Insulating oil withstand voltage automatic detection system based on mechanical arm

Abstract

The invention discloses an insulating oil voltage withstanding automatic detection system based on a mechanical arm, and belongs to the technical field of insulating oil voltage withstanding tests.The insulating oil voltage withstanding automatic detection system comprises an automatic communication device and a voltage withstanding auxiliary mechanism, the auxiliary mechanism comprises a left box body and a right box body, and the left box body and the right box body are the same in structure and opposite in rotation direction; a waste liquid barrel is arranged in the box body, the waste liquid barrel is used for collecting discharged waste liquid, a liquid adding and discharging module is arranged in the box body, and a plurality of sample bottles and a cooperative mechanical assembly are arranged at the upper end of the right box body. According to the invention, a set of pressure-resistant auxiliary mechanism is designed by combining a hardware structure, so that a series of automatic operations including automatic loading, sampling, automatic operation, automatic data acquisition and the like are realized through coordination and cooperation among robots. A secondary development communication protocol is written for a communication device, an automatic control program process is added, a manually operated withstand voltage detector is transformed into adaptive automatic operation, and the original manual operation capability is reserved.

Description

Technical Field

[0001] The invention belongs to the technical field of insulating oil withstand voltage test, and in particular relates to an insulating oil withstand voltage automatic detection system based on a mechanical arm. Background Art

[0002] At present, when conducting the insulating oil withstand voltage test, personnel need to operate it manually, and the human operation has a great influence. In order to promote the construction of smart laboratories, strengthen the automation and intelligence of instruments, improve the detection efficiency, and reduce the pressure on personnel, an insulating oil withstand voltage automatic detection system is needed. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an automatic testing system for insulating oil withstand voltage based on a robotic arm, thereby solving the problems in the above-mentioned background technology.

[0004] The purpose of the present invention is achieved as follows: an automatic insulating oil withstand voltage detection system based on a robotic arm, which includes an automated communication device and a withstand voltage auxiliary mechanism, wherein the auxiliary mechanism includes a left box and a right box, wherein the left box and the right box have the same structure and opposite rotation directions, and a waste liquid bucket is provided inside the box, and the waste liquid bucket is used to collect the discharged waste liquid; a liquid adding and discharging module is provided inside the right box, and a plurality of sample bottles and a cooperative mechanical component are provided at the upper end of the right box. By combining the hardware structure, a set of withstand voltage auxiliary mechanisms is designed, so that a series of automated operations including automatic loading and unloading, automatic operation, and automatic data collection can be realized through the coordination and cooperation between robots. By writing a secondary development communication protocol for the communication device and adding an automated control program flow, the manually operated withstand voltage tester is transformed into an adaptive automated operation, and the original manual operation capability is retained.

[0005] Furthermore, the mechanical component includes a vertical cylinder arranged on the upper surface of the right box body, a transmission component is arranged inside the vertical cylinder, the transmission component is connected to a liquid collection arm, the liquid collection arm is slidably connected to the side wall of the vertical cylinder, the transmission component is connected to a liquid adding arm, and a waste liquid tank is arranged on the upper surface of the right box body.

[0006] Furthermore, the needle of the liquid adding arm and the needle of the liquid collecting arm are connected through a pipeline and a peristaltic pump, and the peristaltic pump is connected to a control motor, which is used to realize the flow of oil samples between the liquid adding arm and the liquid collecting arm by controlling the forward and reverse rotation of the peristaltic pump.

[0007] Furthermore, the control motor includes an X-axis servo motor and a Z-axis servo motor, and the X-axis servo motor and the Z-axis servo motor are both electrically connected to the communication device, and the communication device sends a pulse signal to control the liquid adding arm to rotate left and right and move up and down for adding samples and recovering waste liquid.

[0008] Furthermore, the model of the peristaltic pump is YZ15B, the pulse signal of the communication device controls the rotation of the peristaltic pump motor, and the eccentric wheel of the peristaltic pump is used to press on the pipeline to realize quantitative liquid extraction; the peristaltic pump is used to realize liquid addition and liquid removal by performing forward and reverse rotation, and controls the speed and rotation time of the liquid addition peristaltic pump for oil sample addition.

[0009] Furthermore, the rotation of the mechanical component is used for positioning, so as to realize automatic liquid addition from the insulating oil sample bottle to the withstand voltage tester, and automatic extraction and emptying of waste oil from the insulating oil of the withstand voltage tester.

[0010] Furthermore, the communication device includes a withstand voltage tester, a drive framework and a central control system. The withstand voltage tester is connected to the drive framework via a serial port, and the drive framework is connected to the central control system via a TCP / IP protocol.

[0011] Furthermore, the central control system is used to control the stepper motor of the door opening mechanism of the voltage withstand tester to automatically open the door of the voltage withstand tester. The liquid collection arm descends from the origin position through the servo motor set by the program of the central control system to set the Z axis, so that the liquid collection needle is inserted into the bottom of the sample bottle to absorb liquid.

[0012] Furthermore, the liquid adding arm is controlled by the program of the central control system to set the X-axis to rotate 90° from the origin position to the liquid adding position of the pressure tester. The central control system controls the peristaltic pump to rotate forward, so that the oil sample in the sample bottle is drawn to the liquid adding needle through the liquid collection needle pipeline to clean the electrode of the pressure tester. The central control system controls the peristaltic pump to rotate reversely to extract the oil sample for cleaning.

[0013] Furthermore, the program of the central control system controls the door opening mechanism of the voltage tester to automatically close the door of the voltage tester, controls the voltage tester to automatically start testing the stepper motor of the door opening mechanism of the voltage tester, and automatically opens the door of the voltage tester; the liquid adding arm controls the servo motor through the PLC program to set the X-axis to rotate 90° from the origin position to the liquid adding position of the voltage tester, and at the same time, the X-axis of the liquid taking arm rotates 20° to the waste liquid tank, and the central control system controls the peristaltic pump to rotate in the opposite direction, so as to draw the waste liquid after the test from the liquid adding arm to the liquid taking arm and discharge it into the waste liquid tank.

[0014] The beneficial effects of the present invention are as follows: by combining the hardware structure, a set of voltage-resistant auxiliary mechanisms is designed, so that a series of automated operations including automatic loading and unloading, automatic operation, and automatic data collection can be realized through the coordination between robots. At present, the insulating oil voltage-resistant tester is a non-automated device, which requires the experimenter to manually prepare materials and manually click the operation panel to realize sample testing. By writing a secondary development communication protocol for the communication device and adding an automated control program flow, the manually operated voltage-resistant tester is transformed into an adaptive automated operation, while retaining the original manual operation capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of a communication device of the present invention;

[0016] Figure 2 is a schematic diagram of the auxiliary mechanism of the present invention;

[0017] Figure 3 is a schematic diagram of the mechanical components of the present invention;

[0018] Figure 4 is a schematic diagram of a peristaltic pump of the present invention;

[0019] Figure 5 is a schematic diagram of a machine gripper of the present invention;

[0020] Figure 6 It is a usage state diagram of the machine gripper of the present invention.

[0021] In the figure: 1, left box 2, right box 3, pressure-resistant auxiliary mechanism 4, sample bottle 5, vertical cylinder 6, pressure-resistant equipment door opening mechanism 7, liquid collection arm 8, waste liquid tank 9, liquid adding arm 10, peristaltic pump 11, control motor. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings. It should be pointed out that all directional words such as up, down, front, back, left, and right appearing in the present invention do not limit the present invention, but are only for clearer description and explanation of the present invention.

[0023] like Figure 1-6 As shown, this embodiment discloses an automatic insulating oil withstand voltage detection system based on a robotic arm, which includes an automatic communication device and a withstand voltage auxiliary mechanism 3, wherein the auxiliary mechanism includes a left box 1 and a right box 2, and the withstand voltage auxiliary mechanism 3 is arranged between the left box 1 and the right box 2, and a liquid adding and discharging module is arranged inside the right box 2, and a plurality of sample bottles 4 and a cooperative mechanical component are arranged at the upper end of the right box 2. By combining the hardware structure, a set of withstand voltage auxiliary mechanisms 3 is designed, so that a series of automatic operations including automatic loading and unloading, automatic operation, and automatic data collection can be realized through the coordination and cooperation between robots. By writing a secondary development communication protocol for the communication device and adding an automatic control program flow, the manually operated withstand voltage tester is transformed into one adapted for automatic operation, while retaining the original manual operation capability.

[0024] The automated communication device includes the interface document provided by the withstand voltage tester manufacturer, and develops a driver suitable for automated control based on the TCP / IP protocol. The withstand voltage tester communication protocol requirements are: serial port baud rate 9600 1 8N 1.

[0025] Message format example: 68H 01H 68H 11H (frame header) 01H (function code) 03H (data length excluding check code and frame tail) D1 D2 D3 (data) CS (check code) 16H (frame tail).

[0026] Check code: The sum modulo 256 of all bytes from the frame start character to the check code, that is, the binary arithmetic sum of all bytes, excluding overflow values ​​exceeding 256.

[0027] 1. Test parameters and system settings Master station request frame:

[0028] 68H 01H 68H 11H 01H 03H D1 D2 D3 CS16H

[0029] D1: Test method (0-15); D2: Print setting (1: automatic printing, 0: manual printing); D3: Cup position setting

[0030] Slave station response frame:

[0031] 68H 01H 68H 11H 01H status (0x01: setting success; 0x00: setting failure) CS16H

[0032] 2. Start testing the master station request frame:

[0033] 68H 01H 68H 11H 02H 01H BW CS16H

[0034] BW: Placeholder byte, the value is arbitrary.

[0035] Slave station response frame:

[0036] 68H 01H 68H 11H 02H status (0x01: setting success; 0x00: setting failure) CS16H

[0037] 3. Time setting master station request frame

[0038] 68H 01H 68H 11H 05H 06D1 D2 D3 D4 D5 D6 CS16H

[0039] D1 D2 D3 D4 D5 D6 correspond to year, month, day, hour, minute and second respectively

[0040] Slave station response frame:

[0041] 68H 01H 68H 11H 05H status (0x01: setting success; 0x00: setting failure) CS16H

[0042] 4. Forced exit from the master station request frame:

[0043] 68H 01H 68H 11H 06H 00H CS 16H

[0044] Slave station response frame:

[0045] 68H 01H 68H 11H 06H status (0x01: setting success; 0x00: setting failure) CS16H

[0046] 7. Remote printing of master station request frame (available in the test result interface)

[0047] 68H 01H 68H 11H 07H 00H CS 16H

[0048] Slave station response frame:

[0049] 68H 01H 68H 11H 07H status (0x01: setting success; 0x00: setting failure) CS16H

[0050] 8. Clear the master station request frame in the data area (available in the historical data interface):

[0051] 68H 01H 68H 11H 08H 00H CS 16H

[0052] Slave station response frame:

[0053] 68H 01H 68H 11H 08H status (0x01: setting success; 0x00: setting failure) CS16H

[0054] 9. The experiment ends and the notification is uploaded from the station 68H 01H 68H 11H 10H 00H CS16H

[0055] 10. Experimental test data upload from the station

[0056] 68H 01H 68H 11H 0AH 29D0 D1 D2 D3 D4 D5 D6 D7……D14 D28 CS16H where D0---D7 means

[0057]

[0058] The withstand voltage data sent are all measured values, which are increased by 10 and sent, that is, the measured value data / 10 = the measured value (KV)

[0059] 11. Read the test data master station request frame (available in the test result interface):

[0060] 68H 01H 68H 11H 0bH 00H CS16H

[0061] 12. Read the current picture number master request frame:

[0062] 68H 01H 68H 11H 0CH 00H CS16H

[0063] Slave station response frame:

[0064] 68H 01H 68H 11H 0CH D1H CS 16H

[0065] D1 value and corresponding page 0- boot interface 8- experiment interface 21- voltage calibration page 12- historical data interface 32- others The withstand voltage instrument sends data to the industrial computer through the serial port. At the same time, a unified driver framework is deployed on the industrial computer to convert the data protocol from the serial port to TCP / IP. Through its research and secondary development, the following automatic control commands are realized.

[0066] The pressure-resistant auxiliary mechanism 3 includes 1. a pressure-resistant tester 680x; 2. a pressure-resistant equipment door opening mechanism 6; 3. a collaborative robotic arm; 4. a liquid adding / discharging module; 5. a sample bottle 4.

[0067] According to the collaborative structure design, develop auxiliary mechanisms for automated operation to achieve the following functions:

[0068] 1. The AGV robot arm places the six sample bottles 4 at the liquid collection position

[0069] 2. The central control program controls the stepper motor of the pressure tester door opening mechanism 6 to automatically open the door of the pressure tester

[0070] 3. The liquid collecting arm 7 is controlled by the PLC program to set the Z axis to drop 300mm from the origin position, and the liquid collecting needle is inserted into the bottom of the sample bottle 4 to prepare for liquid aspiration.

[0071] 4. The liquid adding arm 9 is controlled by the PLC program to set the X-axis to rotate 90 degrees from the origin position to the liquid adding position of the pressure tester

[0072] 5. PLC controls the motor of peristaltic pump 10 to rotate forward, and the oil sample in sample bottle 4 is pumped to the liquid adding needle through the liquid taking needle pipeline. 30ml of sample is added to clean the electrode of the pressure tester. PLC controls the motor of peristaltic pump 10 to rotate reversely, and the cleaned oil sample is pumped out.

[0073] 6. PLC controls the motor of peristaltic pump 10 to rotate forward, draws the oil sample in sample bottle 4 to the liquid adding needle through the liquid taking needle pipeline, and adds 200ml of sample to the pressure tester for testing

[0074] 7. The liquid adding arm 9 controls the servo motor from the liquid adding position through the PLC program to set the X axis to rotate -90 degrees to the origin position

[0075] 7. The central control program controls the door opening mechanism 6 of the pressure tester to automatically close the door of the pressure tester and control the pressure tester to automatically start testing

[0076] 8. The central control program controls the stepper motor of the pressure tester door opening mechanism 6 to automatically open the door of the pressure tester. The liquid adding arm 9 is controlled by the PLC program to control the servo motor to set the X axis to rotate 90 degrees from the origin position to the liquid adding position of the pressure tester. At the same time, the liquid taking arm 7 rotates 20 degrees on the X axis to the waste liquid tank 8.

[0077] 9. PLC controls the peristaltic pump 10 motor to rotate in the opposite direction, pumping the waste liquid after the test back from the liquid adding arm 9 to the liquid taking arm 7 and discharging it into the waste liquid tank 8

[0078] 10. The central control program controls the pressure tester door opening mechanism 6 to close the pressure tester door.

[0079] The structural components of the collaborative robot arm are as follows:

[0080] 1. The needle of the liquid adding arm 9 and the needle of the liquid collecting arm 7 are connected through a pipeline and a peristaltic pump 10. The oil sample flow between the liquid adding arm 9 and the liquid collecting arm 7 can be achieved by controlling the forward and reverse rotation of the peristaltic pump 10.

[0081] 2. The liquid adding arm 9 is controlled by the X-axis servo motor and the Z-axis servo motor, and the PLC sends pulse signals to control the liquid adding arm 9 to rotate left and right and move up and down, so as to realize the functions of adding samples and recovering waste liquid.

[0082] 3. The liquid taking arm 7 realizes the conversion between the liquid taking position and the origin position through the rotation of the X-axis of the servo motor.

[0083] 4. The waste liquid tank 8 is connected to the waste liquid barrel, and the waste liquid automatically flows into the waste liquid barrel below.

[0084] Peristaltic pump 10 components as above:

[0085] 1. The peristaltic pump 10 (model: YZ15B) controls the rotation of the motor of the peristaltic pump 10 through the PLC pulse signal, and the eccentric wheel of the peristaltic pump 10 presses the pipeline to realize quantitative liquid extraction.

[0086] 2. The motor of the peristaltic pump 10 can rotate forward and reverse to achieve liquid addition and liquid removal.

[0087] 3. By controlling the rotation speed and rotation time of the liquid-adding peristaltic pump 10, accurate oil sample addition can be performed, and the addition accuracy can be as accurate as 0.5 ml, which can meet the pressure resistance test requirements.

[0088] 4. Through the rotational positioning of the collaborative robot arm, automatic liquid addition from the insulating oil sample bottle 4 to the withstand voltage tester can be realized, and the waste oil of the insulating oil of the withstand voltage tester can also be automatically extracted and drained.

[0089] Composite robot gripper and switch cover design;

[0090] The composite robot gripper consists of the parts shown in the picture, including: pipetting press, micro slide electric cylinder, mounting flange, industrial parallel electric claw, gripper and movable fingertips, depth camera, and pipette gun holder.

[0091]

[0092] The minimum diameter of the gripper stroke is 36.8mm and the maximum diameter is 113mm. The fingertips grip the bottle cap, and the robotic arm moves upward to open the cap. The fingertips grip the bottle cap, and the robotic arm moves to the corresponding point, and the fingertips place the cap. The tip grips the bottle cap from the cap placement position, and the robotic arm moves to the bottle mouth to place the cap.

[0093] The composite robot is mainly composed of the bottom mobile tool - Autonomous Mobile Robot (AMR) and the upper collaborative robot arm. AMR is a comprehensive system that integrates multiple functions such as environmental perception, dynamic decision-making planning, behavior control and execution. With the support of Simultaneous Localization and Mapping (SLAM) technology, it can achieve the function of precise navigation directly through natural environment information without prior environmental deployment. The functions of AMR are mainly composed of two core sensors: 1. Inertial navigation system, 2. LiDAR.

[0094] Inertial Navigation System (INS) is an autonomous navigation system that uses Newtonian mechanics to calculate the acceleration of an object and puts the value into navigation coordinates to obtain the object's position information. Its use is not limited by spatial conditions.

[0095] Laser radar uses a 360° rotating laser radar, which is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. By emitting a detection signal (laser beam) to the target, and then comparing the received signal reflected from the target (target echo) with the emitted signal, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters, so as to detect, track and identify the surrounding environment. It works in the infrared and visible light bands, and is composed of a laser transmitter, an optical receiver, a turntable and an information processing system.

[0096] The composite robot uses the LOAM (LIDAR odometry and mapping in real-time) algorithm, mainly by extracting edge and surf features from the point cloud for matching and positioning. When the composite robot starts from an unknown location in an unknown environment, it can locate its own position, posture, and motion trajectory in real time through the observation of the inertial navigation system and the laser radar during the movement, and then build an incremental map based on its own position, so as to achieve the purpose of simultaneous positioning and map construction. In the automated detection of insulating oil, the composite robot is set to the path between the working stations and stations of each instrument through advance map construction. These stations and maps are saved in the robot, and accurate and repeatable navigation is performed according to the constructed map and the saved station coordinates and paths during each navigation. Let the robot reliably reach the required station.

[0097] The specific steps are as follows:

[0098] 1. Obtain the inertial navigation odometer data between two adjacent frames of point cloud, and use it to correct motion distortion of the point cloud after integration.

[0099] 2. Classify the point cloud according to the lidar beam ID and extract edge and singular point features.

[0100] 3. Construct a cost function for the specific difference between the current frame and the map, and use the least squares optimization solver to solve the current pose.

[0101] 4. Update local map features by continuously performing algorithm step calculations in real time, and ultimately achieve accurate map construction and point navigation by integrating lidar sensors and inertial navigation sensors.

[0102] The composite robot can save the constructed map, and then perform matching positioning and navigation based on the map, combined with the information read in real time by the laser radar and relational navigation. Therefore, the composite robot can perform real-time navigation and obstacle avoidance based on the map constructed in the early stage, and perform sample delivery and automated testing.

[0103] When the composite robot moves into position, the six-axis collaborative robot mounted above can identify and locate the QR code through the robot vision system, find the posture of the corresponding barcode by querying the database, and execute the action.

[0104] The complete parameters of the composite robot are as follows.

[0105]

[0106]

[0107] Withstand voltage automation test process:

[0108] The communication protocol of the withstand voltage tester needs to be connected to the central control system through the driver. The driver software needs to support the functional process control, sample data flow and storage of the tester, and provide a safe and standardized software interface to the upper system. The complete framework diagram of the driver is as follows.

[0109] ①Establish heartbeat packet: Socket communication,

[0110] ②Method execution: Socket communication,

[0111] ③Confirmation message after receiving the other party’s message: Socket communication,

[0112] ④Completion message: Socket communication,

[0113] ⑤Confirmation message after receiving the completion message: Socket communication,

[0114] ⑥ Error message during reception: Http Post communication,

[0115] ⑦ Error handling message during the process: Socket communication.

[0116] Through the above methods, the central control system can remotely connect with the driver program, and the central control system can remotely control and call the device to implement device actions and method execution.

[0117] All actions, methods and parameter interfaces of the developed withstand voltage instrument are connected to the central control system. Each instruction is encapsulated into an icon module. Multiple commands are connected in series by dragging and dropping on the front-end page, thus realizing the editing of automated processes.

[0118] For voltage withstand testing, we have sorted out the following process steps.

[0119] (1) The composite robot takes samples and directs it to the vicinity of the withstand voltage tester;

[0120] (2) Locate the pressure tester through robot vision recognition and execute its corresponding posture and method;

[0121] (3) At the same time, the central control system controls the withstand voltage instrument to initialize;

[0122] (4) The central control controls the composite robot to pick up the sample, scan the code, and then place it on the table;

[0123] (5) The central control system controls the auxiliary mechanism to take samples and add samples;

[0124] (6) The central control system controls the withstand voltage tester to perform testing;

[0125] (7) The central control system controls the withstand voltage tester to return the results;

[0126] (8) After the above is completed, the central control system puts the sample bottle 4 back and executes the subsequent samples;

[0127] Based on the functions of the command modules of the central control system constructed above, the process actions are spliced ​​together to form a set of test processes for automatic withstand voltage testing. In the central control system, this process can be called to directly conduct the test of automatic withstand voltage testing.

[0128] By studying the usage and interface documentation of the pressure tester, the feasibility of its automatic control is explored and its remote automatic control is realized. In combination with the hardware structure, auxiliary mechanisms are designed, so that through the coordination between robots, a series of automatic operations including automatic loading and unloading, automatic operation, and automatic data collection can be realized.

[0129] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic testing system for insulating oil withstand voltage based on a robotic arm, comprising an automatic communication device and a withstand voltage auxiliary mechanism, characterized in that: The auxiliary mechanism includes a left box body and a right box body. The left box body and the right box body have the same structure and opposite rotation directions. A waste liquid barrel is arranged inside the box body, and the waste liquid barrel is used to collect the discharged waste liquid. A liquid adding and discharging module is arranged inside the right box body, and a plurality of sample bottles and a cooperative mechanical assembly are arranged at the upper end of the right box body.

2. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 1 is characterized in that: The mechanical assembly includes a vertical cylinder arranged on the upper surface of the right box body, a transmission assembly is arranged inside the vertical cylinder, the transmission assembly is connected to a liquid collection arm, the liquid collection arm is slidably connected to the side wall of the vertical cylinder, the transmission assembly is connected to a liquid adding arm, and a waste liquid tank is arranged on the upper surface of the right box body.

3. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 2 is characterized in that: The needle of the liquid adding arm and the needle of the liquid collecting arm are connected through a pipeline and a peristaltic pump, and the peristaltic pump is connected to a control motor, which is used to realize the flow of oil samples between the liquid adding arm and the liquid collecting arm by controlling the forward and reverse rotation of the peristaltic pump.

4. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 3 is characterized in that: The control motor includes an X-axis servo motor and a Z-axis servo motor, and the X-axis servo motor and the Z-axis servo motor are both electrically connected to the communication device. The communication device sends a pulse signal to control the liquid adding arm to rotate left and right and move up and down for adding samples and recovering waste liquid.

5. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 4 is characterized in that: The model of the peristaltic pump is YZ15B. The pulse signal of the communication device controls the rotation of the peristaltic pump motor. The eccentric wheel of the peristaltic pump is used to press on the pipeline to realize quantitative liquid extraction. The peristaltic pump is used to add and remove liquid by performing forward and reverse rotation, and the speed and rotation time of the liquid-adding peristaltic pump are controlled for adding oil samples.

6. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 5 is characterized in that: The rotation of the mechanical component is used for positioning, so as to realize automatic liquid addition from the insulating oil sample bottle to the withstand voltage tester, and automatic extraction and emptying of waste oil of the insulating oil of the withstand voltage tester.

7. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 6 is characterized in that: The communication device comprises a withstand voltage tester, a drive frame and a central control system. The withstand voltage tester is connected to the drive frame via a serial port, and the drive frame is connected to the central control system via a TCP / IP protocol.

8. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 7 is characterized in that: The central control system is used to control the stepper motor of the door opening mechanism of the withstand voltage tester to automatically open the door of the withstand voltage tester. The liquid collection arm descends from the origin position through the servo motor set by the program of the central control system to set the Z axis, so that the liquid collection needle is inserted into the bottom of the sample bottle to absorb liquid.

9. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 8, characterized in that: The liquid adding arm is controlled by the program of the central control system to set the X-axis to rotate 90° from the origin position to the liquid adding position of the pressure tester. The central control system controls the peristaltic pump to rotate forward, so that the oil sample in the sample bottle is drawn to the liquid adding needle through the liquid collection needle pipeline to clean the electrode of the pressure tester. The central control system controls the peristaltic pump to rotate reversely to extract the oil sample for cleaning.

10. The insulating oil withstand voltage automatic detection system based on a robotic arm according to claim 9, characterized in that: The program of the central control system controls the door opening mechanism of the withstand voltage tester to automatically close the door of the withstand voltage tester, controls the withstand voltage tester to automatically start testing the stepping motor of the door opening mechanism of the withstand voltage tester, and automatically opens the door of the withstand voltage tester; The liquid adding arm controls the servo motor through the PLC program to set the X-axis to rotate 90° from the origin position to the liquid adding position of the pressure tester. At the same time, the X-axis of the liquid taking arm rotates 20° to the waste liquid tank. The central control system controls the peristaltic pump to rotate in the opposite direction to draw the waste liquid after the test from the liquid adding arm to the liquid taking arm and discharge it into the waste liquid tank.

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