, and the valve core 162 and valve cover 161 are screwed onto the valve body 163. The valve cover 161 covers the outside of the valve core 162 for protection. The valve core 162 has an oil outlet pipe 1621. By loosening the valve core 162, oil in the transformer can flow out through the oil outlet pipe 1621. When using this oil sampling device to sample oil from the transformer, first remove the valve cover 161 using the valve cover tightening mechanism 12, and then tighten the valve core 162 using the valve core tightening mechanism 13. After the valve core 162 is tightened outwards a certain distance, the oil inside the transformer can flow out along the oil outlet pipe 1621.

[0060] Continue reading Figure 2In this oil extraction device, the valve cover screwing mechanism 12 includes a valve cover screwing shaft and a valve cover screwing sleeve 121. The valve cover screwing shaft is rotatably connected to the base 11, and the valve cover screwing sleeve 121 is fixed to the front end of the valve cover screwing shaft. The rear end of the valve cover screwing shaft is connected to the drive mechanism 14. The valve core screwing mechanism 13 includes a valve core screwing shaft 132 and a valve core screwing sleeve 131. The valve core screwing shaft 132 is rotatably connected to the base 11, and the valve core screwing sleeve 131 is fixed to the front end of the valve core screwing shaft 132. The valve cover screwing shaft and the valve core screwing shaft 132 are spaced apart, and the axis of the valve cover screwing shaft is parallel to the axis of the valve core screwing shaft 132. The valve core screwing shaft 132 is connected to the valve cover screwing shaft via a synchronous transmission assembly 15. Specifically, both the valve cover screwing shaft and the valve core screwing shaft 132 pass through the base 11. The front end of the valve cover screwing shaft and the front end of the valve core screwing shaft 132 are located on the front side of the base 11, and the rear end of the valve cover screwing shaft and the rear end of the valve core screwing shaft 132 are located on the rear side of the base 11.

[0061] Furthermore, the synchronous transmission assembly 15 includes two synchronous pulleys 151 and a synchronous belt 152. The two synchronous pulleys 151 are respectively fixed on the valve cover turning shaft and the valve core turning shaft 132, and the two synchronous pulleys 151 are connected and driven by the synchronous belt 152. In this embodiment, the two synchronous pulleys 151 are respectively fixedly connected to the rear ends of the valve cover turning shaft and the valve core turning shaft 132, and are both located on the rear side of the base 11. The synchronous belt 152 is wound around the two synchronous pulleys 151, and the synchronous belt 152 meshes with the two synchronous pulleys 151 for transmission, so that the valve core turning shaft 132 and the valve cover turning shaft have the same rotational speed. By setting the synchronous transmission assembly 15, the valve cover turning mechanism 12 and the valve core turning mechanism 13 can be synchronously driven by the drive mechanism 14, which facilitates the control of the turning speed of the valve cover turning mechanism 12 and the valve core turning mechanism 13.

[0062] Furthermore, a first bearing seat 111 and a second bearing seat are spaced apart on the base 11. The valve cover screwing shaft is rotatably mounted on the first bearing seat 111, and the valve core screwing shaft 132 is rotatably mounted on the second bearing seat. By providing the first bearing seat 111 and the second bearing seat on the base 11, the valve cover screwing mechanism 12 and the valve core screwing mechanism 13 can rotate smoothly on the base 11.

[0063] The valve cover screwing sleeve 121 is provided with a first snap-fit ​​groove 1211 that matches the snap-fit ​​connector on the valve cover, and the valve core screwing sleeve 131 is provided with a second snap-fit ​​groove 1311 that matches the snap-fit ​​connector on the valve core. In this embodiment, both the snap-fit ​​connector on the valve cover and the snap-fit ​​connector on the valve core are external hexagonal structures, and correspondingly, the first snap-fit ​​groove 1211 and the second snap-fit ​​groove 1311 are internal hexagonal grooves.

[0064] Furthermore, such as Figure 3 As shown, the valve core rotating shaft 132 has an oil intake channel 133 at its center, which penetrates the rear end face of the valve core rotating shaft 132 and the second locking groove 1311. By providing the oil intake channel 133 at the center of the valve core rotating shaft 132, when the valve core rotating mechanism 13 loosens the valve core of the oil valve, the oil flowing from the oil outlet pipe of the oil valve can flow out through the oil intake channel 133 on the valve core rotating shaft 132. An oil intake hose can be connected to the rear end of the valve core rotating shaft 132, and the oil can be introduced into the oil intake container through the oil intake hose. In this embodiment, the rear end of the valve core rotating shaft 132 is provided with a pagoda connector 134, and the oil intake hose can be connected to the pagoda connector 134 at the rear end of the valve core rotating shaft 132. The pagoda connector 134 can more securely connect to the oil intake hose, preventing loosening. Furthermore, in the valve core screwing mechanism 13, an oil pipe connection groove 1331 is provided at one end of the oil intake channel 133 near the second locking groove 1311. The oil pipe connection groove 1331 is used to connect with the oil outlet pipe of the valve core. A sealing ring (not shown in the figure) is provided on the inner peripheral wall of the oil pipe connection groove 1331. By providing a sealing ring on the inner peripheral wall of the oil pipe connection groove 1331, a reliable seal can be achieved when the oil outlet pipe on the oil intake valve core is connected to the valve core screwing mechanism 13, preventing oil leakage at the connection point.

[0065] In this embodiment, the drive mechanism 14 connected to the valve cover screwing mechanism 12 in the oil sampling device is a motor. It is understood that the drive mechanism 14 can also be a pneumatic motor or a hydraulic motor, and this invention does not impose any limitations on this. When the oil sampling device is installed at the end of the robotic arm of a transformer maintenance oil sampling robot, the base 11 and the drive mechanism 14 can be fixedly connected to the robotic arm respectively, or the drive mechanism 14 can be fixedly connected to the base 11, and then the base 11 can be fixedly connected to the robotic arm.

[0066] The oil extraction device is installed at the end of the robotic arm of the transformer maintenance oil extraction robot. The robotic arm controls the oil extraction device to automatically extract oil from the transformer. The method of automatically extracting oil from the transformer using this oil extraction device includes the following steps:

[0067] Align the valve cover screwing sleeve 121 of the valve cover screwing mechanism 12 with the valve cover 161 of the oil valve 16, fit the valve cover screwing sleeve 121 over the valve cover 161, and drive the valve cover screwing mechanism 12 to rotate via the drive mechanism 14, thereby screwing the valve cover 161. Figure 5 As shown.

[0068] The valve cover screwing sleeve 121 rotates to screw the valve cover 161 off the valve body 163. The robotic arm then retracts the oil-taking device, exposing the valve core 162. Next, the robotic arm moves the oil-taking device so that the valve core screwing sleeve 131 of the valve core screwing mechanism 13 aligns with the valve core 162 of the oil-taking valve 16. The valve core screwing sleeve 131 is then placed over the valve core 162, and the drive mechanism 14 rotates the valve core screwing mechanism 13 to screw the valve core 162. Figure 6 As shown. When the valve core 162 is loosened to a certain extent, the oil in the transformer can flow out along the oil outlet pipe 1621 on the valve core 162, and then flow out through the oil intake channel 133 on the valve core screwing mechanism 13. The oil intake hose connected to the rear end of the valve core screwing mechanism 13 can introduce the oil into the oil intake container.

[0069] After the oil extraction is completed, tighten the valve core 162 and put the valve cover 161 back on the outside of the valve core 162 to complete the oil extraction process.

[0070] Example 2:

[0071] The transformer maintenance oil sampling device in this embodiment differs from that in Embodiment 1 only in the structural form of the oil sampling device.

[0072] Specifically, see Figure 7 and Figure 8 In this embodiment, the oil extraction device includes a base 21, a valve cover screwing mechanism 22, and a valve core screwing mechanism 23, as well as an oil passage cover screwing mechanism 24 and a docking oil passage 25. The valve cover screwing mechanism 22, the valve core screwing mechanism 23, and the oil passage cover screwing mechanism 24 are all rotatably mounted on the base 21, and the valve core screwing mechanism 23 and the oil passage cover screwing mechanism 24 are synchronously connected to the valve cover screwing mechanism 22. The valve cover screwing mechanism 22 is connected to a rotary drive component, which provides rotational driving force; the rotary drive component is a motor or a hydraulic motor. A horizontal slide rail 215 extends outward from the base 21, located at a predetermined distance below the valve core screwing mechanism 23. The extension direction of the horizontal slide rail 215 is parallel to the axis of the valve core screwing mechanism 23, and the docking oil passage 25 is slidably mounted on the horizontal slide rail 215.

[0073] like Figure 11The diagram shown is a structural schematic of the transformer oil tapping valve targeted by the oil tapping device in this embodiment. The transformer oil tapping valve 28 includes a valve body 285, a valve cover 281, a valve core 282, an oil passage pipe 284, and an oil passage cover 283. The valve core 282 and the valve cover 281 are screwed to one side of the valve body 285 in the horizontal direction. The valve cover 281 covers the outside of the valve core 282. The oil passage pipe 284 is vertically arranged below the valve body 285, and the oil passage cover 283 is screwed onto the oil passage pipe 284. When using this oil sampling device to sample oil from the transformer, first remove the valve cover 281 through the valve cover screwing mechanism 22, then remove the oil passage cover 283 through the oil passage cover screwing mechanism 24. After connecting the connecting oil passage 25 to the oil passage pipe 284 on the valve body 285, screw the valve core 282 outward through the valve core screwing mechanism 23. After the valve core 282 is screwed outward a certain distance, the oil inside the transformer can flow out along the oil passage pipe 284 through the connecting oil passage 25.

[0074] In this oil sampling device, the valve core screwing mechanism 23 and the oil passage cover screwing mechanism 24 are both synchronously connected to the valve cover screwing mechanism 22. Therefore, only one set of rotary drive components needs to be connected to the valve cover screwing mechanism 22. The rotary drive components can drive the valve cover screwing mechanism 22, the valve core screwing mechanism 23, and the oil passage cover screwing mechanism 24 to rotate synchronously, thereby making the oil sampling device compact and miniaturized, which is convenient for use in confined working environments. This oil sampling device can be mounted on a robotic arm via the base 21. The robotic arm can control the position and attitude of the oil sampling device to achieve automatic oil sampling from the transformer, which can reduce the intensity of manual labor, improve oil sampling efficiency, and improve safety during operation.

[0075] Specifically, both the valve cover screwing mechanism 22 and the valve core screwing mechanism 23 are rotatably mounted on the upper part of the base 21. The valve cover screwing mechanism 22 and the valve core screwing mechanism 23 are spaced apart horizontally, with the axis of the valve core screwing mechanism 23 parallel to the axis of the valve cover screwing mechanism 22. The oil passage cover screwing mechanism 24 is rotatably mounted on the front part of the base 21, with its axis perpendicular to the axis of the valve cover screwing mechanism 22. The valve core screwing mechanism 23 is synchronously connected to the valve cover screwing mechanism 22 via a first transmission assembly; the oil passage cover screwing mechanism 24 is synchronously connected to the valve cover screwing mechanism 22 via a second transmission assembly. In this embodiment, the base 21 includes a main base 210, a first base 211, a second base 212, a third base 213, and a fourth base 214. The first base 211 and the second base 212 are respectively disposed at the top and bottom of the main base 210. The main base 210 has an extension section extending forward. The third base 213 is disposed in front of the extension section. The fourth base 214 is disposed at the top of the main base 210, and the fourth base 214 is horizontally spaced from the first base 211. The valve cover screwing mechanism 22 is rotatably disposed on the first base 211, the valve core screwing mechanism 23 is rotatably disposed on the fourth base 214, and the oil passage cover screwing mechanism 24 is rotatably disposed on the third base 213.

[0076] Furthermore, the valve cover screwing mechanism 22 includes a main shaft 222 and a valve cover snap-fit ​​component 221. The main shaft 222 is rotatably connected to the base 21, and the valve cover snap-fit ​​component 221 is fixed to the front end of the main shaft 222. The rear end of the main shaft 222 is used to connect to the rotary drive component. The valve core screwing mechanism 23 includes a valve core screwing shaft 232 and a valve core snap-fit ​​component 231. The valve core screwing shaft 232 is rotatably connected to the base 21, and the valve core snap-fit ​​component 231 is fixed to the front end of the valve core screwing shaft 232. The oil passage cover screwing mechanism 24 includes an oil passage cover screwing shaft 242 and an oil passage cover snap-fit ​​component 241. The oil passage cover screwing shaft 242 is rotatably connected to the base 21, and the oil passage cover snap-fit ​​component 241 is fixed to the upper end of the oil passage cover screwing shaft 242. Specifically, in this embodiment, the main shaft 222 is rotatably connected to the first base 211, and a copper sleeve or bearing is provided between the main shaft 222 and the first base 211. The front and rear ends of the main shaft 222 are located on the front and rear sides of the first base 211, respectively. The valve core screwing shaft 232 is rotatably connected to the fourth base 214, and a copper sleeve or bearing is provided between the valve core screwing shaft 232 and the fourth base 214. The front and rear ends of the valve core screwing shaft 232 are located on the front and rear sides of the fourth base 214, respectively. The oil passage cover screwing shaft 242 is rotatably connected to the third base 213, and a copper sleeve or bearing is provided between the oil passage cover screwing shaft 242 and the third base 213. The upper and lower ends of the oil passage cover screwing shaft 242 are located on the upper and lower sides of the third base 213, respectively. In this embodiment, the valve cover snap-fit ​​221 is a cylindrical structure with one open end. Multiple convex ridges extending axially are evenly distributed on the outer circumferential surface of the valve cover 281, and multiple grooves extending axially are evenly distributed on the inner circumferential surface of the valve cover snap-fit ​​221. The multiple grooves on the valve cover snap-fit ​​221 match the multiple convex ridges on the valve cover 281, allowing the valve cover 281 to be screwed in two directions after the valve cover snap-fit ​​221 is fitted onto the valve cover 281. A slot is formed on the valve core 282, and the valve core snap-fit ​​231 is a straight plate-shaped structure that matches the slot. The valve core snap-fit ​​231 can be inserted into the slot of the valve core 282, allowing the valve core 282 to be screwed in two directions.

[0077] See Figure 7 and Figure 8The first transmission assembly includes two first synchronous pulleys 261 and a first synchronous belt 262. The two first synchronous pulleys 261 are respectively fixed on the main shaft 222 and the valve core rotating shaft 232, and are connected and driven by the first synchronous belt 262. In this embodiment, the two first synchronous pulleys 261 are respectively fixedly connected to the rear ends of the main shaft 222 and the valve core rotating shaft 232, and the first synchronous belt 262 is wound around the two first synchronous pulleys 261. The first synchronous belt 262 meshes with the two first synchronous pulleys 261, thereby enabling the valve core rotating shaft 232 and the main shaft 222 to have the same rotational speed.

[0078] See Figure 7 and Figure 8 The second transmission assembly includes two second synchronous pulleys 271, a second synchronous belt 272, a transmission shaft 273, and two bevel gears 274. The transmission shaft 273 is rotatably connected to the lower part of the base 21. The two second synchronous pulleys 271 are respectively fixed on the main shaft 222 and the transmission shaft 273. The two bevel gears 274 are respectively fixed on the front end of the transmission shaft 273 and the lower end of the oil passage cover screwing shaft 242. The two second synchronous pulleys 271 are connected and driven by the second synchronous belt 272, and the two bevel gears 274 mesh and drive each other. Specifically, in this embodiment, the transmission shaft 273 is rotatably connected to the second base 212. A copper sleeve or bearing is provided between the transmission shaft 273 and the second base 212. The front and rear ends of the transmission shaft 273 are located on the front and rear sides of the second base 212, respectively. Two second synchronous pulleys 271 are fixedly connected to the rear ends of the main shaft 222 and the transmission shaft 273, respectively. The second synchronous pulley 271 and the first synchronous pulley 261 on the main shaft 222 are arranged side by side. The second synchronous belt 272 is wound around the two second synchronous pulleys 271. The second synchronous belt 272 meshes with the two second synchronous pulleys 271 to drive the transmission shaft 273, so that the transmission shaft 273 and the main shaft 222 have the same rotational speed. The oil passage cover turning shaft 242 and the transmission shaft 273 are driven by two meshing bevel gears 274, so that the oil passage cover turning shaft 242 and the transmission shaft 273 have the same rotational speed.

[0079] Further, the oil passage cover snap-fit ​​component 241 includes a housing 2411 and a cover plate 2412; wherein, the housing 2411 is a cylindrical structure with one end open and the other end closed, and the closed end of the housing 2411 is fixed to the upper end of the oil passage cover screwing shaft 242; the cover plate 2412 has a through hole in its center for the oil passage cover 283 to pass through, and the cover plate 2412 is fixed to the closed end of the housing 2411; the inner peripheral wall of the housing 2411 is provided with two sets of ratchet teeth, each set of ratchet teeth including a plurality of ratchet teeth 2413 evenly distributed along the circumference of the housing 2411, and the stopping directions of the two sets of ratchet teeth are opposite. See Figure 9 and Figure 10 In this embodiment, two sets of grooves are provided on the inner peripheral wall of the outer shell 2411. Each set of grooves includes multiple grooves evenly distributed along the circumference of the outer shell 2411. The grooves extend along the axial direction of the outer shell 2411, and the opening directions of the two sets of grooves are opposite. Two sets of ratchet teeth are correspondingly arranged in the two sets of grooves. When the oil passage cover latch 241 rotates in one direction, one set of ratchet teeth will always retract inward under the action of friction and bite into the inner oil passage cover 283. With this structure, it can be ensured that the oil passage cover latch 241 can both loosen and tighten the oil passage cover 283. In specific implementation, a support rod arranged along the axial direction of the outer shell 2411 can be fixed in each groove. The ratchet teeth 2413 are rotatably arranged on the support rod, and one end of the ratchet teeth 2413 extends to the outside of the groove. The ratchet teeth 2413 can deflect at a small angle in the groove, so that the two sets of ratchet teeth in the outer shell 2411 can screw the oil passage cover 283 in two directions.

[0080] Furthermore, a slider 216 is slidably mounted on the horizontal slide rail 215, and the docking oil passage 25 is fixedly mounted on the slider 216. See also... Figure 8 In this embodiment, the horizontal slide rail 215 is located on the front side of the main base 210. There are two horizontal slide rails 215, which are parallel and spaced apart. The slider 216 has grooves on both sides that match the horizontal slide rails 215. The slider 216 is slidably connected to the two horizontal slide rails 215 through the grooves on both sides.

[0081] Furthermore, the docking oil passage 25 vertically passes through the slider 216. The upper end of the docking oil passage 25 is provided with an oil passage connector 251 for connection to the oil passage pipe 284 of the oil extraction valve. The oil passage connector 251 contains a sealing ring, and the lower end of the docking oil passage 25 is provided with a pipe connector 252. During oil extraction, the oil passage connector 251 connects to the oil passage pipe 284 of the oil extraction valve. The sealing ring inside the oil passage connector 251 seals the connection point to prevent oil leakage. The pipe connector 252 can be connected to a flexible hose, thereby introducing the extracted oil into the sampling container.

[0082] Furthermore, a spring 217 is also provided between the slider 216 and the base 21, with both ends of the spring 217 connected to the base 21 and the slider 216, respectively. In this embodiment, the spring 217 is a cylindrical helical compression spring, and there are two springs 217, which are symmetrically arranged on the upper and lower sides of the horizontal slide rail 215. By using the spring 217 between the slider 216 and the base 21, the docking oil passage 25 can be spaced at a preset distance from the valve core locking member 231 of the valve core turning mechanism 23 under the action of the spring 217. This ensures that when the docking oil passage 25 is connected to the oil passage pipe 284, the valve core locking member 231 and the valve core 282 can be spaced at a certain distance to avoid interference.

[0083] The oil sampling device is mounted on the end of the robotic arm of the transformer maintenance oil sampling robot via a base 21. The robotic arm controls the oil sampling device to automatically sample oil from the transformer. The method for automatically sampling oil from the transformer using this oil sampling device includes the following steps:

[0084] Align the valve cover snap-fit ​​221 with the valve cover 281 of the oil tapping valve, slip the valve cover snap-fit ​​221 over the valve cover 281, and screw the valve cover 281 on. Figure 12 As shown.

[0085] The valve cover latch 221 is rotated to screw the valve cover 281 off the valve body 285. The robotic arm controls the oil extraction device to retract, aligning the oil passage cover latch 241 with the oil passage cover 283 of the oil extraction valve. The oil passage cover latch 241 is then fitted over the oil passage cover 283, and the oil passage cover 283 is screwed on. Figure 13 As shown.

[0086] The oil passage cover clamp 241 rotates, screwing the oil passage cover 283 off the valve body 285. The robotic arm controls the oil extraction device to move, aligning the oil passage connector 251 at the upper end of the connecting oil passage 25 with the oil passage pipe 284 of the oil extraction valve. The oil passage connector 251 is then fitted onto the oil passage pipe 284, forming a seal. Figure 14 As shown.

[0087] The robotic arm controls the oil extraction device to move forward, causing the valve core locking piece 231 to engage with the valve core 282. As the valve core locking piece 231 approaches the valve core 282, the connecting oil passage 25 slides on the horizontal slide rail 215. The valve core locking piece 231 screws on the valve core 282, loosening it to a certain extent, allowing the oil in the transformer to flow out along the oil passage pipe 284 and the connecting oil passage 25. Figure 15 As shown.

[0088] After oil extraction is completed, tighten valve core 282 to disconnect oil passage 25, and then connect and tighten oil passage cover 283 and valve cover 281 in sequence to complete the oil extraction operation.

[0089] In summary, the transformer maintenance oil sampling robot provided by this invention can be moved to the work area via a mobile chassis. It performs oil sampling operations on the transformer using an oil sampling device at the end of the robotic arm, replacing manual oil sampling. This reduces the intensity of manual labor while improving oil sampling efficiency and safety. Furthermore, the oil sampling device at the end of the robotic arm can simultaneously drive the valve cover screwing mechanism and the valve core screwing mechanism to rotate synchronously via a drive mechanism, resulting in a compact structure and miniaturization of the overall oil sampling device, facilitating use in confined spaces.

[0090] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0091] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A transformer maintenance oil sampling robot, characterized in that, include: Mobile chassis, robotic arm, and oil extraction device; among which, The mobile chassis is used for autonomous movement in the working environment; The oil extraction device is located at the end of the robotic arm and is used to connect with the oil extraction valve of the transformer to perform screwing and oil extraction operations. The robotic arm is mounted on the mobile chassis and is used to control the position and attitude of the oil extraction device; The oil extraction device includes a base, a valve cover screwing mechanism, and a valve core screwing mechanism. Both the valve cover screwing mechanism and the valve core screwing mechanism are rotatably mounted on the base. The valve cover screwing mechanism is connected to a drive mechanism, and the valve core screwing mechanism is synchronously driven to the valve cover screwing mechanism. The valve cover screwing mechanism includes a valve cover screwing shaft and a valve cover screwing sleeve. The valve cover screwing shaft is rotatably connected to the base, the valve cover screwing sleeve is fixed to the front end of the valve cover screwing shaft, and the rear end of the valve cover screwing shaft is connected to the drive mechanism. The valve core turning mechanism includes a valve core turning shaft and a valve core turning sleeve. The valve core turning shaft is rotatably connected to the base, and the valve core turning sleeve is fixed to the front end of the valve core turning shaft. The valve cover screwing shaft and the valve core screwing shaft are spaced apart, and the axis of the valve cover screwing shaft is parallel to the axis of the valve core screwing shaft. The valve core screwing shaft is connected to the valve cover screwing shaft through a synchronous transmission assembly. The oil extraction device also includes an oil passage cover screwing mechanism and a docking oil passage; The oil passage cover screwing mechanism is rotatably mounted on the base, and the oil passage cover screwing mechanism is synchronously driven and connected to the valve cover screwing mechanism; A horizontal slide rail extends outward from the base. The horizontal slide rail is located at a predetermined distance below the valve core turning mechanism. The extension direction of the horizontal slide rail is parallel to the axis of the valve core turning mechanism. The docking oil passage is slidably disposed on the horizontal slide rail.

2. The transformer maintenance oil sampling robot according to claim 1, characterized in that, The mobile chassis is a tracked mobile chassis.

3. The transformer maintenance oil sampling robot according to claim 1, characterized in that, The top of the mobile chassis is equipped with a slewing support platform, and the robotic arm is connected to the slewing support platform.

4. The transformer maintenance oil sampling robot according to claim 3, characterized in that, The robotic arm is a hydraulic robotic arm, comprising multiple rotating arms and multiple hydraulic cylinders. The multiple rotating arms are rotatably connected to each other, and adjacent rotating arms are driven to connect through the hydraulic cylinders.

5. The transformer maintenance oil sampling robot according to claim 1, characterized in that, It also includes an image recognition module, which is used to acquire and analyze the position of the transformer's oil tap valve.

6. The transformer maintenance oil sampling robot according to claim 1, characterized in that, The valve cover screwing sleeve is provided with a first snap-fit ​​groove that matches the snap-fit ​​connector on the valve cover, and the valve core screwing sleeve is provided with a second snap-fit ​​groove that matches the snap-fit ​​connector on the valve core. An oil intake channel is provided at the center of the valve core screwing shaft, and the oil intake channel passes through the rear end face of the valve core screwing shaft and the second snap-fit ​​groove.

7. The transformer maintenance oil sampling robot according to claim 1, characterized in that, Both the valve cover screwing mechanism and the valve core screwing mechanism are rotatably mounted on the upper part of the base. The valve cover screwing mechanism and the valve core screwing mechanism are spaced apart in the horizontal direction, and the axis of the valve core screwing mechanism is parallel to the axis of the valve cover screwing mechanism. The oil passage cover screwing mechanism is rotatably mounted on the front of the base, and the axis of the oil passage cover screwing mechanism is perpendicular to the axis of the valve cover screwing mechanism. The valve core turning mechanism is synchronously connected to the valve cover turning mechanism via a first transmission component; the oil passage cover turning mechanism is synchronously connected to the valve cover turning mechanism via a second transmission component.

8. The transformer maintenance oil sampling robot according to claim 7, characterized in that, The valve cover screwing mechanism includes a main shaft and a valve cover snap-fit ​​component. The main shaft is rotatably connected to the base, the valve cover snap-fit ​​component is fixed to the front end of the main shaft, and the rear end of the main shaft is used to connect to a rotary drive component. The valve core turning mechanism includes a valve core turning shaft and a valve core snap-fit ​​component. The valve core turning shaft is rotatably connected to the base, and the valve core snap-fit ​​component is fixed to the front end of the valve core turning shaft. The oil passage cover screwing mechanism includes an oil passage cover screwing shaft and an oil passage cover snap-fit ​​component. The oil passage cover screwing shaft is rotatably connected to the base, and the oil passage cover snap-fit ​​component is fixed to the upper end of the oil passage cover screwing shaft. The first transmission assembly includes two first synchronous pulleys and a first synchronous belt. The two first synchronous pulleys are respectively fixed on the main shaft and the valve core rotating shaft, and the two first synchronous pulleys are connected and transmitted through the first synchronous belt. The second transmission assembly includes two second synchronous pulleys, a second synchronous belt, a transmission shaft, and two bevel gears. The transmission shaft is rotatably connected to the lower part of the base. The two second synchronous pulleys are respectively fixed on the main shaft and the transmission shaft. The two bevel gears are respectively fixed on the front end of the transmission shaft and the lower end of the oil passage cover screwing shaft. The two second synchronous pulleys are connected and driven by the second synchronous belt, and the two bevel gears mesh and drive each other.

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