Flexible docking device for oil sample collection of transformer, oil sample collection robot and method

Abstract

The invention belongs to the technical field of power robots. The transformer oil sample collection flexible butt joint device comprises a device body and an unlocking mechanism, and the device body comprises a knuckle bearing installation base, a knuckle bearing check ring, an adjusting shaft, a mechanical arm connecting piece, a hydraulic pipeline connector, a flexible spring, a knuckle bearing and a connector connecting piece; the adjusting shaft penetrates through an inner ring of the knuckle bearing, a shaft shoulder of the adjusting shaft is tightly pressed on the end face of the knuckle bearing, the knuckle bearing check ring is coaxially fixed to the knuckle bearing installation base, an outer ring of the knuckle bearing is tightly pressed on the knuckle bearing installation base through the knuckle bearing check ring, and the flexible spring is installed in an annular space formed between the knuckle bearing check ring and the adjusting shaft. The joint connecting piece is connected with the unlocking mechanism; flexible butt joint with an oil outlet of an oil taking tank or an oil taking device is achieved, potential safety hazards caused by an existing rigid butt joint mode are avoided, and locking and unlocking of the butt joint device are achieved through the unlocking mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to a transformer oil sample collection flexible docking device, an oil sample collection robot and a method. 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] In accordance with GB / T 7597-2007 Sampling Method for Power Oil (Transformer Oil, Turbine Oil), this standard adopts manual sampling. After connecting the catheter, three-way valve, and syringe in sequence, rotate the three-way valve and use the pressure of the transformer oil itself to inject the oil into the syringe. Rinse 2-3 times, rotate the three-way valve to isolate the equipment body from the atmosphere, empty the syringe, continue to rotate the three-way valve to isolate it from the atmosphere, and use the oil's own pressure to flow into the syringe to complete the sampling.

[0004] Due to the insufficient sealing of the syringe and the rotary three-way valve, the contact with the atmosphere will cause the syringe to not be completely emptied, and the cleanliness of the syringe is difficult to ensure. The oil sample in the syringe will penetrate into the air during transportation. These factors will cause the obtained oil sample to be distorted, and the test data cannot effectively reflect the true operating status of the transformer. At present, in the chromatographic and gas content survey of the main transformer / reactor of the 500kV substation, a large number of samples need to be re-inspected due to unqualified sampling. This not only wastes a lot of manpower and material resources, but also affects the judgment of the operating status of the transformer, causing immeasurable losses.

[0005] Although some strategies for automatic oil sample collection robots are disclosed in the prior art, most of the existing robotic arm docking and oil extraction devices are relatively complex and cannot perform efficient and accurate flexible docking. Furthermore, electric sparks may be generated due to friction during docking, posing certain safety hazards. Summary of the invention

[0006] In order to address the deficiencies in the prior art, the present invention provides a transformer oil sample collection flexible docking device, an oil sample collection robot and a method, which achieve flexible docking with an oil tank or an oil outlet of an oil collection device, solve the potential safety hazards brought about by the existing rigid docking method, and achieve locking and unlocking of the docking device through an unlocking mechanism, thereby improving the applicability of the docking device.

[0007] 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 device for collecting transformer oil samples.

[0008] A transformer oil sample collection flexible docking device, comprising: a device body and an unlocking mechanism, wherein the device body comprises: a joint bearing mounting seat, a joint bearing retaining ring, an adjustment shaft, a mechanical arm connector, a hydraulic pipeline connector, a flexible spring, a joint bearing and a connector connector; The adjusting shaft passes through the inner ring of the spherical bearing, the shoulder of the adjusting shaft is pressed tightly against the end face of the spherical bearing, the spherical bearing retaining ring is coaxially fixed on the spherical bearing mounting seat, the outer ring of the spherical bearing is pressed against the spherical bearing mounting seat by the spherical bearing retaining ring, the flexible spring is installed in the annular space formed between the spherical bearing retaining ring and the adjusting shaft, and the joint connector is connected to the unlocking mechanism.

[0009] As a further limitation of the first aspect of the present invention, the device body also includes a support arm, one end of the support arm is connected to the mechanical arm connecting piece, and the other end of the support arm is connected to the joint bearing mounting seat.

[0010] As a further limitation of the first aspect of the present invention, the device body also includes a protective cover, a circuit board and a protective top cover, the circuit board is installed on the robotic arm connecting piece, the protective cover and the protective top cover are used to protect the circuit board, the protective cover is fixed on the robotic arm connecting piece, and the protective top cover is fixed on the protective cover.

[0011] As a further limitation of the first aspect of the present invention, the unlocking mechanism comprises: a micro screw motor, a motor pressure plate, a right clamping block, a screw shaft seat, a rear clamping claw, a hydraulic joint clamp, a front clamping claw, a left clamping block and a hydraulic joint body; After the right clamping block and the left clamping block are connected, the hydraulic joint body is clamped, the left and right sides of the motor body of the micro screw motor are clamped by the right clamping block and the left clamping block, and the upper part of the motor body of the micro screw motor is pressed by the motor pressing plate; After the rear clamping claw and the front clamping claw are connected, the hydraulic joint clamping hoop is clamped, the screw shaft of the micro screw motor is connected to the screw shaft seat, and the hydraulic joint clamping hoop is driven to move forward and backward through the screw shaft seat, the rear clamping claw and the front clamping claw to achieve locking and unlocking.

[0012] As a further limitation of the first aspect of the present invention, the right clamping block and the left clamping block are connected by screws.

[0013] As a further limitation of the first aspect of the present invention, the rear clamping jaw and the front clamping jaw are connected by screws.

[0014] In a second aspect, the present invention provides a transformer oil sample collection robot.

[0015] A transformer oil sample collection robot, comprising a multi-degree-of-freedom mechanical arm and a work tool integrated board, wherein the transformer oil sample collection flexible docking device according to the first aspect of the present invention is mounted on the work tool integrated board; The end of the multi-degree-of-freedom mechanical arm is connected to the mechanical arm connector of the transformer oil sample collection flexible docking device so as to be flexibly docked with the oil extraction port on the oil extraction tank or the oil extraction device.

[0016] As a further limitation of the second aspect of the present invention, the oil extraction robot body also includes a four-wheel drive chassis and a multi-degree-of-freedom robotic arm distributed on the chassis, a depth camera fixed on the multi-degree-of-freedom robotic arm, a radar assembly, an oil storage needle valve assembly and an oil sample detection system, and the working tool integrated board is fixed on the four-wheel drive chassis.

[0017] As a further limitation of the second aspect of the present invention, the oil sample detection system includes an air source purification pipe assembly, a standard gas bottle assembly, a nitrogen bottle assembly, an air source module assembly, an oil sample analysis instrument and a waste oil collection assembly; The oil sample is filtered through the gas source purification tube assembly. At this time, the gas source module assembly controls the gas of the standard gas bottle assembly and the gas of the nitrogen bottle assembly to flow into the gas source purification tube assembly to react with the oil sample. The filtered oil sample is input into the oil sample analyzer for detection, and the detected oil sample is sent to the waste oil collection assembly.

[0018] As a further limitation of the second aspect of the present invention, the oil storage needle tube valve assembly includes: an oil storage needle tube, a ferrule, a fixed slot, a claw, a push-pull assembly, a vertical connecting plate bracket, an oil circuit control valve assembly, and a limit assembly; The oil storage needle tubes are arranged vertically, the outer tube of the needle tube is fixed on the vertical connecting plate bracket through the upper clamping sleeve and the middle fixed clamping groove, the inner handle of the needle tube is connected to the push-pull assembly through the lower clamping claw, and the push-pull assembly drives the needle tube to do piston movement through the linear motion to extract or drain the oil sample; A limit assembly is installed on the push-pull assembly to detect whether the push-pull stroke is in place. The oil circuit control valve assembly is installed above the oil storage needle tube to control the opening and closing of the oil circuit and the flow direction to realize the oil sample extraction or emptying process.

[0019] In a third aspect, the present invention provides a transformer oil sample collection method, using the transformer oil sample collection robot described in the second aspect of the present invention, comprising the following process: When a docking operation for oil sample collection is required, the multi-degree-of-freedom robotic arm moves to the position of the operation integrated board, and the end of the multi-degree-of-freedom robotic arm is connected to the robotic arm connector described in the first aspect of the present invention; The multi-degree-of-freedom robotic arm removes the transformer oil sample collection flexible docking device from the working tool integrated board, controls the movement of the robotic arm, and flexibly docks with the oil extraction port on the oil extraction tank or the oil extraction device.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The present invention innovatively develops a flexible docking device for collecting transformer oil samples, designs an unlocking mechanism for unlocking and locking the flexible docking device, and proposes a transformer oil sample collection method. Through the cooperation of a joint bearing mounting seat, a joint bearing retaining ring, an adjusting shaft, a mechanical arm connector, a hydraulic pipeline joint, a flexible spring, a joint bearing and a joint connector, a flexible docking with the oil outlet of an oil extraction tank or an oil extraction device is achieved, and the safety hazard brought by the existing rigid docking method is solved. The hydraulic joint clamp is driven to move back and forth by the threaded shaft seat, the rear claw and the front claw to achieve stable locking and unlocking of the flexible docking device, thereby improving the applicability of the docking device.

[0021] 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

[0022] 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.

[0023] Figure 1 A schematic diagram of a transformer oil sample collection flexible docking device provided in Example 1 of the present invention; Figure 2 A schematic diagram of a device body provided in Example 1 of the present invention; Figure 3 A schematic diagram of an unlocking mechanism provided in Embodiment 1 of the present invention; Figure 4 A schematic diagram of a transformer oil sample collection robot provided in Example 2 of the present invention; Figure 5 A top view of the transformer oil sample collection robot provided in Example 2 of the present invention; Figure 6 A schematic diagram of an oil storage needle valve assembly provided in Example 2 of the present invention; Among them, 101, device body; 101-01, joint bearing mounting seat; 101-02, joint bearing retaining ring; 101-03, adjustment shaft; 101-04, support arm; 101-05, protective cover; 101-06, mechanical arm connector; 101-07, circuit board; 101-08, protective top cover; 101-09, hydraulic pipe joint; 101-10, flexible spring; 101- 11. Spherical bearing; 101-12. Joint connector; 102. Unlocking mechanism; 102-01. Micro screw motor; 102-02. Motor pressure plate; 102-03. Right clamping block; 102-04. Screw shaft seat; 102-05. Rear clamping claw; 102-06. Hydraulic joint clamp; 102-07. Front clamping claw; 102-08. Left clamping block; 102-09. Hydraulic joint body; 103. Robot body; 104. Oil storage needle valve assembly; 105. Six-degree-of-freedom robotic arm; 106. Depth camera; 107. Oil sample detection system; 108. Oil sample analysis instrument; 109. Gas source module assembly; 110. Nitrogen cylinder assembly; 111. Standard gas cylinder assembly; 112. Gas source purification pipe assembly; 113. Waste oil collection assembly; 114. Operation tool integrated board; 115. Radar assembly; 116. Oil circuit control valve assembly; 117. Limit assembly; 118. Vertical connecting plate bracket; 119. Oil storage needle tube; 120. Card sleeve; 121. Fixed card slot; 122. Claw; 123. Push-pull assembly. 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, if Figure 1 As shown, a transformer oil sample collection flexible docking device is proposed, including a device body 101 and an unlocking mechanism 102; like Figure 2As shown, the device body 101 includes a joint bearing mounting seat 101-01, a joint bearing retaining ring 101-02, an adjustment shaft 101-03, a support arm 101-04, a protective cover 101-05, a mechanical arm connector 101-06, a circuit board 101-07, a protective top cover 101-08, a hydraulic pipeline joint 101-09 (male end), a flexible spring 101-10, a joint bearing 101-11 and a joint connector 101-12. Among them, the inner and outer rings of the joint bearing 101-11 can rotate relative to each other arbitrarily within a certain angle range.

[0028] The adjusting shaft 101-03 passes through the inner ring of the spherical bearing 101-11, and the shoulder of the adjusting shaft 101-03 is pressed tightly against the end face of the spherical bearing 101-11. The spherical bearing retaining ring 101-02 is coaxially fixed on the spherical bearing mounting seat 101-01. After the fixing is completed, the outer ring of the spherical bearing 101-11 is also pressed tightly against the spherical bearing mounting seat 101-01 by the spherical bearing retaining ring 101-02, and the flexible spring 101-10 is installed in the annular space formed between the spherical bearing retaining ring 101-02 and the adjusting shaft 101-03.

[0029] One end of the support arm 101-04 is connected to the mechanical arm connector 101-06, and the other end is connected to the joint bearing mounting seat 101-01. The circuit board 101-07 is installed on the mechanical arm connector 101-06, and the protective cover 101-05 and the protective top cover 101-08 play the role of protecting the circuit board 101-07. The protective cover 101-05 is fixed on the mechanical arm connector 101-06, and the protective top cover 101-08 is fixed on the protective cover 101-05.

[0030] In this implementation, if Figure 3 As shown, the unlocking mechanism 102 mainly includes: a micro screw motor 102-01, a motor pressure plate 102-02, a right clamping block 102-03, a screw shaft seat 102-04, a rear clamping claw 102-05, a hydraulic joint clamp 102-06, a front clamping claw 102-07, a left clamping block 102-08, and a hydraulic joint body 102-09 (male end). The front and rear extension of the hydraulic joint clamp 102-06 can realize the locking and unlocking of the hydraulic joint self-locking device. The right clamping block 102-03 and the left clamping block 102-08 are connected with screws to clamp the hydraulic joint body 102-09 (male end).

[0031] The motor body of the micro screw motor 102-01 is clamped on both sides by the right clamping block 102-03 and the left clamping block 102-08, and the upper part is clamped by the motor pressure plate 102-02. The rear clamping claw 102-05 and the front clamping claw 102-07 are connected with screws to clamp the hydraulic joint clamp 102-06. The screw shaft of the micro screw motor 102-01 is connected to the screw shaft seat 102-04, and the hydraulic joint clamp 102-06 is driven to move forward and backward through the screw shaft seat 102-04, the rear clamping claw 102-05, and the front clamping claw 102-07 to realize the locking and unlocking of the hydraulic joint self-locking device.

[0032] Embodiment 2: like Figure 4 and Figure 5 As shown, this implementation provides a transformer oil sample collection robot, including a multi-degree-of-freedom robotic arm and a work tool integrated board, and the transformer oil sample collection flexible docking device described in Example 1 is mounted on the work tool integrated board; The end of the multi-degree-of-freedom mechanical arm is connected to the mechanical arm connector of the transformer oil sample collection flexible docking device so as to be flexibly docked with the oil extraction port on the oil extraction tank or the oil extraction device.

[0033] Specifically, it includes: the oil extraction robot body 103 mainly includes a four-wheel drive chassis and a six-degree-of-freedom robotic arm 105 distributed on the chassis, a depth camera 106 at the end of the robotic arm, a radar component 115, an operating tool integrated board 114, an oil storage needle valve component 104, and an oil sample detection system 107.

[0034] The oil sample detection system 107 includes a gas source purification pipe assembly 112, a standard gas cylinder assembly 111, a nitrogen cylinder assembly 110, a gas source module assembly 109, an oil sample analyzer 108, and a waste oil collection assembly 113. The components are connected through pipelines according to gas detection requirements.

[0035] like Figure 6 As shown, the oil storage needle tube valve assembly 104 includes a plurality of oil storage needle tubes 119, a sleeve 120, a fixed slot 121, a claw 122, a push-pull assembly 123, a vertical connecting plate bracket 118, an oil circuit control valve assembly 116, and a limit assembly 117. The oil storage needle tube 119 is arranged vertically, and the outer tube of the needle tube is fixed on the vertical connecting plate bracket 118 through the upper sleeve 120 and the fixed slot 121. The inner handle of the needle tube is connected to the push-pull assembly 123 through the lower claw 122. The push-pull assembly drives the needle tube to do piston movement through linear motion to achieve extraction or emptying of oil samples. The limit assembly 117 is installed on the push-pull assembly 123 to detect whether the push-pull stroke is in place. The oil circuit control valve assembly 116 is installed above the oil storage needle tube 119 to control the opening and closing of the oil circuit and the flow direction to achieve the extraction or emptying process of the oil sample.

[0036] The work tool integrated board 114 has a number of replaceable quick-release sockets for supporting and fixing work tools. The number of quick-release sockets can be increased or decreased according to the work needs, and is used for clamping and supporting work tools under different work scene requirements. The base of the six-degree-of-freedom robot arm 105 is installed on the work tool integrated board 114. The exterior of the work control integrated system is composed of an aluminum alloy frame and an outer cover, and an industrial computer, a switch, and a control box are installed in layers inside to control and operate the multi-degree-of-freedom robot arm, a depth camera, and various work tools.

[0037] The control system of the above-mentioned robot system of this implementation method includes a robot host computer control system, an autonomous operation master controller, a power management system, a navigation and positioning system, a mobile platform control system, a mechanical arm control system and an oil sample collection and detection control system.

[0038] The host computer control system includes a remote control and a background system. The user can choose to issue operation commands through the background system, and the transformer oil sample collection robot will perform tasks autonomously. The user can also choose to use a remote control, and the operator can control the transformer oil sample collection robot to perform oil sample collection tasks.

[0039] The system master controller exchanges information with other systems through communication modules such as the network, serial port, and CAN bus. After receiving the task from the host control system, the system master controller decomposes the task into subtasks and issues them to the corresponding system according to the operation logic, and waits for the system to feedback the execution status of the subtask. After receiving the successful execution feedback, it executes the next subtask until the total task is completed.

[0040] The power management system includes a voltage conversion module and a charging management module. The voltage conversion module converts the 48VDC power supply of the mobile platform into 12VDC and 24VDC to power the corresponding equipment. The charging management module monitors the current power in real time, issues an alarm when the power is lower than 20%, stops the current task when it is lower than 10%, and autonomously goes to the charging pile location for charging. After the battery is fully charged, it detaches from the charging pile and resumes task execution.

[0041] The navigation and positioning system includes a navigation controller, a radar component, an IMU, a depth camera, and a GPS. The radar component and the depth camera collect information about the external environment. The IMU obtains the posture and acceleration information of the mobile platform and cooperates with the GPS to provide accurate positioning information. The navigation controller receives the above information to build an external environment map to realize the navigation and positioning function of the transformer oil sample collection robot.

[0042] The mobile platform control system includes a motion controller, a drive motor driver (i.e., drive motor driver 1, drive motor driver 2, drive motor driver 3, drive motor driver 4), a drive motor (i.e., drive motor 1, drive motor 2, drive motor 3, and drive motor 4), a steering motor driver (i.e., steering motor driver 1, steering motor driver 2, steering motor driver 3, steering motor driver 4), and a steering motor (i.e., steering motor 1, steering motor 2, steering motor 3, and steering motor 4). The motion controller receives the movement command of the navigation controller, controls the oil sample collection robot to reach the oil sample collection operation position, sends the control command to the motor driver through the CAN bus, and the motor driver generates the corresponding PWM signal according to the command to control the speed and direction of the motor.

[0043] The robotic arm control system includes a robotic arm controller, a six-degree-of-freedom robotic arm, a force sensor, a depth camera and an end-operating tool. The robotic arm controller receives commands from the system master controller, controls the robotic arm to perform the oil sample collection task, and receives point cloud information of the external environment collected by the depth camera, accurately identifies the dust cover switch position and the oil port switch position, and uses the dust cover operating tool and the self-sealing valve docking tool carried by the six-degree-of-freedom robotic arm end to open the dust cover of the oil tank. The force sensor collects the force on the end of the robotic arm during the docking process of the oil port, and adjusts the robotic arm posture in real time, flexibly docks the oil port, and opens the oil circuit.

[0044] The oil sample collection and detection control system includes an oil sample collection and detection controller, an oil sample collection module, an oil-gas separation module, a gas detection module and a data analysis module; after the robotic arm control system is connected to the oil intake port to open the oil circuit, the oil sample collection and detection controller sends commands to the oil sample collection module, the oil-gas separation module, the gas detection module and the data analysis module according to the instructions of the robot's autonomous operation general controller, and independently completes the entire process from oil sample collection to data analysis based on the feedback information from each module.

[0045] In this implementation, when docking operations for oil sample collection are required, the multi-degree-of-freedom robotic arm moves to the position of the operation integrated board, and the end of the multi-degree-of-freedom robotic arm is connected to the robotic arm connector for flexible docking of transformer oil sample collection; the multi-degree-of-freedom robotic arm removes the transformer oil sample collection flexible docking device from the operation tool integrated board, controls the movement of the robotic arm, and flexibly docks with the oil extraction port on the oil extraction tank or the oil extraction device.

[0046] 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 device for collecting transformer oil samples, characterized in that: include: The device body and the unlocking mechanism, the device body includes: a joint bearing mounting seat, a joint bearing retaining ring, an adjustment shaft, a mechanical arm connector, a hydraulic pipeline connector, a flexible spring, a joint bearing and a connector connector; The adjusting shaft passes through the inner ring of the spherical bearing, the shoulder of the adjusting shaft is pressed tightly against the end face of the spherical bearing, the spherical bearing retaining ring is coaxially fixed on the spherical bearing mounting seat, the outer ring of the spherical bearing is pressed against the spherical bearing mounting seat by the spherical bearing retaining ring, the flexible spring is installed in the annular space formed between the spherical bearing retaining ring and the adjusting shaft, and the joint connector is connected to the unlocking mechanism.

2. The transformer oil sample collection flexible docking device according to claim 1, characterized in that: The device body also includes a support arm, one end of the support arm is connected to the mechanical arm connecting piece, and the other end of the support arm is connected to the joint bearing mounting seat.

3. The transformer oil sample collection flexible docking device according to claim 1, characterized in that: The device body also includes a protective cover, a circuit board and a protective top cover. The circuit board is installed on the mechanical arm connecting piece. The protective cover and the protective top cover are used to protect the circuit board. The protective cover is fixed on the mechanical arm connecting piece, and the protective top cover is fixed on the protective cover.

4. The transformer oil sample collection flexible docking device according to any one of claims 1 to 3, characterized in that: The unlocking mechanism comprises: a micro screw motor, a motor pressure plate, a right clamping block, a screw shaft seat, a rear clamping claw, a hydraulic joint clamp, a front clamping claw, a left clamping block and a hydraulic joint body; After the right clamping block and the left clamping block are connected, the hydraulic joint body is clamped, the left and right sides of the motor body of the micro screw motor are clamped by the right clamping block and the left clamping block, and the upper part of the motor body of the micro screw motor is pressed by the motor pressing plate; After the rear clamping claw and the front clamping claw are connected, the hydraulic joint clamping hoop is clamped, the screw shaft of the micro screw motor is connected to the screw shaft seat, and the hydraulic joint clamping hoop is driven to move forward and backward through the screw shaft seat, the rear clamping claw and the front clamping claw to achieve locking and unlocking.

5. The transformer oil sample collection flexible docking device according to claim 4, characterized in that: The right clamping block and the left clamping block are connected by screws, and the rear clamping claw and the front clamping claw are connected by screws.

6. A transformer oil sample collection robot, characterized in that: It comprises a multi-degree-of-freedom robotic arm and a working tool integrated board, and the working tool integrated board is equipped with a transformer oil sample collection flexible docking device according to any one of claims 1 to 5; The end of the multi-degree-of-freedom mechanical arm is connected to the mechanical arm connector of the transformer oil sample collection flexible docking device so as to be flexibly docked with the oil extraction port on the oil extraction tank or the oil extraction device.

7. The transformer oil sampling robot according to claim 6, characterized in that: The oil extraction robot body also includes a four-wheel drive chassis and a multi-degree-of-freedom robotic arm distributed on the chassis, a depth camera fixed on the multi-degree-of-freedom robotic arm, a radar assembly, an oil storage needle valve assembly and an oil sample detection system, and the working tool integrated board is fixed on the four-wheel drive chassis.

8. The transformer oil sampling robot according to claim 6, characterized in that: The oil sample detection system comprises an air source purification pipe assembly, a standard gas bottle assembly, a nitrogen bottle assembly, an air source module assembly, an oil sample analysis instrument and a waste oil collection assembly; The oil sample is filtered through the gas source purification tube assembly. At this time, the gas source module assembly controls the gas of the standard gas bottle assembly and the gas of the nitrogen bottle assembly to flow into the gas source purification tube assembly to react with the oil sample. The filtered oil sample is input into the oil sample analyzer for detection, and the detected oil sample is sent to the waste oil collection assembly.

9. The transformer oil sampling robot according to claim 6, characterized in that: The oil storage needle tube valve assembly comprises: an oil storage needle tube, a ferrule, a fixed slot, a claw, a push-pull assembly, a vertical connecting plate bracket, an oil circuit control valve assembly, and a limit assembly; The oil storage needle tubes are arranged vertically, the outer tube of the needle tube is fixed on the vertical connecting plate bracket through the upper clamping sleeve and the middle fixed clamping groove, the inner handle of the needle tube is connected to the push-pull assembly through the lower clamping claw, and the push-pull assembly drives the needle tube to do piston movement through the linear motion to extract or drain the oil sample; A limit assembly is installed on the push-pull assembly to detect whether the push-pull stroke is in place. The oil circuit control valve assembly is installed above the oil storage needle tube to control the opening and closing of the oil circuit and the flow direction to realize the oil sample extraction or emptying process.

10. A transformer oil sample collection method, characterized in that: Using the transformer oil sample collection robot according to any one of claims 6 to 9 comprises the following process: When a docking operation for oil sample collection is required, the multi-degree-of-freedom robotic arm moves to the position of the operation integrated board, and the end of the multi-degree-of-freedom robotic arm is connected to the robotic arm connector according to any one of claims 1 to 5; The multi-degree-of-freedom robotic arm removes the transformer oil sample collection flexible docking device from the working tool integrated board, controls the movement of the robotic arm, and flexibly docks with the oil extraction port on the oil extraction tank or the oil extraction device.

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