Oil sampling flow collecting and distributing control module and automatic oil sampling equipment

Abstract

The invention relates to the technical field of automatic oil sampling for operation and maintenance of transformers, and particularly discloses an oil sampling flow collecting and flow dividing control module and automatic oil sampling equipment. The module comprises a flow dividing valve block, a flow dividing control valve, an oil sampling container, a waste oil container, a flow dividing pipeline, a first flow collecting butt joint pipeline and the like; the device has a flow collecting and distributing function and can be applied to full-closed automatic oil sampling operation; the oil sampling equipment comprises an oil sampling robot of a mobile chassis main body with an intelligent mobile control system, an oil sampling flow collecting and distributing control module carried on the mobile chassis main body, and an outer end butt joint part or an outer end module which is arranged on external equipment and is in butt joint with a first flow collecting butt joint pipeline, the multifunctional oil sampling device has the advantages that automatic oil sampling operation can be realized, manual operation can be effectively replaced, automatic adjustment, effective and reliable butt joint can be realized, full-closed oil sampling operation and other multifunctional effects can be realized, and the operation and maintenance efficiency and effectiveness can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated oil sampling for transformer operation and maintenance. Background Art

[0002] As a crucial electrical device in power grids, transformers are typically filled with insulating oil, known as transformer oil. Transformer oil is a mineral oil obtained through distillation and refining of natural petroleum. The main functions of transformer oil are as follows: 1. Insulation: Transformer oil has a much higher dielectric strength than air. Immersing insulating materials in oil not only improves dielectric strength but also protects them from moisture. 2. Heat dissipation: Transformer oil has a high specific heat capacity and is often used as a coolant. The heat generated during transformer operation causes the oil near the core and windings to expand and rise. Through upward and downward convection of the oil, the heat is dissipated through the radiator, ensuring the normal operation of the transformer. 3. Arc extinguishing: On oil circuit breakers and transformer on-load tap changers, arcs are generated when contacts switch. Due to the good thermal conductivity of transformer oil, the high temperature of the arc can separate a large amount of gas, generating high pressure, thereby improving the arc extinguishing performance of the medium and quickly extinguishing the arc.

[0003] During routine transformer operation and maintenance, regular oil sampling is required for oil chemistry testing and transformer oil chromatography analysis. (Transformer oil chromatography uses gas chromatography to determine the content of dissolved gas components in insulating oil. It is an effective means for power generation and supply companies to determine whether operating oil-filled power equipment has potential faults such as overheating and discharge, thereby ensuring the safe and efficient operation of the power grid.) This oil sampling test is conducted frequently. Traditionally, manual oil sampling is a risky, inefficient, labor-intensive process that relies heavily on the experience of maintenance personnel. Oil samples are prone to contamination, which can affect analytical test data. Furthermore, while some stations are equipped with online oil chromatography devices, these devices are subject to errors, and after a light gas alarm, offline oil sampling and testing are required for confirmation. This necessitates emergency manual oil removal, posing a significant safety hazard to the personnel performing the extraction. In addition, there are a few automated solutions proposed. These solutions mainly simulate the existing manual sampling process. Automatic oil extraction is achieved by using a mobile robot carrying a robotic arm and an actuator. The output end of the robotic arm is equipped with a screwing mechanism to imitate the manual opening and closing of the oil extraction valve. The pain points and difficulties of this automated oil extraction solution are: 1. The oil extraction port type of each transformer is not uniform, the height is inconsistent, and standardized operations cannot be performed; 2. Higher requirements are placed on the arm span (working range) of the robot's robotic arm and the docking accuracy of the end actuator; 3. The automatic oil sampling operation method imitates the manual method, and there are also problems such as low efficiency and oil sample contamination. Summary of the Invention

[0004] One of the objectives of the present invention is to provide an oil sampling flow collecting and diverting control module that has flow collecting and diverting functions and can be used to realize a fully enclosed automatic oil sampling operation.

[0005] The second object of the present invention is to provide an automatic oil sampling device with flow collection and diversion functions, which can realize fully enclosed automatic docking and oil sampling operations.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] An oil sampling collection and diversion control module includes a diversion valve block, a diversion control valve, an oil sample container, a waste oil container, a diversion pipeline and a first collection and diversion pipeline. The diversion valve block includes a collection oil inlet channel, waste oil channels respectively connected to the collection oil inlet channel and multiple diversion channels. The waste oil channel and each diversion channel are respectively provided with the diversion control valve. One end of the collection oil inlet channel is the collection oil inlet end connected to the first collection and diversion pipeline. The collection oil inlet channel is provided with the diversion control valve between the collection oil inlet end and the connection between the waste oil channel and each diversion channel. The waste oil channel is connected to the waste oil container through a diversion pipeline. Each diversion channel corresponds to the oil sample container one by one and is connected through the diversion pipeline.

[0008] The oil sample container is a device with an emptying structure, and the diversion control valve of the diversion channel is arranged in a structure that can realize two-way flow control; the diversion control valve is a 3-way solenoid valve and a 2-way solenoid valve, and the diversion control valve on each diversion channel is set as two 3-way solenoid valves, and the diversion control valves of the collecting oil inlet channel and the waste oil channel are respectively set as one 2-way solenoid valve.

[0009] The oil sample container is a syringe-type oil sample test tube and is equipped with a test tube push-pull mechanism; the test tube push-pull mechanism includes a drive motor, a screw slider mechanism, a fixed plate, a guide connecting plate, a fixed block and a connecting block. The drive motor and the screw slider mechanism are installed on one side of the fixed plate, the screw end of the screw slider mechanism is connected to the output shaft of the drive motor, the fixed block is fixedly arranged on the other side of the fixed plate and is constructed with a fixing structure that can fix the syringe-type oil sample test tube, the connecting block is connected to the slider on the screw slider mechanism through the guide connecting plate, and the connecting block is provided with a clamping structure that can clamp the outer end of the pulling rod of the syringe-type oil sample test tube.

[0010] It also includes an external end docking component or an external end module, and the end of the first collecting and connecting pipe is provided with a first docking end; the external end docking component is a plurality of second collecting and connecting pipes, and the end of the second collecting and connecting pipe is provided with a second docking end for docking with the first docking end; or, the external end module includes a collecting valve block, an oil production pipeline, a collecting control valve and a second collecting and connecting pipe, the collecting valve block includes a collecting oil outlet channel and a plurality of oil production channels respectively connected to the collecting oil outlet channels, each oil production channel is respectively provided with the collecting control valve, one end of the collecting oil outlet channel is the collecting oil outlet end connected to the second collecting and connecting pipe, the collecting oil outlet channel is provided with the collecting control valve between the collecting oil outlet end and each oil production channel, and the end of the second collecting and connecting pipe is provided with a second docking end for docking with the first docking end.

[0011] The flow collecting control valve is a 2-way solenoid valve.

[0012] An automatic oil sampling device having the above-mentioned oil sampling, flow collecting and diverting control module includes an oil sampling robot with a mobile chassis body having an intelligent mobile control system. The oil sampling, flow collecting and diverting control module is mounted on the mobile chassis body, and also includes an external end docking component or external end module for docking with a first collecting and diverting pipe provided on an external device. The end of the first collecting and diverting pipe is provided with a first docking end head, and the external end docking component or external end module includes a second collecting and diverting pipe having a second docking end head provided at its end for docking with the first docking end head.

[0013] The oil extraction robot is also equipped with a first docking device, which includes a first pair of joints, a first multi-dimensional moving mechanism and a floating adjustment mechanism. The first multi-dimensional moving mechanism is installed on the mobile chassis body. The first pair of joints is arranged on the first multi-dimensional moving mechanism and is driven by it to adjust the position in different directions, and the first pair of joints is arranged on the floating adjustment mechanism. The floating adjustment mechanism is constructed to enable the first pair of joints to adaptively adjust their positions in a floating state to dock with the second docking device. The first docking end is fixedly set on the first docking end; the outer end docking component or outer end module also includes a second docking device, which includes a second pair of joints for docking with the first pair of joints and a docking guide structure corresponding to the second pair of joints for docking guide of the first pair of joints, and the second docking end is fixedly set on the second docking end.

[0014] The first pair of joints includes a docking end and a movable mounting end, the first multi-dimensional movable mechanism includes a first docking module having a first docking seat, the movable mounting end is mounted on the first docking seat through a movable connection structure, and the movable connection structure is constructed to realize a structural setting that can realize relative adaptive movement of the first pair of joints and the first docking seat with the floating adjustment of the floating adjustment mechanism, the floating adjustment mechanism includes a floating fixed seat, a floating sleeve and a floating part, the floating sleeve is mounted on the floating fixed seat through multi-directional flexible support of the floating part, the floating sleeve is provided with a mounting hole corresponding to the outer peripheral contour of the first pair of joints and penetrated therein, and the docking end passes through the floating adjustment mechanism for docking with the second pair of joints.

[0015] The movable connection structure includes a connecting rod with two ends respectively preventing from falling off and movably connected to the movable mounting end and the first docking seat, and / or a docking elastic member with two ends respectively abutting against the movable mounting end and the first docking seat.

[0016] The connecting rod includes a center rod and a support rod, and the movable mounting end and the first docking seat are respectively provided with corresponding through holes for the two ends of the center rod and the support rod to pass through, and the cross-sectional area of the through holes is larger than the cross-sectional area of the center rod and / or the support rod to form an activity space.

[0017] The second docking device is provided with a docking limiting structure for limiting the docking of the first pair of joints and / or the second pair of joints.

[0018] The floating fixed seat includes front and rear plates arranged relative to each other and a peripheral plate surrounding the outer circumference of the front and rear plates. A floating space is formed between the front and rear plates and the peripheral plate. The floating sleeve is embedded in the floating space. The floating part is a supporting elastic part, which is arranged between the floating sleeve and the inner wall of the floating space and is arranged in multiple directions to support the floating sleeve.

[0019] The first multi-dimensional moving mechanism also includes a transverse compensation module having a transverse seat, the first docking module and the floating adjustment mechanism are arranged on the transverse seat, and the docking end passes through the floating adjustment mechanism and is mounted on the mounting hole to axially move and dock with the second pair of joints; and / or, the second docking device also includes a centering mechanism for adjusting the centering position of the first pair of joints corresponding to the second pair of joints during docking; and / or, the second docking device also includes a second docking module having a second docking seat for fixing the second pair of joints.

[0020] The docking guide structure is a guide seat provided with a guide hole for the first pair of joints to pass through the corresponding second pair of joints. The centering mechanism includes a centering module with two centering seats that are relatively and synchronously adjusted, and a pushing component fixedly provided on the opposite surfaces of the two centering seats for pushing the first pair of joints. The guide seat is provided with a through hole for the pushing component to pass through and move.

[0021] The outer end module also includes a collecting valve block, an oil production pipeline and a collecting control valve. The collecting valve block includes a collecting oil outlet channel and multiple oil production channels respectively connected to the collecting oil outlet channels. Each oil production channel is respectively provided with the collecting control valve. One end of the collecting oil outlet channel is the collecting oil outlet end connected to the second collecting docking pipeline. The collecting oil outlet channel is provided with the collecting control valve between the collecting oil outlet end and each oil production channel.

[0022] The outer end docking component or the outer end module is arranged in the cabinet. The cabinet is provided with a docking window corresponding to the second pair of joints and is provided with an automatic opening and closing cover mechanism for opening or closing the docking window.

[0023] By adopting the above technical solution, the beneficial effect of the present invention is: the structural setting of the above oil sampling collection and diversion control module can control the use and flow of different channels through the layout structure of various channels and diversion control valves on the diversion valve block, and can realize control according to the needs before, after and during the oil sampling operation. For example, when discharging waste oil (waste oil or oil samples that may be contaminated), the diversion control valves of all diversion channels are controlled to be closed, and the others are controlled to be opened, that is, the collected oil inlet channel is directly connected to the waste oil channel and discharged into the waste oil container; for another example, the diversion control valves of the collected oil inlet channel and several diversion channels are opened, and the diversion control valves of the remaining diversion channels and waste oil channels are closed, that is, the collected oil inlet channel is connected to one or more diversion channels and discharged into the corresponding oil sample containers; and as further described above, the oil sample container is a device with an emptying structure, and the diversion control valves of the diversion channels are arranged in a structure that can realize two-way flow control, which can control the closure of the collected oil inlet channel and make one or more diversion channels flow with the waste oil channel to discharge the oil in the oil sample container into the waste oil container; thereby, a variety of required diversion controls can be realized. It can be seen that the above-mentioned first collecting and connecting pipe and collecting and connecting oil inlet channel have the function of collecting, and the rest mainly play the function of diverting, and in the process of collecting and diverting, the oil samples all flow in the channel, which is isolated and closed from the outside world and will not be contaminated. The contaminated oil samples can also be discharged to the waste oil container, which can be used automatically to improve efficiency, thereby achieving the above-mentioned purpose of the present invention. The above-mentioned further external end components and external end docking modules can be installed on equipment such as transformers, and can be docked to collect oil samples separately. The above-mentioned collecting valve block can also be used, which has multiple oil collection channels that can be controlled according to the needs of the oil extraction operation, and can control the flow of different channels to realize the centralized collecting and oil extraction operation of several equipment devices, which is conducive to better achieving the above-mentioned purpose of the present invention. The module of the present invention has compatibility and scalability, which can avoid the problems of inconsistent oil extraction port types of each transformer, inconsistent heights, inability to standardize operations, and not being limited by the arm span of the robotic arm.

[0024] The oil sampling device described above has an oil sampling robot as a self-moving main body. The intelligent mobile control system may include a main control module, a charging module, a communication module, an anti-collision avoidance module, a visual positioning module, a temperature and humidity sensor module, a distance sensor module, an autonomous navigation module, etc., mounted on the mobile chassis body, and can achieve a variety of intelligent and automated functional effects. By combining the above modules with the effects of the above oil sampling flow collection and diversion control module, the oil sampling device of the present invention can effectively and reliably replace manual docking and fully enclosed and pollution-free oil sampling operations through the oil sampling robot. The above-mentioned further structural arrangement of the first docking device and the second docking device realizes an automatic and flexible docking system structure. The first pair of joints in the first docking device and the second pair of joints in the second docking device can be fixedly arranged for the two docking components (such as the docking ends of the oil extraction pipeline) to be docked, respectively. The docking of the two components is achieved through the action of the first docking device and the second docking device. The floating adjustment mechanism is constructed to enable the first pair of joints to achieve a structure that can adaptively adjust the position of the floating state to dock with the second docking device. During docking, the first multi-dimensional moving mechanism and other actions can achieve preliminary adjustment and movement positioning, and then further adjust the positioning more accurately through the guidance of the floating adaptive docking guide structure of the floating adjustment mechanism, and then dock with the precise docking position of the second pair of joints. The floating adjustment mechanism enables the first pair of joints and the second pair of joints to have a flexible adjustment effect during the docking process, and this effect further achieves the effect of accurate and rapid docking. The above-mentioned floating adjustment mechanism and the further structural setting of the first docking device and the second docking device provide a structural setting that is stable, reliable and not prone to failure, and further improves the effects of flexible docking and accurate and rapid docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The present invention relates to a structural diagram of an oil sampling flow collection and diversion control module.

[0026] Figure 2 The invention relates to a structural diagram of an outer end docking module in an oil sampling flow collection and diversion control module.

[0027] Figure 3 The invention relates to a structural diagram of a test tube push-pull mechanism in an oil sampling flow collection and diversion control module.

[0028] Figure 4 The present invention relates to a schematic diagram of the layout structure principle of a diversion control valve on a diversion valve block in an oil sampling flow collection and diversion control module.

[0029] Figure 5 The present invention relates to a schematic diagram of the layout structure principle of a flow collecting control valve on a flow collecting valve block in an oil sampling flow collecting and diverting control module.

[0030] Figure 6 、 Figure 7 and Figure 8 The present invention relates to a schematic structural diagram of different combinations of oil sampling flow collection and diversion control modules.

[0031] Figure 9 and Figure 10 The present invention relates to an automatic oil sampling device with two different system structure schematic diagrams.

[0032] Figure 11 The present invention relates to an internal structure diagram of an oil sample integrated cabinet in an automatic oil sampling device.

[0033] Figure 12 The present invention relates to a structural diagram of a docking device in an automatic oil sampling device.

[0034] Figure 13 and Figure 14 The present invention relates to a schematic structural diagram of a first docking device in an automatic oil sampling device at different angles.

[0035] Figure 15 and Figure 16 The present invention relates to a schematic structural diagram of a second docking device in an automatic oil sampling device at different angles.

[0036] In the picture:

[0037] Diverter valve block a1; diverter control valve a2; collecting oil inlet channel a21; collecting oil inlet end a211;

[0038] Waste oil channel a22; diversion channel a23;

[0039] Oil sample container a3; test tube push-pull mechanism a30; drive motor a31; screw slider mechanism a32; fixed plate a33;

[0040] Guide connecting plate a34; fixing block a35; connecting block a36; clamping structure a37;

[0041] Waste oil container a4; diversion pipeline a5; first collecting and connecting pipeline a6; first connecting end a61;

[0042] Outer end docking component a8; second docking end a81;

[0043] External end module a9; collecting valve block a91; collecting oil outlet channel a911; collecting oil outlet end a9111;

[0044] Oil production channel a912; oil production pipeline a92; flow control valve a93;

[0045] Second collecting and connecting pipe a94; second connecting terminal a941;

[0046] Oil extraction robot b; mobile chassis b1

[0047] First docking device 1; first docking joint 11; docking end 111; mobile mounting end 112;

[0048] First multi-dimensional moving mechanism 12; first docking module 121; first docking seat 1211;

[0049] Active connection structure 122; docking elastic member 1221; center rod 1222; support rod 1223;

[0050] Transverse movement compensation module 123; transverse movement seat 1231;

[0051] Floating adjustment mechanism 13; floating fixing seat 131; front and rear plates 1311; outer peripheral plate 1312;

[0052] Floating sleeve 132; mounting hole 1321; floating member 133;

[0053] Second docking device 2; second docking joint 21; docking guide structure 22; through hole 221;

[0054] Centering mechanism 23; centering module 231; centering seat 2311; ejection component 232;

[0055] Second docking module 24; second docking seat 241; docking limit structure 25; automatic switch baffle mechanism 3; DETAILED DESCRIPTION

[0056] In order to further explain the technical solution of the present invention, the present invention is described in detail below through specific embodiments.

[0057] This embodiment discloses an oil sampling flow collection and diversion control module a, such as Figure 1 As shown, it includes a diverter valve block a1, a diverter control valve a2, an oil sample container a3, a waste oil container a4, a diverter pipeline a5 and a first collecting and connecting pipeline a6.

[0058] All oil sample containers a3 are used to hold target oil samples for testing. In the present invention, multiple oil sample containers a3 are arranged, and multiple oil samples can be sampled at one time during the operation of automated equipment, which is beneficial to improving the efficiency of oil sampling.

[0059] The waste oil container a4 is mainly used to contain oil that is contaminated, may be contaminated, or is not used for testing.

[0060] The diverter valve block 2 is mainly used for the flow control of collecting and diverting to realize the application of automation. It is provided with a collecting oil inlet channel a21, a waste oil channel a22 connected to the collecting oil inlet channel a21, and a plurality of diverter channels a23. The collecting oil inlet channel a21 is a main channel, mainly for various oils to flow through. The waste oil channel a22 is mainly for waste oil, contaminated oil, unused oil, etc. to flow through. The diverter channel a23 is mainly for the oil sample to be collected for testing to flow through. The waste oil channel a22 and each diverter channel a23 are respectively provided with the diverter control valve a2 for controlling the closing, opening or flow direction of the corresponding channel. One end of the oil channel a21 is a collecting oil inlet end a211 connected to the first collecting connecting pipe a6, and the first collecting connecting pipe a6 is connected to the external equipment to realize oil production and oil inlet. The collecting oil inlet channel a21 is provided with the diversion control valve a2 between the collecting oil inlet end a211 and the connecting waste oil channel a22 and each diversion channel a23 for controlling the closing or opening of the channel. The waste oil channel 23 is connected to the waste oil container a4 through the diversion pipe a5. Each diversion channel a23 corresponds to the oil sample container a3 and is connected through the diversion pipe a5. The above-mentioned diversion pipes a5 and the corresponding connected channels can be installed and connected by quick connectors.

[0061] The above-described structure, through the arrangement of various channels and diverter control valves a2 on the diverter valve block 2, allows for controlled flow control across different channels, enabling control based on needs before, after, and during oil sampling. For example, to discharge waste oil (waste oil or potentially contaminated oil samples), the diverter control valves a2 in all diverter channels a23 are closed, while the remaining diverter control valves a2 are opened. This allows the combined oil inlet channel a21 to flow directly into the waste oil channel a22, where it is discharged into the waste oil container a4. Alternatively, the diverter control valves a2 in the combined oil inlet channel a21 and several diverter channels a23 are opened, while the diverter control valves a2 in the remaining diverter channels a23 and waste oil channel a22 are closed. This allows the combined oil inlet channel a21 to flow directly into one or more diverter channels a23, where it is discharged into the corresponding oil sample container a3.

[0062] Furthermore, the oil sample container a3 of the above embodiment of the present invention can be provided with an emptying structure, which can be used to empty the oil sample container a3 containing the oil sample, thereby preventing contamination caused by mixing of the oil sample, and can be provided with an automated operation structure. The structure of this device is simple, and an oil discharge port can be provided on the oil sample container a3, and the opening and closing of the oil discharge port can be controlled by a control valve. The diverter control valve a2 of this structure can be a one-way flow control. In addition, it can also be as follows Figure 1 and Figure 3As shown, the diversion control valve a2 of the diversion channel a23 is arranged with a structure that can realize two-way flow control, which can control the closing of the collected oil inlet and make one or more diversion channels 23 flow with the waste oil channel 2 to discharge the oil in the oil sample container a3 into the waste oil container a4. Specifically, as shown in the figure, the oil sample container a3 is a syringe-type oil sample test tube, and each syringe-type oil sample test tube is respectively equipped with a test tube push-pull mechanism a30. The test tube push-pull mechanism a30 is used to drive the pulling and pushing action of the pulling rod of the corresponding syringe-type oil sample test tube, and the waste oil or air in the syringe-type oil sample test tube is emptied during the pushing action. The structure of the test tube push-pull mechanism a30 can be a syringe-type oil sample test tube fixedly installed, and its pull-out rod is connected to the drive cylinder, which drives the state change of pulling out or pushing in. Alternatively, the test tube push-pull mechanism a30 can be as shown in the figure, including a drive motor a31, a screw slider mechanism a32, a fixed plate a33, a guide connecting plate a34, a fixed block a35 and a connecting block a36, wherein the fixed plate a33 is fixedly installed, and the drive motor a31 (which can be a stepping motor) and the screw slider mechanism a32 are installed on the fixed plate a3 3 and the end of the screw of the lead screw slider mechanism a32 is connected to the output shaft of the drive motor a31, and the fixed block a35 is fixedly arranged on the other side of the fixed plate a33 (arranged opposite to the drive motor a31 and the lead screw slider mechanism a32) and is constructed to fix the syringe oil sample test tube (i.e., the oil sample container a3). As shown in the figure, the fixed block a35 is arranged on the fixed plate a33 in two corresponding upper and lower blocks. The two fixed blocks a35 are respectively provided with a tube body for the syringe oil sample test tube at both ends. The U-shaped grooves corresponding to the embedding and clamping are respectively connected, and the connecting block a36 is connected to the slider on the screw slider mechanism a32 through the guide connecting plate a34. The fixed plate a33 is provided with a movable groove for the guide connecting plate a34 to pass through and move inside. The connecting block a36 is provided with a clamping structure a37 for clamping the outer end of the pull rod of the syringe oil sample test tube. As shown in the figure, the connecting block a36 is provided with a card groove with a U-shaped mouth for the outer end of the pull rod of the syringe oil sample test tube to be embedded in the card groove, so that when the drive motor a31 is started During operation, the screw of the screw slider mechanism a32 is driven to rotate forward or reverse by its forward or reverse rotation. When the screw rotates forward or reverse, the slider on the screw slider mechanism a32 can be driven to slide axially on the screw, and the connecting block a36 follows the sliding. The sliding of the connecting block a36 drives the pulling rod of the syringe oil sample tube to change its state of pulling out or pushing in. The pushing-in state action can be used to discharge the oil sample or air from the syringe oil sample tube, while the pulling-out state action provides space for the syringe oil sample tube.

[0063] In this embodiment, the diversion control valve a2 is a 3-way solenoid valve or a 2-way solenoid valve. The diversion control valve a2 on each diversion channel a23 is a configuration of two 3-way solenoid valves, and the diversion control valve a2 on the oil-collecting channel a21 and the waste oil channel a22 is a configuration of a 2-way solenoid valve. The schematic diagram of the layout structure is shown in FIG. Figure 4 As shown, the 2-way solenoid valve is a 2-position, 2-way solenoid valve with a direct-acting poppet valve structure. It is normally open when de-energized and closes when energized, connecting ports 1 and 2. The 3-way solenoid valve is a 2-position, 3-way solenoid valve with a direct-acting poppet valve structure. When de-energized, ports 1 and 2 are connected, while port 3 is closed. When energized, ports 2 and 3 are connected, while port 1 is closed. By configuring two 3-way solenoid valves in each diversion channel a23 to control the flow direction of the oil sample in the corresponding six syringe-type oil sample tubes shown in the figure, all diversion channels a23 can achieve bidirectional flow and can be combined into four different states, as shown from left to right in the figure: loop closed state, waste oil discharge state, oil sampling state, and syringe oil sample tube discharge state. The combined oil inlet channel a21 and waste oil channel a22 are each equipped with a 2-way solenoid valve to control the oil inlet and waste oil outlet, respectively. The above-mentioned structural arrangement can realize control over the use of the flow channels, for example, closing all the branch channels a23 and connecting the collecting oil inlet channel a21 directly to the waste oil channel a22 for discharging the oil into the waste oil container a4; closing the waste oil channel a22 and connecting the collecting oil inlet channel a21 and one or more branch channels a23 for collecting oil samples from a syringe-type oil sample tube; closing the collecting oil inlet channel a21 and connecting one or more branch channels a23 and the waste oil channel a22 for discharging the oil from the syringe-type oil sample tube into the waste oil container a4, and so on.

[0064] An oil sampling flow collection and diversion control module of the above-mentioned various technical solutions can be configured with an external end docking component a8 for installation on equipment (such as a transformer cabinet) that requires oil sampling testing. The end of the first collecting and diverting pipe a6 is provided with a first docking terminal a61. The external end docking component a8 is a plurality of second collecting and diverting pipes. The end of the second collecting and diverting pipe is provided with a second docking terminal a81 for docking with the first docking terminal a61, so as to facilitate docking. Figure 6 The application structure shown.

[0065] You can also Figure 7 and Figure 8 As shown, an oil sampling flow collection and diversion control module of the various technical solutions can be configured with an external end module a9, which is installed on a transformer or integrated cabinet and other equipment when in use, and is positioned to centrally arrange the oil sampling ports, and is connected to the oil sampling ports of multiple equipment through pipelines to centrally collect and collect oil sampling operations. The external end module a9 is as shown in FIG. Figure 2As shown, it includes a collecting valve block a91, an oil production pipeline a92, a collecting control valve a93 and a second collecting connecting pipe a94, the collecting valve block a91 includes a collecting oil outlet channel a911 and multiple oil production channels a912 respectively connected to the collecting oil outlet channel a911, each oil production channel a912 is respectively provided with the collecting control valve a93, one end of the collecting oil outlet channel a911 is a collecting oil outlet end a9111 connected to the second collecting connecting pipe a94, the collecting oil outlet channel a911 is provided with the collecting control valve a93 between the collecting oil outlet end a9111 and each oil production channel a912, the end of the first collecting connecting pipe a6 is provided with a first docking end a61, and the end of the second collecting connecting pipe a94 is provided with a second docking end a941 for docking with the first docking end a61. By controlling the flow control valve a93 according to the oil sampling target, one or more required oil production channels a912 and the flow collection oil outlet channel a911 are opened or closed. The oil production pipeline a92 can be connected to the oil sampling ports of various equipment devices in the same manner as the diversion pipeline a5. The application structure is shown in the figure. The flow control valve a93 in this embodiment is a 2-way solenoid valve, which can use the same components as the above-mentioned one. The schematic diagram of the layout structure is shown in the figure. Figure 5 As shown, the four 2-way solenoid valves here are responsible for controlling the on-off of the four oil production channels a912, and one 2-way solenoid valve is responsible for controlling the on-off of the collecting oil outlet channel a911. In this way, by controlling the opening and closing of the solenoid valves, it is possible to control one or more groups of oil to flow out of the oil outlet.

[0066] The above embodiment proposes to use a valve block to realize the automatic oil extraction of different oil extraction ports of transformers, etc., and at the same time add a test tube push-pull module, and propose the idea of automatic reverse emptying during the sampling process, fully considering to avoid the oil sample from mixing with the air and causing pollution. Compared with the traditional manual oil sampling, the module designed by the present invention can automatically complete the oil sampling of transformers, has the function of collecting and diverting flow, and is more convenient for oil sampling control and use. It can reduce the labor intensity and operation risk of substation operation and maintenance personnel, and improve the efficiency and timeliness of operation and maintenance, while effectively avoiding the exposure of oil samples. In addition, the number of solenoid valves and the docking form in the present invention are all scalable designs. There can be a variety of different combination states under the premise of unchanged design principles. For ordinary technicians in this technical field, without departing from the principles described in the present invention, several improvements and optimizations can be made. These improvements and optimizations should also be regarded as the scope of protection of the present invention.

[0067] An embodiment of an automatic oil sampling device of the present invention is described below. Figure 9 、 Figure 10 and Figure 11As shown, the oil collection robot b includes a mobile chassis b1 with an intelligent mobile control system, and the oil sampling flow collection and diversion control module a mounted on the mobile chassis b1. The mobile chassis b1 of the oil collection robot b can adopt an omnidirectional four-wheel drive chassis that facilitates flexible mobility. The intelligent mobile control system may include a main control module mounted on the mobile chassis b1 for core system control, a charging module that enables autonomous charging, a communication module for signal connection and data transmission, an anti-collision avoidance module (such as a laser radar and safety edge) for driving protection, a visual positioning module (such as a pan-tilt camera) that obtains video images for analysis and positioning, a temperature and humidity sensor module (related sensor configurations) for environmental detection, a distance sensor module (such as a rangefinder) for positioning and movement requirements, an autonomous navigation module for autonomous route planning and navigation, an emergency stop switch, a voice broadcast module, and other functions. The above-mentioned objectives and effects of the present invention can be achieved through navigation, visual positioning, and the integration of the following docking system. The above module settings can refer to some existing disclosed intelligent robots. The modules can be increased or decreased according to the functional effects to be achieved. This embodiment does not make any special improvements to these modules, and these modules are not described in detail here. Those skilled in the art can obtain them through existing technologies or inspirations, which does not affect the clear understanding of the technical solution of the present invention.

[0068] The outer end docking component a8 or outer end module a9 for docking with the first flow collecting and diverting pipe a6 in the above-mentioned oil sampling flow collecting and diverting control module a is set on the external device. The end of the first flow collecting and diverting pipe a6 is provided with a first docking terminal a61. The outer end docking component a8 is preferably arranged in a specific position according to the use environment. Figure 6 、 Figure 9 The end of the pipeline is provided with a second docking terminal a81 positioned to dock with the first docking terminal a61, or as shown in FIG. Figure 10 and Figure 11 The outer end module a9 shown is arranged in the cabinet body to form an oil sample integrated cabinet, which includes a second collecting and connecting pipe a94 with a second connecting terminal a941 for connecting with the first connecting terminal a61. The cabinet can also be used for installation and design of other components, modules, devices, etc.

[0069] The oil extraction robot b realizes the automatic, accurate, effective and reliable docking through the following structural setting, which is described in detail below with reference to the accompanying drawings. The mobile chassis body b1 is also equipped with a first docking device 1, which is as follows: Figure 12 、 Figure 13 and Figure 14, including a first pair of joints 11, a first multi-dimensional moving mechanism 12 and a floating adjustment mechanism 13. The first multi-dimensional moving mechanism 12 may include multi-axis adjustment movements including lifting adjustment, lateral adjustment, and docking advance and retreat adjustment. As shown in the figure, the present embodiment includes two-dimensional adjustment movements, namely, lateral adjustment realized by a lateral displacement compensation module 123 and docking advance and retreat adjustment realized by a first docking module 121. The lateral displacement compensation module 123 is fixedly mounted on the mobile chassis body b1, the first docking module 121 is arranged on the lateral displacement seat 1231 of the lateral displacement compensation module 123, and the first pair of joints 11 is arranged on the first docking seat 1211 of the first docking module 121. Thus, the first pair of joints 11 is driven by the first multi-dimensional moving mechanism 12 to adjust its position in different directions. In this embodiment, the first pair of connectors 11 serves as a docking seat, which includes a docking end 111 and a movable mounting end 112. The docking end 111 is provided for the installation of the docking component to be docked, that is, the first docking end a61 is fixedly set at the docking end 111, and the docking end 111 can be provided with other docking terminals (such as terminals for sensing and determining successful docking, etc.). Through the first pair of connectors 11, the volume of the docking component to be docked can be expanded relative to the actual docking component, which can make it easier to improve the docking accuracy and adjust. To realize the adaptive floating structure, the present invention is such that the first pair of joints 11 are also arranged on the floating adjustment mechanism 13, and the floating adjustment mechanism 13 is constructed to enable the first pair of joints 11 to realize the structure of adaptively adjusting the position of the floating state to dock with the second docking device 2. The floating adjustment mechanism 13 can be set on the transverse seat 1231 or the first docking seat 1211. In this embodiment, in order to achieve better floating adaptive effect and overall flexible docking in all directions to serve as docking buffer, the floating adjustment mechanism 13 is set on the transverse seat 1231, which can enable the first pair of joints 11 to move forward and backward relative to the floating adjustment mechanism 13 during docking. The adaptive floating of the floating adjustment mechanism 13 can also play a role of adaptive adjustment in the forward and backward directions. Figure 14As shown, the movable mounting end 112 is mounted on the first docking seat 1211 through a movable connecting structure 122. The movable connecting structure 122 is constructed to realize a structural setting of relative adaptive movement of the first pair of joints 11 and the first docking seat 1211 with the floating adjustment of the floating adjustment mechanism 13. As shown in the figure, the movable connecting structure 122 includes a connecting rod with two ends respectively anti-slip and movably connected to the movable mounting end 112 and the first docking seat 1211. The connecting rod has a certain length to avoid direct contact between the movable mounting end 112 and the first docking seat 1211 to affect the adaptive movement. In order to achieve better stable mounting support and adaptive movement, the connecting rod in this embodiment includes a center rod 1222 and a support rod 1223. The movable mounting end 112 and the first pair of joints 11 and the first docking seat 1211 are respectively anti-slip and movably connected to the movable mounting end 112 and the first docking seat 1211. The connecting seat 1211 is respectively provided with corresponding holes for the two ends of the center rod 1222 and the support rod 1223 to pass through, and the cross-sectional area of the hole is larger than the cross-sectional area of the center rod 1222 and / or the support rod 1223 to form an activity space. As shown in the figure, the hole corresponding to the center rod 1222 has a diameter larger than the diameter of the center rod 1222, and the hole corresponding to the support rod 1223 is a horizontal long hole with a larger activity space. The center rod 1222 provides a fixation of the center position range, and the support rod 1223 further plays a role in the balance and stability of the connection support. The activity space formed by the hole and the center rod 1222 and / or the support rod 1223 provides an adjustment space for the adaptive activity of the first pair of joints 11, thereby achieving the above-mentioned desired effect. In addition, in order to further enhance the effects of flexible docking and stable docking, the movable connection structure 122 can be provided with a docking elastic member 1221 at both ends respectively abutting against the movable mounting end 112 and the first docking seat 1211, as shown in the figure. The docking elastic member 1221 can be compressed when the first pair of joints 11 and the second docking device 2 are docked into place to further provide flexible docking at this time. The elastic tension of the docking elastic member 1221 can also enable the first pair of joints 11 and the second docking device 2 to be stably docked.

[0070] The floating adjustment mechanism 13 is as follows in this embodiment: Figure 13 and Figure 14 As shown, it includes a floating fixed seat 131, a floating sleeve 132 and a floating member 133. The floating fixed seat 131 in the figure includes two square-shaped front and rear plates 1311 with a through hole in the middle and spaced apart and arranged opposite to each other, and peripheral plates 1312 surrounding the four sides of the front and rear plates 1311. A floating space is formed between the front and rear plates 1311 and the peripheral plates 1312. The floating sleeve 132 is embedded in the floating space (as shown in FIG. Figure 12 The shown one is in enclosed state. Figure 13 and Figure 14In order to remove the internal structure of the two front and rear plates 1311), the floating member 133 is a supporting elastic member, which is arranged between the floating sleeve 132 and the inner wall of the floating space and is arranged in multiple directions to support the floating sleeve 132. As shown in the figure, the elastic member is a spring. Positioning grooves for the springs to be embedded are respectively provided on the two side surfaces of the floating sleeve 132, near the four corners, and near the two ends of the four edge sides. Positions corresponding to the positioning grooves on the peripheral plate 1312 are also provided with positioning structures for positioning the ends of the springs. In this way, the floating sleeve 132 is mounted on the floating fixed seat 131 through the multi-directional flexible support of the floating member 133, and has balanced elastic support in the up, down, left, right, front and back directions. Through this elastic support, the floating sleeve 132 can achieve the effect of adaptive floating adjustment. The floating sleeve 132 is provided with a mounting hole 1321 which is arched corresponding to the outer peripheral contour of the first pair of joints 11. The docking end 111 of the first pair of joints 11 passes through the floating adjustment mechanism 13 for docking with the second pair of joints 21 described below. In this way, the first pair of joints 11 are installed in the mounting hole 1321, which can use the floating sleeve 132 to achieve the effect of adaptive floating adjustment, stable mounting, and axial movement guiding. Therefore, this structural setting can better improve the effective adjustment and stable reliability of docking.

[0071] The outer end docking component a8 or the outer end module a94 also includes a second docking device 2, such as Figure 12 、 Figure 15 and Figure 16As shown, it includes a second pair of joints 21 for docking with the first pair of joints 11 and a docking guide structure 22 corresponding to the second pair of joints 21 and provided for docking guidance of the first pair of joints 11. The second pair of joints 21 and the first pair of joints 11 act as a docking seat, on which the docking parts to be docked are fixed, that is, the second docking end a81 or the second docking end a941 to be docked are fixedly arranged on the second pair of joints 21. The docking guide structure 22 acts as a positioning guide, through which the docking parts of the second pair of joints 21 can be accurately positioned with the docking parts of the first pair of joints 11. The docking guide structure 22 cooperates with the first pair of joints 11 to achieve docking with an enlarged volume relative to the docking parts to be docked, thereby making it easier to improve the docking accuracy adjustment. The second docking device 2 in the present invention may also be provided with a multi-axis adjustment and movement mechanism for realizing lifting adjustment, lateral adjustment, and docking advance and retreat adjustment, or it may be compensated or coordinated according to the setting of the adjustment and movement structure of the first docking device 1, or according to the configuration of the actual application equipment environment, such as a relatively fixed position setting, which may not require lifting adjustment, lateral adjustment, and docking advance and retreat adjustment. The specific setting is selected according to the actual situation. In the drawings of this embodiment, the second docking device 2 also includes a second docking module 24 having a second docking seat 241 for fixing the second docking joint 21, and the second docking module 24 can push the second docking joint 21 forward for docking.

[0072] Further, in the present invention, Figure 12 、 Figure 15 and Figure 16As shown, the second docking device 2 also includes a centering mechanism 23 for adjusting the centering position of the first pair of joints 11 corresponding to the second pair of joints 21 during docking. The centering structure 23 is a preset adjustment action for the device, and the centering position is the precise position for docking between the first pair of joints 11 and the second pair of joints 21. The adaptive floating adjustment effect of the first pair of joints 11 is utilized, and the centering mechanism 23 is used to actively contact the first pair of joints 11 to accurately adjust to the precise position corresponding to the docking, thereby achieving high-precision docking and rapid docking. The centering mechanism 23 pushes the first pair of joints 11 to the precise docking position. The specific pushing structure arrangement in this embodiment is shown in the figure. The docking guide structure 22 is a guide seat provided with a guide hole for the first pair of joints 11 to pass through the corresponding second pair of joints 21. It is fixedly installed at the front end of the second docking module 24 and the guide hole is opposite to the second pair of joints 21. The guide hole of the guide seat is provided with a trumpet-shaped port for guiding the docking end 111 during docking. The centering mechanism 23 includes a centering module 231 with two relatively synchronously adjusted centering seats 2311 and pushing components 232 fixedly provided on the opposite surfaces of the two centering seats 2311 for pushing the first pair of joints 11. The guide seat is provided with a There is a through hole 221 for the pushing member 232 to pass through and move. When the centering module 231 is working, it drives the two pairs of center seats 2311 to move relative to each other or move opposite to each other. In this way, during docking, after the first docking device 1 reaches the point where the docking end 111 penetrates the guide hole of the guide seat through the action, the centering module 231 works to make the two pairs of center seats 2311 move relative to each other, and the end portions of the pushing members 232 thereon push the docking ends 111 deep into the guide holes until the end portions of the two pushing members 232 both push against the first pair of joints 11, that is, the alignment of the adjustment docking ends 111 is achieved. The first docking module 121 and / or the second docking module 24 can then further promote the docking of the first pair of joints 11 and / or the second pair of joints 21, respectively. A docking limit structure can be further provided for the docking position of the first and second pairs of joints 11, 21. As shown in the figure, the second docking device 2 can be provided with a docking limit structure 25 for limiting the docking position of the first and / or second pairs of joints 11, 21. This structure is shown as being provided on the guide seat, thereby preventing issues such as the effects of docking forces. Before disengagement, the two ejection members 232 are adjusted and moved away from each other, and the two actuating mechanisms of the first and second docking devices are reset to complete docking and disengagement.

[0073] In order to further prevent the butt joint ends 111 of the first pair of joints 11 and the butt joint ends of the second pair of joints 21 from dust, pollution, damage, etc., the cabinet and the automatic oil extraction robot b may be provided with butt joint windows corresponding to the first pair of joints 11 and the second pair of joints 21 and an automatic switch baffle mechanism 3 for opening or closing the butt joint windows, such as Figure 11As shown, the automatic door drive module arranged on the cabinet body above the second docking device 2 can open and close the docking window by controlling the automatic door drive module to drive the baffle to move relative to the docking window before the first pair of joints 11 and the second pair of joints 21 are docked and detached from the docking joints.

[0074] The automatic oil sampling device with the aforementioned structure also includes an intelligent management system. This system includes an information management software platform for the oil sampling robot, including information management, task customization, and status monitoring. This system primarily comprises a task customization system, a remote control system, an operation management system, a historical data query system, a status information display system, and a configuration system. This system can aid in the development and construction of a big data smart grid, enabling data sharing. Through intelligent analysis systems, it helps operators improve equipment monitoring and control capabilities, significantly enhancing grid reliability. Data exchange between the oil sampling robot B and the intelligent management system can be achieved through wireless access points (APs) with the oil sampling integrated cabinet and the control room.

[0075] Compared with traditional manual oil sampling, the technical solution of the present invention can reduce the labor intensity and operational risks of substation operators, improve the efficiency and timeliness of operation and maintenance, and effectively avoid the exposure of oil samples. While retaining the manual oil tap, the oil tapping pipeline can be modified and led to the oil sampling integrated cabinet. The oil tapping robot can then carry the oil to the location where it needs to be taken, docking with the oil sampling integrated cabinet for oil collection. This increases the compatibility and scalability of the oil tapping mechanism, avoids issues such as inconsistent oil tapping port types and heights for each transformer, and the inability to standardize operations. At the same time, it is not limited by the arm reach of the robot arm.

[0076] The present invention proposes for the first time the use of channel-laying valve blocks and control valves to achieve automated oil extraction from different oil extraction ports of transformers. It also proposes for the first time the idea of automated reverse emptying during the sampling process, fully considering the prevention of oil samples from mixing with air and causing contamination. By setting up a multi-level docking and flexible docking method, the reliability of the docking is ensured. The present invention can be implemented for different types of customer sites, and it only needs to lead the oil extraction line to the oil sample integrated cabinet nearby. The docking solution between the robot and the oil sample integrated cabinet can be a standard docking, and no debugging is required. By controlling the opening and closing of the solenoid valve and coordinating the action of the electric push-pull device, oil extraction is achieved, the screwing operation in the process is eliminated, and the docking efficiency is improved while avoiding the safety hazards caused by repeated screwing. The oil sample container can adopt a modular standard design and can be quickly disassembled and replaced.

[0077] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. An oil sampling flow collection and diversion control module, characterized in that: The utility model comprises a diverter valve block, a diverter control valve, an oil sample container, a waste oil container, a diverter pipeline and a first collecting and connecting pipeline. The diverter valve block comprises a collecting oil inlet channel, waste oil channels respectively connected to the collecting oil inlet channel and a plurality of diverter channels. The waste oil channel and each diverter channel are respectively provided with the diverter control valve. One end of the collecting oil inlet channel is a collecting oil inlet end connected to the first collecting and connecting pipeline. The collecting oil inlet channel is provided with the diverter control valve between the collecting oil inlet end and the connecting waste oil channel and each diverter channel. The waste oil channel is connected to the waste oil container through a diverter pipeline. Each diverter channel corresponds to the oil sample container one by one and is connected through the diverter pipeline.

2. The oil sampling flow collection and diversion control module according to claim 1, characterized in that: The oil sample container is a device with an emptying structure, and the diversion control valve of the diversion channel is arranged in a structure that can realize two-way flow control.

3. The oil sampling flow collection and diversion control module according to claim 2, characterized in that: The oil sample container is a syringe-type oil sample test tube and is equipped with a test tube push-pull mechanism; the test tube push-pull mechanism includes a drive motor, a screw slider mechanism, a fixed plate, a guide connecting plate, a fixed block and a connecting block. The drive motor and the screw slider mechanism are installed on one side of the fixed plate, the screw end of the screw slider mechanism is connected to the output shaft of the drive motor, the fixed block is fixedly arranged on the other side of the fixed plate and is constructed with a fixing structure that can fix the syringe-type oil sample test tube, the connecting block is connected to the slider on the screw slider mechanism through the guide connecting plate, and the connecting block is provided with a clamping structure that can clamp the outer end of the pulling rod of the syringe-type oil sample test tube.

4. The oil sampling flow collection and diversion control module according to any one of claims 1 to 3, characterized in that: It also includes an external end docking component or an external end module, and the end of the first current collecting and docking pipe is provided with a first docking terminal; The outer end docking component is a number of second collecting docking pipes, and the end of the second collecting docking pipe is provided with a second docking end for docking with the first docking end; or, the outer end module includes a collecting valve block, an oil production pipeline, a collecting control valve and a second collecting docking pipe, the collecting valve block includes a collecting oil outlet channel and a plurality of oil production channels respectively connected to the collecting oil outlet channels, each oil production channel is respectively provided with the collecting control valve, one end of the collecting oil outlet channel is the collecting oil outlet end connected to the second collecting docking pipe, the collecting oil outlet channel is provided with the collecting control valve between the collecting oil outlet end and each oil production channel, and the end of the second collecting docking pipe is provided with a second docking end for docking with the first docking end.

5. The oil sampling flow collection and diversion control module according to claim 4, characterized in that: The diversion control valve is a 3-way solenoid valve and a 2-way solenoid valve. The diversion control valve on each diversion channel is a setting of two 3-way solenoid valves, and the diversion control valves of the collecting oil inlet channel and the waste oil channel are respectively set as a 2-way solenoid valve; the collecting control valve is a 2-way solenoid valve.

6. An automatic oil sampling device having an oil sampling flow collection and diversion control module according to any one of claims 1 to 4, characterized in that: An oil collection robot includes a mobile chassis body with an intelligent mobile control system, wherein the oil sampling flow collection and diversion control module is mounted on the mobile chassis body, and further includes an external end docking component or external end module for docking with a first flow collection and diversion pipe provided on an external device, wherein the end of the first flow collection and diversion pipe is provided with a first docking terminal; The outer end docking component includes a second collecting docking pipe having a second docking end for docking with the first docking end; or, the outer end module also includes a collecting valve block, an oil production pipeline, a collecting control valve and a second collecting docking pipe, the collecting valve block includes a collecting oil outlet channel and a plurality of oil production channels respectively connected to the collecting oil outlet channels, each oil production channel is respectively provided with the collecting control valve, one end of the collecting oil outlet channel is the collecting oil outlet end connected to the second collecting docking pipe, the collecting oil outlet channel is provided with the collecting control valve between the collecting oil outlet end and each oil production channel, and the end of the second collecting docking pipe is provided with a second docking end for docking with the first docking end.

7. The automatic oil sampling device according to claim 6, characterized in that: The oil extraction robot is also equipped with a first docking device, which includes a first pair of joints, a first multi-dimensional moving mechanism and a floating adjustment mechanism. The first multi-dimensional moving mechanism is installed on the mobile chassis body. The first pair of joints is arranged on the first multi-dimensional moving mechanism and is driven by it to adjust the position in different directions, and the first pair of joints is arranged on the floating adjustment mechanism. The floating adjustment mechanism is constructed to enable the first pair of joints to adaptively adjust their positions in a floating state to dock with the second docking device. The first docking end is fixedly set on the first docking end; the outer end docking component or outer end module also includes a second docking device, which includes a second pair of joints for docking with the first pair of joints and a docking guide structure corresponding to the second pair of joints for docking guide of the first pair of joints, and the second docking end is fixedly set on the second docking end.

8. The automatic oil sampling device according to claim 7, characterized in that: The first pair of joints includes a docking end and a movable mounting end, the first multi-dimensional movable mechanism includes a first docking module having a first docking seat, the movable mounting end is mounted on the first docking seat through a movable connection structure, and the movable connection structure is constructed to realize a structural setting that can realize relative adaptive movement of the first pair of joints and the first docking seat with the floating adjustment of the floating adjustment mechanism, the floating adjustment mechanism includes a floating fixed seat, a floating sleeve and a floating part, the floating sleeve is mounted on the floating fixed seat through multi-directional flexible support of the floating part, the floating sleeve is provided with a mounting hole corresponding to the outer peripheral contour of the first pair of joints and penetrated therein, and the docking end passes through the floating adjustment mechanism for docking with the second pair of joints.

9. The automatic oil sampling device according to claim 8, characterized in that: The floating fixed seat includes front and rear plates arranged relative to each other and a peripheral plate surrounding the outer circumference of the front and rear plates. A floating space is formed between the front and rear plates and the peripheral plate. The floating sleeve is embedded in the floating space. The floating part is a supporting elastic part, which is arranged between the floating sleeve and the inner wall of the floating space and is arranged in multiple directions to support the floating sleeve.

10. An automatic oil sampling device according to any one of claims 6 to 9, characterized in that: The first multi-dimensional moving mechanism further includes a transverse compensation module having a transverse seat, the first docking module and the floating adjustment mechanism are arranged on the transverse seat, and the docking end passes through the floating adjustment mechanism and is mounted on the mounting hole to axially move and dock with the second docking joint; And / or, the second docking device further includes a centering mechanism for adjusting the alignment of the first pair of joints with the second pair of joints during docking, the docking guide structure is a guide seat provided with a guide hole for the first pair of joints to pass through the corresponding second pair of joints, the centering mechanism includes a centering module having two centering seats that are relatively and synchronously adjusted and a pushing component fixedly provided on opposite surfaces of the two centering seats for pushing up the first pair of joints, and the guide seat is provided with a through hole for the pushing component to pass through and move; And / or, the second docking device further includes a second docking module having a second docking seat for fixing the second docking connector.

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