Flexible butt joint oil taking device, robot and system

Abstract

The invention belongs to the technical field of power robots. The flexible butt joint oil extraction device comprises a self-locking connector, a connecting connector, a flange connector, a self-locking connector sleeve, a knuckle bearing, an adjusting connector, a bearing check ring, a baffle and a butt joint opening adjusting spring, and one end of the adjusting connector penetrates through an inner ring of the knuckle bearing to be connected with one end of the flange connector; the other end of the adjusting joint is connected with the connecting joint and leads out an oil inlet; the bearing retainer ring and the baffle plate are used for fixing the outer ring of the knuckle bearing, a butt joint port adjusting spring is arranged between the adjusting joint and the baffle plate, a self-locking joint is fixed at the other end of the flange joint, and a self-locking joint sleeve is arranged on the outer wall of the self-locking joint; according to the invention, efficient and accurate butt joint of the automatic butt joint function of oil sample collection is ensured, and unsuccessful butt joint, joint slippage and oil sample leakage are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to a flexible docking oil extraction device, a robot and a system. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Existing transformer oil sample collection work is mostly done manually, using traditional working tools close to the transformer body. The oil collection process is complicated, the work intensity is high, the work efficiency is low, and it is easily affected by the working environment and is easily affected by high voltage safety risks.

[0004] Although some strategies for automatic oil sampling robots have been disclosed in the prior art, the following problems exist: (1) Most of them use robotic arms to extract oil, which require high control accuracy and thus lead to high computing power costs; (2) Due to the rigid movement of the robotic arm and its influence on the power scene environment (such as electromagnetic or high temperature), the control of the robotic arm is easily disturbed and may not be able to perform effective flexible docking, which may damage the oil extraction interface and bring certain safety hazards. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a flexible docking oil extraction device, a robot and a system, which adopt a flexible docking mechanism, solve the problems of using a flexible docking device and a double flexible adjustment method, and have buffering and universal flexible adjustment functions during automatic docking, thereby ensuring efficient and accurate docking of the automatic docking function of oil sample collection, and avoiding unsuccessful docking, joint slippage and oil sample leakage.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides a flexible docking oil extraction device.

[0007] A flexible docking oil extraction device, comprising: a self-locking joint, a connecting joint, a flange joint, a self-locking joint sleeve, a spherical bearing, an adjusting joint, a bearing retaining ring, a baffle and a docking port adjusting spring, one end of the adjusting joint passes through the inner ring of the spherical bearing and is connected to one end of the flange joint, and the other end of the adjusting joint is connected to the connecting joint and leads to an oil inlet; The bearing retaining ring and the baffle fix the outer ring of the spherical bearing, a docking adjustment spring is installed between the adjustment joint and the baffle, the other end of the flange joint fixes the self-locking joint, and a self-locking joint sleeve is installed on the outer wall of the self-locking joint.

[0008] As a further limitation of the first aspect of the present invention, it also includes: a fixed seat adapter plate, a fixed seat, the fixed seat is connected to the fixed seat adapter plate, the fixed seat adapter plate is used to connect with the telescopic mechanism, the connecting joint is a pagoda joint, and the self-locking joint is a planar self-locking female joint.

[0009] In a second aspect, the present invention provides a flexible docking oil extraction robot.

[0010] A flexible docking oil extraction robot comprises a telescopic mechanism, a guiding docking mechanism and the flexible docking oil extraction device according to the first aspect of the present invention, wherein the telescopic mechanism is rigidly connected to the automatic docking device via a connecting plate; The guide docking mechanism is used to cooperate with the oil extraction tank for guide docking, and the flexible docking oil extraction mechanism is used to flexibly dock with the oil extraction port of the oil extraction tank.

[0011] As a further limitation of the second aspect of the present invention, it also includes: an X-axis movable slide, a Y-axis movable slide, a vertical frame and a rotating mechanism, the Y-axis movable slide is slidably connected above the X-axis movable slide, and the telescopic mechanism is fixed on the top of the vertical frame; The rotating mechanism is connected to the top of the Y-axis movable slide, and the rotating mechanism is connected to the vertical frame. The vertical frame can rotate under the drive of the rotating mechanism.

[0012] As a further limitation of the second aspect of the present invention, the rotating mechanism comprises: a rotating drive motor, a large gear and a small gear, wherein the large gear is fixed to the upper part of the Y-direction movable slide, and the rotating drive motor is installed at the bottom of the vertical frame; The small gear is installed on the output shaft of the rotary drive motor, and the small gear is meshed with the large gear. When the rotary drive motor rotates, the small gear is driven to rotate along the large gear, thereby driving the vertical frame to rotate.

[0013] As a further limitation of the second aspect of the present invention, the X-axis movable slide comprises: an X-axis guide rail pair, a screw nut pair, an X-axis drive motor and an X-axis movable slide body, the X-axis and the X-axis drive motor are fixed on the X-axis movable slide body, the output shaft of the X-axis drive motor is connected to the screw of the screw nut pair, and the screw nut pair is connected to the bottom of the Y-axis movable slide through a connecting piece.

[0014] As a further limitation of the second aspect of the present invention, the Y-axis movable slide comprises: a Y-axis guide rail pair, a Y-axis movable slide body, a Y-axis compression spring, a slide top plate, a linear bearing, a polished rod, a zero position scale and a pointer, the polished rod passes through the linear bearing, and the slide groove at the bottom of the Y-axis movable slide body is slidably connected to the X-axis guide rail pair; The linear bearing is connected to the slide top plate, the slide groove at the bottom of the slide top plate is slidably connected to the Y-direction guide rail pair, the two ends of the light rod are respectively connected to the Y-direction movable slide body through connecting pieces, the zero position scale is arranged on the Y-direction movable slide body, and the pointer is movably connected to the side of the slide top plate; Y-direction compression springs are respectively arranged on the polished rods on both sides of the linear bearing. When no external force is applied, the Y-direction movable slide is at zero position. When an external force of the system is applied, the Y-direction movable slide moves within an allowable range.

[0015] As a further limitation of the second aspect of the present invention, the guide docking mechanism is fixed on the vertical frame through a guide docking mechanism fixing plate, and includes a holding rod mechanism adjustment plate, a holding rod mechanism connecting member, a holding rod mechanism, a guide plate, a guide plate bracket, a movable rod trigger plate, a trigger plate bracket, a fixed rod front sensor, a fixed rod rear sensor and a holding rod mechanism fixing plate, and the guide docking mechanism is used in conjunction with a fixed rod and a movable rod protruding outward from the front of the oil tank; The arm mechanism is fixed on the guide docking mechanism fixing plate through the arm mechanism adjusting plate and the arm mechanism connecting piece. The guide plate is connected and fixed on the guide docking mechanism fixing plate with two sets of guide plate brackets. The guide plate has a sloped and smooth structure. During operation, the fixing rod of the oil tank does not move. The front end of the guide plate contacts the spherical surface of the fixing rod and slides passively along the slope to lift the guide docking mechanism. The movable rod trigger plate is connected to the fixed plate bracket through two sets of trigger plate brackets. During operation, the movable rod trigger plate moves toward the oil tank, and the front of the trigger plate contacts the movable rod in the movable rod assembly to push the movable rod to move, thereby triggering movable rod limit baffles of different lengths to achieve the lifting and lowering control of the oil tank lifting door and the on-off control of the solenoid valve. The fixed rod front sensor and the fixed rod rear sensor are installed at the front and rear ends of the guide plate bracket and are triggered by the fixed rod during operation.

[0016] As a further limitation of the second aspect of the present invention, the pole holding mechanism includes: a pole holding seat, a holding claw, an opposite side holding claw, a gear, a rack, a micro guide pair, a pole holding drive motor, a drive motor housing, a motor output shaft, a micro bearing and a pole holding mechanism fixing plate; By adjusting the position of the holding pole mechanism fixing plate on the holding pole mechanism adjustment plate, the holding pole drive motor is fixed on the holding pole seat, the gear and the micro bearing are arranged on the motor output shaft, the micro bearing plays a supporting role, the rack is arranged on both sides of the gear and is tightly meshed with the gear, and a micro guide pair is arranged on the rack; The claws and the opposite claws are installed on both sides of the rack. The claws and the opposite claws are designed as single-claw and double-claw structures respectively. When the gear rotates, the rack and the claws are driven to move relative to each other. The claws and the opposite claws are forked and overlapped together to firmly hold the fixed rod.

[0017] In a third aspect, the present invention provides a flexible docking oil extraction system.

[0018] A flexible docking oil extraction system, comprising an oil extraction tank and the flexible docking oil extraction robot according to the second aspect of the present invention; The oil extraction tank comprises a flexible docking oil extraction port, a fixed rod and a movable rod fixed on the oil extraction tank body; the guiding docking mechanism is used to cooperate with the fixed rod and the movable rod for guiding docking; and the flexible docking oil extraction mechanism is used to flexibly dock with the flexible docking oil extraction port.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention innovatively develops a flexible docking oil extraction device, designs a flexible docking oil extraction robot, and proposes a "fixed rod clamping positioning guidance and deflection angle active detection rotation" strategy. The clamping rod mechanism clamps the fixed rod and the trolley deflection angle actively detects the rotation adjustment, so that the flexible docking oil extraction device is passively adjusted along the Y direction and the angle is actively deflected and adjusted, so that the plane self-locking female joint of the flexible docking oil extraction mechanism is within the conical docking interface of the flexible docking oil extraction port to meet the automatic docking requirements; the flexible docking oil extraction device and the flexible docking oil extraction port both adopt a "spherical sliding bearing + spring preload" structure, which has load-bearing, buffering and The universal flexible adjustment function ensures the efficient and accurate docking of the automatic docking function of oil sample collection, avoiding unsuccessful docking, joint slippage and oil sample leakage; the flexible docking oil extraction device adopts a conical docking interface and a flat self-locking joint, which can achieve rapid docking, self-locking and automatic separation, with high speed and high efficiency, and can effectively prevent the joint from falling off and oil sample leakage; the holding claws of the holding mechanism adopt a fork-overlapping structure, which can firmly hold the fixed rod without slipping, so that the position of the flexible docking oil extraction robot and the oil extraction tank is relatively fixed, and the posture of the guide docking mechanism and the flexible docking oil extraction device is also passively adjusted and rotated in the up and down, left and right directions, which improves the convenience of oil extraction.

[0020] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 A schematic diagram of a flexible docking oil extraction device provided in Example 1 of the present invention; Figure 2 Schematic diagram of the flexible docking oil extraction robot provided in Example 2 of the present invention Figure 1 ; Figure 3 Schematic diagram of the flexible docking oil extraction robot provided in Example 2 of the present invention Figure 2 ; Figure 4 A schematic diagram of a pole holding mechanism provided in Embodiment 2 of the present invention; Figure 5 A schematic diagram of the oil tank provided in Example 3 of the present invention.

[0023] Among them, 101, baffle; 201, docking adjustment spring; 301, adjustment joint; 401, bearing retaining ring; 501, spherical bearing; 701-1, plane self-locking female joint; 701-2, pagoda joint; 701-3, fixed seat adapter plate; 701-4, fixed seat; 701-5, flange joint; 701-6, female joint sleeve; 702, telescopic mechanism; 703, vertical frame; 704, guide docking mechanism; 704-1, connecting piece of the holding rod mechanism; 704-2, rear sensor of the fixed rod; 704-3, trigger plate bracket; 704-4, trigger plate of the movable rod; 704-5, guide plate bracket; 704-6, front sensor of the fixed rod; 704-7, guide plate; 704-8, holding rod mechanism; 704-81, holding rod seat; 704-82, holding claw; 704-83, rack; 704-84, micro guide rail pair; 704-85 , drive motor housing; 704-86, pole drive motor; 704-87, motor output shaft; 704-88, gear; 704-89, miniature bearing; 704-810, opposite side claw; 704-811, pole mechanism fixing plate; 704-9, docking detection camera; 704-10, guide docking mechanism fixing plate; 704-11, pole mechanism adjustment plate; 705, rotation mechanism; 705-1, large gear ; 705-2, rotary drive motor; 705-3, pinion; 706, Y-axis movable slide; 706-1, drag chain; 706-2, Y-axis compression spring; 706-3, zero position scale; 706-4, pointer; 706-5, linear motion assembly; 706-6, Y-axis guide rail pair; 707, X-axis movable slide; 707-1, X-axis drive motor; 707-2, X-axis guide rail pair; 707-3, X-axis lead screw nut pair; 801, conical docking port; 802, fixed rod; 803, movable rod. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0026] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0027] Embodiment 1: In this implementation, a flexible docking oil extraction device is proposed, such as Figure 1 As shown, the flexible docking oil extraction device is arranged on the telescopic mechanism 702, and moves with the movement of the telescopic mechanism 702. It mainly includes a plane self-locking female joint 701-1, a pagoda joint 701-2 (i.e., a connecting joint), a fixed seat adapter plate 701-3, a fixed seat 701-4, a flange joint 701-5, a female joint sleeve 701-6 and a baffle 101, a docking adjustment spring 201, an adjustment joint 301, a bearing retaining ring 401, and a spherical bearing 501. The fixed seat adapter plate 701-3 is arranged on the telescopic mechanism 702, and the fixed seat 701-4 is arranged on the fixed seat adapter plate 701-3.

[0028] The bearing retaining ring 401 and the baffle 101 fix the outer ring of the spherical bearing 501 on the fixed seat 701-4. The adjustment joint 301 passes through the inner ring of the spherical bearing 501 and is connected to the flange joint 701-5. The other end is connected to the pagoda joint 701-2 and leads to the oil inlet. The pagoda joint 701-2 transports the oil sample to the oil sample extraction device 5 through the PU tube.

[0029] A docking adjustment spring 201 is installed between the adjustment joint 301 and the baffle 101, and the tightness of the spring can be adjusted by screwing the adjustment joint 301. The other end of the flange joint 701-5 is fixed with a plane self-locking female joint 701-1, which has the functions of self-locking, anti-leakage, dustproof and impact resistance. A female joint sleeve 701-6 is installed on the outside. Under the guidance of the conical docking port 801, it can be smoothly docked and locked with the plane self-locking male joint. Under the joint action of the inner ring, outer ring and adjustment spring of the spherical bearing 501, the docking oil outlet can realize flexible rotation and swing at multiple angles.

[0030] Embodiment 2: This implementation provides a flexible docking oil extraction robot, a guide docking mechanism 704, a flexible docking oil extraction device described in Example 1, an X-axis movable slide 707, a Y-axis movable slide 706, a telescopic mechanism 702, a vertical frame 703, a rotating mechanism 705, etc. The guide docking mechanism 704 is fixed on the vertical frame 703 through a guide docking mechanism fixing plate 704-10, and includes a holding rod mechanism adjustment plate 704-11, a holding rod mechanism connecting piece 704-1, a holding rod mechanism 704-8, a guide plate 704-7, a guide plate bracket 704-5, a movable rod trigger plate 704-4, a trigger plate bracket 704-3, a fixed rod front sensor 704-6, a fixed rod rear sensor 704-2, a holding rod mechanism fixing plate 704-811, and a guide docking mechanism fixing plate 704-10.

[0031] The holding rod mechanism 704-8 is fixed on the guide docking mechanism fixing plate 704-10 through the holding rod mechanism adjusting plate 704-11 and the holding rod mechanism connecting piece 704-1, and includes a holding rod seat 704-81, a holding claw 704-82, an opposite side holding claw 704-810, a gear 704-88, a rack 704-83, a micro guide pair 704-84, a holding rod drive motor 704-86, a drive motor housing 704-85, a motor output shaft 704-87, a micro bearing 704-89, and a holding rod mechanism fixing plate 704-811. By adjusting the position of the holding rod mechanism fixing plate 704-811 on the holding rod mechanism adjusting plate 704-11, the position of the holding rod mechanism 704-8 can be adjusted to facilitate better grasping of the fixed rod 802. The pole driving motor 704-86 is fixed on the pole base 704-81, the gear 704-88 and the micro bearing 704-89 are arranged on the motor output shaft 704-87, the micro bearing 704-89 plays a supporting role, the rack 704-83 is arranged on both sides of the gear 704-88, and is tightly meshed with the gear 704-88, and the rack 704-83 is arranged with a micro guide pair 704-84, which plays a guiding and bearing role, the claw 704-82 and the opposite claw 704-81 0 is installed on both sides of the rack 704-83, the claw 704-82 and the opposite claw 704-810 are designed as a single claw and a double claw structure respectively, when the gear 704-88 rotates, the rack 704-83 and the claw 704-82 are driven to move relative to each other, the claw 704-82 and the opposite claw 704-810 are overlapped with each other, and the fixing rod 802 can be firmly held without slipping, and the driving motor housing 704-85 is installed on the outer side of the driving motor 704-86 of the holding rod to play a protective role.

[0032] The guide plate 704-7 is connected to two sets of guide plate brackets 704-5 and fixed on the guide docking mechanism fixed plate 704-10. The guide plate 704-7 is designed to be a smooth slope structure and is made of hard and wear-resistant material. During operation, the fixed rod 802 of the oil tank remains stationary, and the front end of the guide plate 704-7 is in spherical contact with the fixed rod 802, and passively slides along the inclined surface to lift the guide docking mechanism 704.

[0033] The movable rod trigger plate 704-4 is connected to the guide plate bracket 704-5 through two sets of trigger plate brackets 704-3. It is made of hard and wear-resistant material. When working, the movable rod trigger plate 704-4 moves closer to the oil tank. The front of the movable rod trigger plate 704-4 contacts the movable rod 803, pushing the movable rod 803 to move, thereby triggering different switches to achieve the lifting and lowering of the oil tank lifting door and the on-off function of the solenoid valve. The fixed rod front sensor 704-6 and the fixed rod rear sensor 704-2 are installed at the front and rear ends of the guide plate bracket 704-5 and are triggered by the fixed rod 802 during operation.

[0034] The docking detection camera 704-9 is installed at the front of the guiding docking mechanism 704, which can observe the docking status in real time and provide timely feedback when problems are found.

[0035] The X-axis movable slide 707 includes two sets of guide rail pairs, a set of lead screw nut pairs, a drive motor, a structural body, etc. The X-axis movable slide 707 mainly realizes the contact between the driving docking device and the oil extraction pile guide rod and the movable rod 803, and specifically includes an X-axis drive motor 707-1, an X-axis guide rail pair 707-2 and an X-axis lead screw nut pair 707-3.

[0036] The Y-direction movable slide 706 adopts a follow-up structure, including a Y-direction guide rail pair 706-6, a linear motion assembly 706-5 (linear bearing + light rod assembly), a Y-direction compression spring 706-2, a drag chain 706-1, a zero position scale 706-3 and a pointer 706-4, etc. Y-direction compression springs 706-2 are respectively arranged on the light rods on both sides of the linear bearing. When not acted upon by external forces, the Y-direction movable slide 706 is at zero position. When acted upon by external forces of the system, it follows within an allowable range.

[0037] The telescopic mechanism 702 is rigidly connected to the automatic docking device through a connecting plate, and adopts the form of a lead screw + guide rail. The driving unit uses a servo to accurately and stably realize the telescopic function. The vertical frame 703 adopts a multi-rib plate structure, which is light and firm and can withstand the large thrust impact when the automatic docking device is horizontally docked.

[0038] The rotating mechanism 705 includes a rotating drive motor 705-2, a large gear 705-1, and a small gear 705-3. The large gear 705-1 is fixed on the upper part of the Y-axis movable slide 706. The rotating drive motor 705-2 is installed at the bottom of the vertical frame 703. The small gear 705-3 is installed on the motor output shaft 704-87. The small gear 705-3 is meshed with the large gear 705-1. When the rotating drive motor 705-2 rotates, the small gear 705-3 is driven to rotate along the large gear 705-1, thereby realizing the rotation of the vertical frame 703.

[0039] Embodiment 3: This implementation provides a flexible docking oil extraction system, including an oil extraction tank and the flexible docking oil extraction robot described in Example 2 of the present invention; The oil extraction tank comprises a flexible docking oil extraction port, a fixed rod and a movable rod fixed on the oil extraction tank body; the guiding docking mechanism is used to cooperate with the fixed rod and the movable rod for guiding docking; and the flexible docking oil extraction mechanism is used to flexibly dock with the flexible docking oil extraction port.

[0040] The flexible docking oil extraction port includes a tapered docking port, a flat self-locking male joint, an adapter, a spherical bearing, a bearing retaining ring, an adjustment joint, a docking port adjustment spring, a baffle, a docking port base and a docking port bracket. The docking port bracket is fixed on the oil extraction tank body, and a fixing rod is fixed at the bottom. The front end of the fixing rod is designed to be a semicircular spherical surface and is made of solid stainless steel. A movable rod is provided at the bottom of the fixing rod.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible docking oil extraction device, characterized in that: include: A self-locking joint, a connecting joint, a flange joint, a self-locking joint sleeve, a spherical bearing, an adjusting joint, a bearing retaining ring, a baffle and a docking adjustment spring, one end of the adjusting joint passes through the inner ring of the spherical bearing and is connected to one end of the flange joint, and the other end of the adjusting joint is connected to the connecting joint and leads to the oil inlet; The bearing retaining ring and the baffle fix the outer ring of the spherical bearing, a docking adjustment spring is installed between the adjustment joint and the baffle, the other end of the flange joint fixes the self-locking joint, and a self-locking joint sleeve is installed on the outer wall of the self-locking joint.

2. The flexible docking oil extraction device according to claim 1, characterized in that: It also includes: a fixed seat adapter plate and a fixed seat, the fixed seat is connected to the fixed seat adapter plate, the fixed seat adapter plate is used to connect with the telescopic mechanism, the connecting joint is a pagoda joint, and the self-locking joint is a plane self-locking female joint.

3. A flexible docking oil extraction robot, characterized in that: It comprises a telescopic mechanism, a guiding docking mechanism and the flexible docking oil extraction device according to claim 1 or 2, wherein the telescopic mechanism is rigidly connected to the automatic docking device through a connecting plate; The guide docking mechanism is used to cooperate with the oil extraction tank for guide docking, and the flexible docking oil extraction mechanism is used to flexibly dock with the oil extraction port of the oil extraction tank.

4. The flexible docking oil extraction robot according to claim 3, characterized in that: It also includes: an X-axis movable slide, a Y-axis movable slide, a vertical frame and a rotating mechanism, wherein the Y-axis movable slide is slidably connected above the X-axis movable slide, and the telescopic mechanism is fixed on the top of the vertical frame; The rotating mechanism is connected to the top of the Y-axis movable slide, and the rotating mechanism is connected to the vertical frame. The vertical frame can rotate under the drive of the rotating mechanism.

5. The flexible docking oil extraction robot according to claim 4, characterized in that: The rotating mechanism comprises: a rotating drive motor, a large gear and a small gear, wherein the large gear is fixed to the upper part of the Y-axis movable slide, and the rotating drive motor is installed at the bottom of the vertical frame; The small gear is installed on the output shaft of the rotary drive motor, and the small gear is meshed with the large gear. When the rotary drive motor rotates, the small gear is driven to rotate along the large gear, thereby driving the vertical frame to rotate.

6. The flexible docking oil extraction robot according to claim 4 or 5, characterized in that: The X-direction movable slide comprises: an X-direction guide rail pair, a lead screw nut pair, an X-direction drive motor and an X-direction movable slide body. The X-direction guide rail pair and the X-direction drive motor are fixed on the X-direction movable slide body. The output shaft of the X-direction drive motor is connected to the lead screw of the lead screw nut pair. The lead screw nut pair is connected to the bottom of the Y-direction movable slide through a connecting piece.

7. The flexible docking oil extraction robot according to claim 6, characterized in that: The Y-axis movable slide comprises: a Y-axis guide rail pair, a Y-axis movable slide body, a Y-axis compression spring, a slide top plate, a linear bearing, a polished rod, a zero position scale and a pointer, wherein the polished rod passes through the linear bearing, and a slide groove at the bottom of the Y-axis movable slide body is slidably connected to the X-axis guide rail pair; The linear bearing is connected to the slide top plate, the slide groove at the bottom of the slide top plate is slidably connected to the Y-direction guide rail pair, the two ends of the light rod are respectively connected to the Y-direction movable slide body through connecting pieces, the zero position scale is arranged on the Y-direction movable slide body, and the pointer is movably connected to the side of the slide top plate; Y-direction compression springs are respectively arranged on the polished rods on both sides of the linear bearing. When no external force is applied, the Y-direction movable slide is at zero position. When an external force of the system is applied, the Y-direction movable slide moves within an allowable range.

8. The flexible docking oil extraction robot according to claim 3, characterized in that: The guide docking mechanism is fixed on the vertical frame through a guide docking mechanism fixing plate, and includes a holding rod mechanism adjustment plate, a holding rod mechanism connecting piece, a holding rod mechanism, a guide plate, a guide plate bracket, a movable rod trigger plate, a trigger plate bracket, a fixed rod front sensor, a fixed rod rear sensor and a holding rod mechanism fixing plate. The guide docking mechanism is used in conjunction with a fixed rod and a movable rod protruding outward from the front of the oil tank; The arm mechanism is fixed on the guide docking mechanism fixing plate through the arm mechanism adjusting plate and the arm mechanism connecting piece. The guide plate is connected and fixed on the guide docking mechanism fixing plate with two sets of guide plate brackets. The guide plate has a sloped and smooth structure. During operation, the fixing rod of the oil tank does not move. The front end of the guide plate contacts the spherical surface of the fixing rod and slides passively along the slope to lift the guide docking mechanism. The movable rod trigger plate is connected to the fixed plate bracket through two sets of trigger plate brackets. During operation, the movable rod trigger plate moves toward the oil tank, and the front of the trigger plate contacts the movable rod in the movable rod assembly to push the movable rod to move, thereby triggering movable rod limit baffles of different lengths to achieve the lifting and lowering control of the oil tank lifting door and the on-off control of the solenoid valve. The fixed rod front sensor and the fixed rod rear sensor are installed at the front and rear ends of the guide plate bracket and are triggered by the fixed rod during operation.

9. The flexible docking oil extraction robot according to claim 8, characterized in that: The pole holding mechanism comprises: a pole holding seat, a holding claw, an opposite side holding claw, a gear, a rack, a micro guide rail pair, a pole holding drive motor, a drive motor housing, a motor output shaft, a micro bearing and a pole holding mechanism fixing plate; By adjusting the position of the holding pole mechanism fixing plate on the holding pole mechanism adjustment plate, the holding pole drive motor is fixed on the holding pole seat, the gear and the micro bearing are arranged on the motor output shaft, the micro bearing plays a supporting role, the rack is arranged on both sides of the gear and is tightly meshed with the gear, and a micro guide pair is arranged on the rack; The claws and the opposite claws are installed on both sides of the rack. The claws and the opposite claws are designed as single-claw and double-claw structures respectively. When the gear rotates, the rack and the claws are driven to move relative to each other. The claws and the opposite claws are forked and overlapped together to firmly hold the fixed rod.

10. A flexible docking oil extraction system, characterized in that: It comprises an oil extraction tank and the flexible docking oil extraction robot according to any one of claims 3 to 9; The oil extraction tank comprises a flexible docking oil extraction port, a fixed rod and a movable rod fixed on the oil extraction tank body; the guiding docking mechanism is used to cooperate with the fixed rod and the movable rod for guiding docking; and the flexible docking oil extraction mechanism is used to flexibly dock with the flexible docking oil extraction port.

Images