Oil extraction detection robot docking device and docking method

Abstract

The invention discloses an oil extraction detection robot docking device and docking method, and belongs to the technical field of oil extraction detection, the docking device comprises a robot docking bottom plate, an oil sample external introduction standard pile, a docking female head unit, a docking male head unit and a robot body; the oil sample external introduction standard pile is fixed on the butt joint bottom plate; the butt joint female head unit is mounted on the oil sample external leading standard pile, and the butt joint male head unit is mounted on the robot body; the butt joint female head unit is connected with the butt joint male head unit on the robot body; when an oil taking detection task is executed, the robot body walks to the butt joint bottom plate, the robot butt joint bottom plate enables the robot body and the oil sample leading-out standard pile to be located on the same plane and height, it is guaranteed that the butt joint female head unit and the butt joint male head unit are in butt joint, and oil taking detection is achieved. According to the invention, a foundation does not need to be constructed, the work amount of on-site construction of the butt joint device is reduced, the reliability and success rate of butt joint of the male and female joints are improved, and the reliability of butt joint and the safety of oil sample collection are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of oil extraction detection, and in particular to a docking device and a docking method for an oil extraction detection robot. Background Art

[0002] Insulating oil chromatography analysis technology is an effective means to evaluate the operating status of oil-filled equipment (transformers, converters, and high-voltage reactors). Oil chromatography analysis requires operation and maintenance personnel to take oil samples from designated oil-filled equipment and then send them to the laboratory for testing. However, when there are defects such as discharge inside the oil-filled equipment, fire and explosion failures are very likely to occur, and the safety risk of personnel taking samples is high.

[0003] Robot sampling and testing is an excellent way to replace personnel, but most substations have uneven roads. When the robot body is docking to extract oil, the foundation must be constructed. The accuracy of the foundation construction and the road leveling construction cannot be guaranteed to be at exactly the same plane height, which can easily lead to docking failure.

[0004] In addition, after the robot's oil extraction and detection docking, water, gas, and oil need to interact, involving water, gas, and oil lines. The docking accuracy must be extremely high, otherwise it is very easy to cause leakage.

[0005] Prior art document 1 (CN119198207A) discloses a transformer automatic flexible docking oil extraction system and method, comprising: an oil extraction tank and an oil extraction robot, the oil extraction robot comprising an oil extraction robot chassis and an automatic docking device and an oil sample extraction device installed on the oil extraction robot chassis; the oil extraction tank comprises a flexible docking oil extraction port, a fixed rod and a movable rod assembly fixed on the oil extraction tank body, the automatic docking device comprises a guide docking mechanism and a flexible docking oil extraction mechanism, the guide docking mechanism is used to cooperate with the fixed rod and the movable rod assembly for guided docking, and the flexible docking oil extraction mechanism is used to flexibly dock with the flexible docking oil extraction port, but it only supports oil extraction from the transformer, and cannot realize synchronous robot detection after the transformer oil is taken out, and cannot achieve oil circuit circulation to ensure the representativeness of the oil sample.

[0006] Therefore, there is an urgent need for a robot docking device that can perform oil sample testing while extracting oil. Summary of the invention

[0007] In order to solve the deficiencies in the prior art, the present invention provides an oil extraction and detection robot docking device and docking method that do not require the construction of a foundation, thereby reducing the amount of engineering work required for on-site construction of the docking device and achieving accurate and reliable docking during on-site robot operations.

[0008] The present invention adopts the following technical solution.

[0009] The first aspect of the present invention discloses an oil sampling detection robot docking device, which includes a robot docking bottom plate, an external oil sample standard pile, a docking female unit, a docking male unit, and a robot body; The robot docking bottom plate is laid flat on the installation road surface. Installation holes are located on the robot docking bottom plate, and the external oil sample standard pile is fixed on the docking bottom plate through the installation holes; The docking female unit is installed on the external oil sample standard pile, and the docking male unit is installed on the robot body; a standardized connection port is provided for the robot through the docking female unit and is connected to the docking male unit on the robot body; When the robot body performs the oil sampling detection task, the robot body walks onto the robot docking bottom plate. The robot docking bottom plate makes the robot body and the external oil sample standard pile in the same plane and at the same height, ensuring the docking of the docking female unit and the docking male unit to achieve oil sampling detection.

[0010] Preferably, the docking female unit includes an oil circuit female connector, a water circuit female connector, and a gas circuit female connector; The oil circuit female connector includes two oil circuit docking ports. The water circuit female connector is connected to the pure water storage tank of the external oil sample standard pile, and the gas circuit female connector is connected to the gas cylinder of the external oil sample standard pile.

[0011] Preferably, the docking male unit includes an oil circuit male connector, a water circuit male connector, and a gas circuit male connector; The oil circuit male connector includes two oil circuit docking ports. After being docked with the oil circuit female connector, they are respectively used for the inlet oil and return oil of transformer oil, and the oil sample circulation can be realized after the docking is completed; After the water circuit male connector is connected to the water circuit female connector, it is used to provide pure water for the robot to detect the oil sample; after the gas circuit male connector is connected to the gas circuit female connector, it is used to provide carrier gas for the robot to detect the oil sample.

[0012] Preferably, the docking male unit includes an up-and-down floating spring, a horizontal floating spring, a left-and-right centering mechanism, and left-and-right floating springs, which form a docking floating structure to improve the reliability of docking and are used to achieve docking with a left-and-right docking float not exceeding ±30 mm and an angular float not exceeding ±6°.

[0013] Preferably, the docking male unit further includes a depth camera. A two-dimensional code is installed on the external oil sample standard pile, and the depth camera can perform positioning after identifying the two-dimensional code.

[0014] Preferably, the docking female unit includes a positive contact piece and a negative contact piece, and the docking male unit includes a positive contact head and a negative contact head; The positive contact head and the negative contact head are docked with the positive contact piece and the negative contact piece, and the robot body can be charged through the external oil sample standard pile.

[0015] Preferably, the male docking unit further includes a V-shaped guide plate, an up-and-down centering mechanism, and a left-and-right centering mechanism, and the female docking unit further includes a guide wheel and an angle guide plate; Under the guidance of the guide wheel, the angle guide plate, the up-and-down centering mechanism, and the left-and-right centering mechanism, the V-shaped guide plate performs docking correction.

[0016] Preferably, the female docking unit further includes a diamond pin bushing and a round pin bushing, and the male docking unit further includes a diamond pin and a cylindrical pin; The diamond pin docks into the diamond pin bushing, and the cylindrical pin docks into the round pin bushing.

[0017] Preferably, a dust cover is provided in front of the female docking unit. When docking is not carried out, the dust cover shields the female docking unit to avoid contamination of the female docking unit.

[0018] A second aspect of the present invention discloses a docking method for an oil extraction detection robot. Based on the above-mentioned oil extraction detection robot docking device, the method includes the following steps: The tester sends an oil extraction instruction, and the robot walks to the standard pile for external oil sample extraction. The robot identifies the QR code on the standard pile for external oil sample extraction, the dust cover opens, and docking starts. The left-and-right distance between the male docking unit and the female docking unit does not exceed 20 mm, and the offset angle does not exceed 5°; The robot continues to move forward, and the male docking unit docks with the female docking unit with the help of the docking floating structure; The hypotenuse of the V-shaped guide plate of the male docking unit touches the guide wheel. Under the guidance of the guide wheel, the angle guide plate, the up-and-down centering mechanism, and the left-and-right centering mechanism, docking correction is performed. The female docking unit is connected and fixed to the standard pile for external oil sample extraction, and the male docking unit is connected and fixed to the robot body; The robot moves forward again, the offset between the male docking unit and the female docking unit is eliminated, the diamond pin enters the diamond pin bushing, and the cylindrical pin enters the round pin bushing; The robot moves forward again. The diamond pin can continue to enter the diamond pin bushing, and the cylindrical pin can continue to enter the round pin bushing. The male connectors for the oil circuit, water circuit, and gas circuit are accurately docked with the female connectors for the oil circuit, water circuit, and gas circuit. At the same time, the positive and negative contacts on the male docking unit are docked with the positive and negative contact pieces on the female docking unit. Docking is completed, and water, oil, and gas circuits are connected for charging.

[0019] Compared with the prior art, the beneficial effects of the present invention at least include: The present invention positions and navigates a robot to a docking device. The robot walks onto a large base plate, enabling docking between the robot body and the docking device approximately on the same plane without the need for construction of a foundation, improving the reliability and success rate of the male and female head docking, and ensuring the reliability of the docking and the safety of oil sample collection.

[0020] To ensure the smooth automatic docking between the robot body and the standard oil sample extraction pile, and to prevent the moving robot and the fixed standard oil sample extraction pile from being unable to achieve docking due to excessive misalignment, a floating structure and docking guidance design are adopted at the docking head of the robot. The docking accuracy achievable by the positioning navigation and QR code recognition fusion technology is higher than the docking requirements of the floating structure and docking guidance, effectively realizing the automatic and precise docking of the docking male head and the docking female head, ensuring the reliability of the docking, and at the same time ensuring the safety and reliability of oil sample collection and oil sample detection, and achieving no leakage in the docking of the four channels of two oil circuits, one gas circuit, and one water circuit.

[0021] The present invention can extract transformer oil and simultaneously implement robot detection, involving the docking of two oil circuits for oil inlet and oil return, as well as a gas circuit and a water circuit, a total of four dockings, and achieving completely no leakage at the four docking ports, realizing the circulation of the oil circuit, and ensuring the representativeness of the oil sample. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the robot docking base plate; Figure 2 It is a schematic diagram of the robot system; Figure 3 It is a schematic diagram of the docking female head unit; Figure 4 It is a left view of the docking female head unit; Figure 5 It is a schematic diagram of the docking male head unit; Figure 6 It is a top view of the docking male head unit; In the figure: 1. Robot docking bottom plate; 2. Hoisting ring; 3. Standard oil sample external extraction stake; 301. Dust cover; 302. QR code; 4. Standard oil sample external extraction stake mounting hole; 5. Docking female head unit; 501. Guide wheel; 502. Negative contact; 503. Oil circuit female joint; 504. Female joint proximity photoelectric induction column; 505. Water circuit female joint; 506. Diamond pin bushing; 507. Pneumatic circuit female joint; 508. Female joint proximity photoelectric; 509. Positive contact; 510. Locking cylinder; 511. Circular pin bushing; 512. Angle guide plate; 513. Horizontal angle floating plate; 514. Support plate; 515. Floating joint; 6. Docking male head unit; 601. V-shaped guide plate; 602. Positive contact head; 603. Diamond pin; 604. Oil circuit male joint; 605. Water circuit male joint; 606. Cylindrical pin; 607. Male head proximity water and electricity; 608. Pneumatic circuit male joint; 609. Up and down floating spring; 610. Horizontal floating spring; 611. Up and down centering device; 612. Negative contact head; 613. Support frame; 614. Cylinder locking pin; 615. Male head front plate; 616. Depth camera; 617. Left and right centering mechanism; 618. Left and right floating spring; 619. Male joint proximity photoelectric induction column; 620. Docking male head dust cover; 7. Robot body. Detailed implementation mode

[0023] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described in this application are only a part of the embodiments of the present invention, rather than all embodiments. Based on the spirit of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0024] As Figure 1-2 shown, Embodiment 1 of the present invention discloses an oil sampling and detection robot docking device, including a robot docking bottom plate 1, a hoisting ring 2, a standard oil sample external extraction stake 3, a mounting hole 4, a docking female head unit 5, a docking male head unit 6, and a robot body 7.

[0025] The robot docking bottom plate 1 can be laid flat on the designated installation road surface. The mounting hole 4 is located at a fixed position of the robot docking bottom plate 1, and the standard oil sample external extraction stake 3 can be fixed on the docking bottom plate through the mounting hole 4.

[0026] The docking female head unit 5 is installed on the standard oil sample external extraction stake 3, and the docking male head unit 6 is installed on the robot body 7.

[0027] The hoisting ring 2 is used for hoisting during the transportation of the robot docking bottom plate 1.

[0028] The external oil sample standard pile 3 has a standardized structure, which extracts the oil sample from the oil-filled equipment and provides the pure water and carrier gas required for the robot to conduct oil sample detection. It provides a standardized connection port for the robot through the docking female head unit 5 and is connected to the docking male head unit 6 on the robot body 7. The external oil sample standard pile 3 is connected to the substation maintenance power supply and is always in a state of being connected to the power supply.

[0029] The robot docking base plate 1 can be directly installed at the designated position beside the oil-filled equipment without the need to construct an additional foundation beside the oil-filled equipment. When the robot body 7 performs the task of taking oil samples for detection, the robot body 7 walks onto the robot docking base plate 1. At this time, the robot docking base plate 1 ensures that the robot body 7 and the external oil sample standard pile 3 are always in the same plane and at the same height, ensuring the reliability and success rate of the male-female head docking.

[0030] The robot docking base plate 1 is made of aluminum alloy material, which can effectively prevent corrosion and has a durable and reliable service life. The robot docking base plate 1 is provided with quick-fixing bolt holes to realize the quick installation and fixation of the base plate on the ground.

[0031] As Figure 3-4 shown, the docking female head unit 5 mainly consists of a guide wheel 501, a negative contact piece 502, an oil circuit female joint 503, a female joint proximity photoelectric induction column 504, a water circuit female joint 505, a diamond pin bushing 506, a gas circuit female joint 507, a female joint proximity photoelectric 508, a positive contact piece 509, a locking cylinder 510, a circular pin bushing 511, an angle guide plate 512, a horizontal angle floating plate 513, a support plate 514, a floating joint 515, etc.

[0032] The guide wheels 501 are symmetrically arranged on both sides of the angle guide plate 512. The negative contact piece 502, the oil circuit female joint 503, the female joint proximity photoelectric induction column 504, the water circuit female joint 505, the diamond pin bushing 506, the gas circuit female joint 507, the female joint proximity photoelectric 508, the positive contact piece 509, the locking cylinder 510 and the circular pin bushing 511 are located in the same plane. The support plate 514 is arranged parallel to this plane and is connected through the floating joint 515 and the horizontal angle floating plate 513.

[0033] The oil circuit female joint 503 includes two oil circuit docking ports. The water circuit female joint 505 is connected to the pure water storage tank of the external oil sample standard pile 3, and the gas circuit female joint 507 is connected to the gas cylinder of the external oil sample standard pile 3.

[0034] As Figure 5-6As shown in the figure, the male docking unit 6 mainly consists of a V-shaped guide plate 601, a positive electrode contact 602, a diamond pin 603, an oil circuit male connector 604, a water circuit male connector 605, a cylindrical pin 606, a male proximity photoelectric sensor 607, a gas circuit male connector 608, an up and down floating spring 609, a horizontal floating spring 610, an up and down centering mechanism 611, a negative electrode contact 612, a support frame 613, a cylinder locking pin 614, a male front plate 615, a depth camera 616, a left and right centering mechanism 617, a left and right floating spring 618, a male connector proximity photoelectric induction column 619, and a male docking head dust cover 620, etc.

[0035] The V-shaped guide plate 601 is fixed on the upper side of the male front plate 615. The positive electrode contact 602, diamond pin 603, oil circuit male connector 604, water circuit male connector 605, cylindrical pin 606, male proximity photoelectric sensor 607, gas circuit male connector 608, negative electrode contact 612, and cylinder locking pin 614 are located on the male front plate 615. The up and down centering mechanism 611 is arranged in the middle of the up and down floating spring 609. The up and down floating spring 609, horizontal floating spring 610, and support frame 613 are sequentially located behind the male front plate 615. The left and right centering mechanism 617 is arranged on one side of the left and right floating spring 618 and is perpendicular to the up and down floating spring 609.

[0036] The oil circuit male connector 604 includes two oil circuit docking interfaces. After docking with the oil circuit female connector 503, they are respectively used for the inlet and return of transformer oil. After docking is completed, the circulation of oil samples can be realized to ensure that the taken oil samples can represent the main body oil samples rather than the dead oil in the pipeline.

[0037] After the water circuit male connector 605 is connected to the water circuit female connector 505, it is used to provide pure water for the robot to detect oil samples. After the gas circuit male connector 608 is connected to the gas circuit female connector 507, it is used to provide carrier gas for the robot to detect oil samples.

[0038] The robot body 7 walks to the designated external standardized oil sampling pile 3 through positioning and navigation (3D laser sensor, obstacle avoidance sensor, 2D laser sensor) technology. Through the depth camera recognition technology, the male docking unit 6 on the robot body 7 is automatically docked with the female docking unit 5 on the oil sample external extraction standard pile 3.

[0039] A two-dimensional code 302 is installed on the oil sample external extraction standard pile 3 to assist the depth camera 616 on the robot body 7 to recognize the two-dimensional code 302 for better positioning.

[0040] The oil sample external extraction standard pile 3 can provide illumination at night to assist the depth camera recognition technology of the robot body 7 to better recognize the two-dimensional code 302, complete the docking, and achieve accurate docking 24 hours a day.

[0041] The docking male unit 6's docking floating structure, namely the up-and-down floating spring 609, the horizontal floating spring 610, the left-and-right centering mechanism 617, and the left-and-right floating spring 618, is used to improve the reliability of docking. It can achieve precise docking when the left-and-right docking float does not exceed ±30 mm and the angular float does not exceed ±6°.

[0042] The oil circuit, water circuit, and gas circuit docking connectors are made of carbon steel plated with nickel, which has the advantages of rust prevention, pressure-bearing docking, and no pollution, providing guarantee for the safety of oil samples, water, and gas.

[0043] The positioning and navigation, depth camera recognition plus QR code recognition technology can ensure that the final positioning position error of the robot body 7 does not exceed ±20 mm and the positioning angle error does not exceed ±5°. The accuracy requirement of the floating mechanism of the docking male unit 6 is lower than the positioning accuracy achievable by the navigation, thus ensuring the reliability of docking.

[0044] The V-shaped guide plate 601 of the docking male unit 6 is guided by the guide wheel 501 and the angular guide plate 512 on the docking female unit 5 for docking correction, further ensuring the precise docking of the oil circuit male connector 604, the water circuit male connector 605, the gas circuit male connector 608 with the oil circuit female connector 503, the water circuit female connector 505, and the gas circuit female connector 507.

[0045] After the positive contact 602 and the negative contact 612 on the docking male unit 6 are docked with the positive contact piece 509 and the negative contact piece 502 on the docking female unit 5, the robot body 7 can be charged through the oil sample external lead standard pile 3 to ensure the continuous operation of the robot.

[0046] A dust cover 301 is provided in front of the docking female unit 5. When docking is not carried out, the dust cover 301 shields the docking female unit 5 to prevent dust and other contaminants from polluting the docking female unit 5. The docking male head dust cover 620 serves as a dust-proof function for the docking male unit 6.

[0047] The present invention takes out the transformer oil and synchronously realizes robot detection. It is necessary to achieve the circulation of the oil circuit to ensure the representativeness of the oil sample. Therefore, the present invention involves two oil circuits for oil inlet and oil return, as well as a gas circuit and a water circuit, a total of four dockings, and it is necessary to ensure that there is no leakage at all four docking ports. In order to ensure better docking, this application designs a large bottom plate without the need for construction of a foundation, ensuring that the robot and the external lead standard pile are always at the same docking height and the same plane, supplemented by positioning and navigation, camera recognition, docking floating structure, and docking guide plate to achieve precise docking of the four ports.

[0048] Embodiment 2 of the present invention provides an oil extraction and detection robot docking method, including the following steps: 1. The tester sends an oil production instruction, and the automatic oil sample robot uses the positioning and navigation technology to walk to the side of the standard pile 3 for external oil sample extraction. The depth camera 616 on the automatic oil sample robot identifies the QR code 302 on the standard pile 3 for external oil sample extraction, and the dust cover 301 on the standard pile 3 for external oil sample extraction opens, and the docking starts. At this time, the left-right distance between the docking male head unit 6 and the docking female head unit 5 does not exceed 20 mm, and the offset angle does not exceed 5°. 2. The robot continues to move forward, and the docking male head unit 6 docks with the docking female head unit 5 with the help of the docking floating structure. 3. When the hypotenuse of the V-shaped guide plate 601 touches the guide wheel 501, under the guidance of the guide wheel 501, the angle guide plate 512, the up-and-down centering mechanism 611, and the left-right centering mechanism 617, the docking correction is carried out. The horizontal floating spring 610 ensures that the left-right centering mechanism 617 can be centered after left-right floating, and the up-and-down floating spring 609 ensures that the up-and-down centering mechanism 611 can be centered after up-and-down floating. The horizontal angle floating plate 513 and the floating joint 515 on the docking female head unit 5 have a certain angle floating. The support plate 514 on the docking female head unit 5 is connected and fixed to the standard pile 3 for external oil sample extraction, and the support frame 613 on the docking male head unit 6 is connected and fixed to the robot body 7. 4. The robot moves forward again, and the offset between the docking male head unit 6 and the docking female head unit 5 is basically eliminated (through actual tests: the left-right offset distance is about 2 mm, and the offset angle is close to 0°). The diamond pin 603 can enter the diamond pin bushing 506, and the cylindrical pin 606 can enter the circular pin bushing 511. 5. The robot moves forward about 10 mm again. The diamond pin 603 can enter the diamond pin bushing 506 to a depth of 10 mm, and the cylindrical pin 606 enters the circular pin bushing 511 to a depth of 10 mm. Then, the oil-way male joint 604, the water-way male joint 605, and the gas-way male joint 608 start to be accurately docked with the oil-way female joint 503, the water-way female joint 505, and the gas-way female joint 507. At the same time, the positive contact 602 and the negative contact 612 on the docking male head unit 6 are docked with the positive contact piece 509 and the negative contact piece 502 on the docking female head unit 5. When the approaching photoelectric 607 on the male head senses the approaching photoelectric sensing column 504 of the female head, and the approaching photoelectric 508 on the female head senses the approaching photoelectric sensing column 619 of the male head, the locking cylinder 510 starts to work, locks the cylinder locking pin 614, and the docking is completed, the charging is realized, and the water, oil, and gas three-way connections are completed.

[0049] Compared with the prior art, the beneficial effects of the present invention at least include: The present invention applies the fusion technology of positioning and navigation and QR code recognition, locates and navigates the robot to the docking device, and the robot walks to the large bottom plate, ensuring that the robot body and the docking device are approximately docked on the same plane, and improving the reliability and success rate of the male and female head docking.

[0050] To ensure the smooth automatic docking of the robot body with the standard pile for external oil sample extraction and avoid the inability to dock the docking heads due to excessive misalignment between the moving robot and the fixed standard pile for external oil sample extraction, a floating structure and docking guidance design are adopted at the docking head of the robot. The docking accuracy achievable by the positioning navigation and QR code recognition fusion technology is higher than the docking requirements needed by the floating structure and docking guidance, which can effectively achieve the automatic and precise docking of the male docking head and the female docking head, ensuring the reliability of the docking. At the same time, it ensures the safety and reliability of oil sample collection and oil sample detection, and ensures that there is no leakage in the docking of the four channels of two oil circuits, one gas circuit, and one water circuit.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. An oil extraction detection robot docking device, characterized in that: It comprises a robot docking base plate (1), an oil sample external lead standard pile (3), a docking female head unit (5), a docking male head unit (6) and a robot body (7), wherein the oil sample external lead standard pile (3) is fixed to the robot docking base plate (1) via a mounting hole (4); The docking female connector unit (5) is installed on the oil sample external lead standard pile (3), and comprises an oil circuit female connector (503), a water circuit female connector (505) and a gas circuit female connector (507), and is used to provide pure water and carrier gas for oil sample detection; The docking male unit (6) is mounted on the robot body (7), and comprises a V-shaped guide plate (601), an up and down floating spring (609), an up and down centering mechanism (611), a depth camera (616), a left and right centering mechanism (617) and a left and right floating spring (618). When performing an oil extraction detection task, the depth camera (616) identifies the two-dimensional code (302) on the oil sample external lead standard pile (3), and under the guidance of the guide wheel (501) and the angle guide plate (512) on the docking female unit (5), the docking male unit (6) performs up and down, left and right and angle corrections, and docks with the docking female unit (5) to achieve oil extraction detection.

2. The oil extraction and detection robot docking device according to claim 1, characterized in that: The oil circuit female connector (503) comprises two oil circuit docking ports, the water circuit female connector (505) is connected to the pure water storage tank of the oil sample external lead standard pile (3), and the gas circuit female connector (507) is connected to the carrier gas bottle of the oil sample external lead standard pile (3).

3. The oil extraction and detection robot docking device according to claim 2 is characterized in that: The docking male connector unit (6) comprises an oil circuit male connector (604), a water circuit male connector (605) and a gas circuit male connector (608); The oil circuit male connector (604) comprises two oil circuit docking ports, which are respectively used for oil inlet and oil return of the transformer oil after docking with the oil circuit female connector (503), and can realize oil sample circulation after docking; After the water circuit male connector (605) is connected to the water circuit female connector (505), it is used to provide pure water for the robot to detect oil samples; after the gas circuit male connector (608) is connected to the gas circuit female connector (507), it is used to provide carrier gas for the robot to detect oil samples.

4. The oil extraction and detection robot docking device according to claim 1, characterized in that: The docking male head unit (6) further comprises a horizontal floating spring (610), and the horizontal floating spring (610) is used to ensure that the left and right centering mechanism (617) is centered after floating left and right.

5. The oil extraction and inspection robot docking device according to claim 1, characterized in that: The up-and-down centering mechanism (611) is arranged in the middle of the up-and-down floating springs (609), and the left-and-right centering mechanism (617) is arranged on one side of the left-and-right floating springs (618) and is arranged perpendicular to the up-and-down floating springs (609).

6. The oil extraction and inspection robot docking device according to claim 1, characterized in that: The docking female head unit (5) comprises a positive contact sheet (509) and a negative contact sheet (502), and the docking male head unit (6) comprises a positive contact (602) and a negative contact (612); The positive contact (602) and the negative contact (612) are docked with the positive contact sheet (509) and the negative contact sheet (502), and after docking, the robot body (7) can be charged through the oil sample external lead standard pile (3).

7. The oil extraction and inspection robot docking device according to claim 3 is characterized by: The V-shaped guide plate (601) is butt-jointed and corrected under the guidance of the guide wheel (501), the angle guide plate (512), the upper and lower centering mechanism (611), and the left and right centering mechanism (617), thereby achieving butt-joint connection between the oil circuit male connector (604), the water circuit male connector (605), and the gas circuit male connector (608) and the oil circuit female connector (503), the water circuit female connector (505), and the gas circuit female connector (507).

8. The oil extraction and inspection robot docking device according to claim 1, characterized in that: The docking female head unit (5) further comprises a diamond pin bushing (506) and a round pin bushing (511); and the docking male head unit (6) further comprises a diamond pin (603) and a cylindrical pin (606); The diamond pin (603) is butt-jointed into the diamond pin bushing (506), and the cylindrical pin (606) is butt-jointed into the circular pin bushing (511).

9. The oil extraction and inspection robot docking device according to claim 1, characterized in that: A dust cover (301) is provided in front of the docking female head unit (5); when docking is not carried out, the dust cover (301) shields the docking female head unit (5) to avoid contamination of the docking female head unit (5).

10. A docking method for an oil extraction inspection robot, based on an oil extraction inspection robot docking device according to any one of claims 1 to 9, characterized in that: The following steps are involved: The tester sends an oil extraction command, and the robot walks to the oil sample external lead standard pile (3). The robot recognizes the QR code (302) on the oil sample external lead standard pile (3), opens the dust cover (301), and starts docking. The left and right distance between the docking male unit (6) and the docking female unit (5) does not exceed 20 mm, and the offset angle does not exceed 5°. The robot continues to move forward, and the docking male unit (6) docks with the docking female unit (5) with the help of the docking floating structure; The V-shaped guide plate (601) of the male docking unit (6) hits the guide wheel (501) with its beveled edge, and the docking correction is performed under the guidance of the guide wheel (501), the angle guide plate (512), the upper and lower centering mechanism (611), and the left and right centering mechanism (617), the female docking unit (5) is connected and fixed to the oil sample external standard pile (3), and the male docking unit (6) is connected and fixed to the robot body (7); The robot moves forward again, the diamond pin (603) enters the diamond pin bushing (506), and the cylindrical pin (606) enters the circular pin bushing (511); The robot moves forward again, the diamond pin (603) continues to enter the diamond pin bushing (506), the cylindrical pin (606) continues to enter the circular pin bushing (511), and the oil circuit male connector (604), the water circuit male connector (605), and the gas circuit male connector (608) are docked with the oil circuit female connector (503), the water circuit female connector (505), and the gas circuit female connector (507). At the same time, the positive contact (602) and the negative contact (612) on the docking male unit (6) are docked with the positive contact sheet (509) and the negative contact sheet (502) on the docking female unit (5). The docking is completed, and the charging realizes the connection of the water, oil, and gas circuits.

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