Double-mechanical-arm collaborative automatic oil taking equipment

Abstract

The invention discloses double-mechanical-arm cooperative automatic oil taking equipment, and relates to the technical field of oil taking equipment.The double-mechanical-arm cooperative automatic oil taking equipment comprises a double-mechanical-arm robot body and further comprises an oil taking assembly arranged on one side of the double-mechanical-arm robot body, and for insulating oil which is used for a short time and has few impurities, a straight flow channel is adopted for sampling, so that impurity interference is reduced; for the insulating oil which is used for a long time and sinks to the bottom, through the modes that the inner wall of the spiral flow channel adsorbs impurities, the stopping block stops and stirs an oil sample, the flow line of the insulating oil is changed, the contact area is increased and the like, the impurities flowing out along with the oil are effectively reduced, the impurities are prevented from interfering a detection instrument, the misjudgment or missed judgment risk of transformer faults is reduced, and the detection accuracy is improved. When the blocked insulating oil bypasses the elliptic cylinder, the flow speed is increased due to the limited flowing space, a low-speed wake flow area is formed behind the elliptic cylinder, vortex motion is generated, oil samples are promoted to be fully mixed, sampling deviation caused by local concentration difference is avoided, and the detection accuracy and reliability are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of oil extraction equipment, and in particular to a dual-manipulator-arm coordinated automatic oil extraction equipment. Background Art

[0002] The substation main transformer, the "heart" of the power grid, is a crucial piece of electrical equipment within the power system, responsible for core tasks such as voltage conversion, power distribution, and transmission. The operating status of the main transformer directly impacts the safety and stability of the entire power system. The quality of the transformer's insulating oil is a key indicator for assessing its health before commissioning, during operation, and during fault diagnosis.

[0003] Insulating oil in transformers not only insulates but also performs the crucial functions of heat dissipation and arc extinguishing. However, as the transformer operates, mechanical components such as the oil pump and tap changer contacts can produce metallic impurities due to wear and corrosion. Impurities can also precipitate from the insulating material during thermal aging. Furthermore, internal discharges in the transformer can also introduce new impurities into the solid insulating material. These impurities gradually mix into the insulating oil, affecting its performance. To maintain a constant understanding of the transformer's health, existing technology typically involves testing oil samples before commissioning, during operation, and within a certain period of time after a fault. Specifically, chromatographic analysis of dissolved gases in the oil sample is performed. By detecting the content and proportion of specific gases, it can be used to determine whether the transformer bushing has experienced internal discharge, overheating, or other faults.

[0004] However, existing technologies have limitations when it comes to insulating oil sampling. Typically, insulating oil must be extracted from the bottom of the transformer. However, various impurities generated during transformer operation often settle at the bottom. During oil extraction, these impurities are carried along with the oil flow. When testing insulating oil containing these impurities, the impurities can interfere with the testing equipment, affecting the accuracy of test results and potentially leading to misdiagnosis or omission of transformer faults. Summary of the Invention

[0005] The present invention aims to address limitations of existing techniques in insulating oil sampling. Typically, insulating oil is extracted from the bottom of transformer equipment. However, various impurities generated during transformer operation often settle at the bottom. During oil extraction, these impurities are carried along with the oil flow. When testing insulating oil containing these impurities, the impurities can interfere with the testing equipment, affecting the accuracy of test results and potentially leading to misdiagnosis or omission of transformer faults. This is the proposed solution.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a dual-manipulator-arm cooperative automatic oil extraction device: comprising a dual-manipulator-arm robot body, and further comprising: an oil extraction component arranged on one side of the dual-manipulator-arm robot body; The oil extraction assembly includes a sleeve mounted on the mechanical arm of the dual-arm robot body, the inner wall of the sleeve is connected to a sealing gasket, and the sleeve is connected to a plug connector through a positioning plate fixed to the inner wall, a plurality of leakage ports are opened inside the plug connector, and a slot is opened inside the plug connector, a micro motor is installed on the inner wall of the slot, the output end of the micro motor is connected to a rotating plate abutting against the inner wall of the sleeve, a connecting port is opened on the surface of the rotating plate, a direct flow channel and a spiral flow channel are opened inside the sleeve, the direct flow channel is connected to the connecting port through a connecting port, a vertical flow outlet is opened at the output end of the outlet, an opening is opened at the bottom of the sleeve, and a one-way valve is connected to the bottom of the sleeve; The sleeve is connected to the sampling port of the equipment through the dual-arm robot body, and the oil flows into the spiral flow channel along the leakage port and the connection port. The inner wall of the spiral flow channel will absorb some impurities, and the adsorbed oil flows out along the outflow port and the one-way valve.

[0007] As a further description of the above technical solution: A plurality of blocking blocks are fixedly connected to the inner wall of the spiral flow channel, and the blocking blocks are arranged in a spiral array on the inner wall of the spiral flow channel.

[0008] As a further description of the above technical solution: The inner wall of the sleeve is provided with an annular groove, and a sealing ring is placed on the inner wall of the annular groove, and the sealing ring contacts the outer wall of the rotating plate.

[0009] As a further description of the above technical solution: The inner wall of the outflow port is provided with a dispersion component, and the dispersion component includes a fixing rope fixedly connected to the inner wall of the outflow port, and an elliptical cylinder is fixedly connected to the outer periphery of the fixing rope.

[0010] As a further description of the above technical solution: A sealing assembly is provided inside the sleeve, and the sealing assembly includes an inner groove opened inside the rotating plate, an inner wall of the inner groove is slidably connected to a sealing plug, and a telescopic spring is connected between the sealing plug and the inner wall of the inner groove.

[0011] As a further description of the above technical solution: The outer circumference of the sealing plug is provided with rounded corners, and the diameter of the sealing plug is the same as that of the communicating port and the input end of the spiral flow channel.

[0012] As a further description of the above technical solution: The sealing assembly also includes an L-shaped groove opened on the inner wall of the sleeve and connected to the annular groove. A fixed plate is fixed to the rotating plate. The inner wall of the L-shaped groove is slidably connected with an abutment block and a contact plate, and the abutment block and the contact plate are abutted by an inclined surface. The bottom of the contact plate extends an L-shaped groove connected to a lower pressure plate, and the lower pressure plate is in contact with the sealing ring.

[0013] As a further description of the above technical solution: Both sides of the fixing plate are provided with oblique angles for contacting the abutting blocks.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: For insulating oil that has been used for a short time and has few impurities, a straight flow channel is used for sampling to reduce interference from impurities. For insulating oil that has been used for a long time and has impurities settled to the bottom, the inner wall of the spiral flow channel absorbs impurities, blocks and stirs the oil sample, and changes the streamline of the insulating oil to increase the contact area. This effectively reduces the outflow of impurities with the oil, avoids impurities interfering with the detection instrument, reduces the risk of misjudgment or omission of transformer faults, and improves detection accuracy. The dispersion component on the inner wall of the outflow port increases the velocity of the blocked insulating oil when it bypasses the elliptical cylinder due to the limited flow space. A low-speed wake area is formed behind the elliptical cylinder, generating vortex motion, promoting full mixing of the oil sample, avoiding sampling deviation caused by local concentration differences, and further improving detection accuracy and reliability. The rotation of the rotating plate drives the telescopic spring and the sealing plug to move. When the sealing plug coincides with the position of the connecting port or the spiral flow channel, the telescopic spring rebounds and pushes the sealing plug deeper into the interior to achieve effective sealing. The rotating plate continues to rotate, and the outer circumferential corner of the sealing plug releases the sealing state under the action of the rotational force, thereby improving the sealing performance of the connecting port and the spiral flow channel in the closed state. The rotation of the rotating plate drives the fixed plate to move, and the fixed plate pushes the abutment block at an oblique angle. The abutment block presses the contact plate to make the lower pressure plate drop and squeeze the sealing ring. The sealing ring deforms and fits tightly to the rotating plate, thereby enhancing the sealing between the rotating plate and the sealing ring when taking oil and preventing insulating oil leakage. The rotating plate continues to rotate, and the sealing ring rebounds and pushes the lower pressure plate and the contact plate up, pushing the abutment block back to its original position to prepare for the next sealing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shows a schematic diagram of the overall structure of the present invention; Figure 2 Shows a schematic diagram of the sleeve structure of the present invention; Figure 3 Shows a schematic diagram of the internal structure of the sleeve of the present invention; Figure 4 Shows a schematic diagram of the direct current channel structure of the present invention; Figure 5 Shows a schematic diagram of the dispersed component structure of the present invention; Figure 6 Shows a schematic structural diagram of the sealing assembly of the present invention; Figure 7 shows a schematic cross-sectional view of the sealing assembly of the present invention; Figure 8 The present invention is shown Figure 7 A partial enlarged view of point A in the middle.

[0016] Legend: 10. Dual-arm robot body; 20. Oil extraction assembly; 21. Sleeve; 211. Sealing gasket; 22. Positioning plate; 23. Connector; 231. Slot; 24. Leakage port; 25. Micromotor; 251. Rotating plate; 252. Connecting port; 253. Annular groove; 254. Sealing ring; 26. Direct flow channel; 261. Connecting port; 27. Spiral flow channel; 271. Outlet; 272. Blocking block; 28. Opening; 29. ​​One-way valve; 30. Dispersed components; 31. Fixed rope; 32. Elliptical cylinder; 40. Sealing assembly; 41. Inner groove; 42. Telescopic spring; 43. Sealing plug; 431. Rounded corner; 44. L-shaped groove; 45. Fixing plate; 451. Bevel; 46. Abutment block; 47. Contact plate; 48. Lower pressure plate. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0018] like Figures 1-8As shown, the present invention provides a dual-arm cooperative automatic oil extraction device: it includes a dual-arm robot body 10, and also includes: an oil extraction component 20 arranged on one side of the dual-arm robot body 10, the oil extraction component 20 includes a sleeve 21 assembled on the mechanical arm of the dual-arm robot body 10, by operating the two mechanical arms of the dual-arm robot body 10 to respectively grasp the upper and lower outer walls of the sleeve 21 when extracting oil, the plug connector 23 can be stably plugged into the equipment sampling port, the inner wall of the sleeve 21 is connected to a sealing gasket 211, and the sleeve 21 is connected to the plug connector 23 through a positioning plate 22 fixed on the inner wall, the plug connector 23 is provided with a plurality of leakage ports 24, and the plug connector 23 is provided with a slot 231, and the inner wall of the slot 231 is equipped with a micro motor 25. The output end of the micro motor 25 is connected to a rotating plate 251 that is in contact with the inner wall of the sleeve 21. A connecting port 252 is provided on the surface of the rotating plate 251. A circular groove 253 is provided on the inner wall of the sleeve 21. A sealing ring 254 is placed on the inner wall of the circular groove 253, and the sealing ring 254 contacts the outer wall of the rotating plate 251. A direct flow channel 26 and a spiral flow channel 27 are provided inside the sleeve 21. The direct flow channel 26 is connected to the connecting port 252 through a connecting port 261. A vertical flow outlet 271 is provided at the output end of the flow outlet 271. An opening 28 is provided at the bottom of the sleeve 21. A one-way valve 29 is connected to the bottom of the sleeve 21. A plurality of blocking blocks 272 are fixedly connected to the inner wall of the spiral flow channel 27, and the plurality of blocking blocks 272 are arranged in a spiral array on the inner wall of the spiral flow channel 27. When sampling of the insulating oil inside the device is required, the dual-arm robot body 10 is first started and manipulated to drive the sleeve 21 toward the sampling port of the device. The sleeve 21 is then moved upward to tightly connect it with the sampling port. During the movement of the sleeve 21, the plug connector 23 is plugged into the sampling port of the device, thereby realizing the oil sampling function. After the plug-in is completed, the insulating oil begins to flow along the leakage port 24 provided on the outer periphery of the plug connector 23. At this time, different sampling methods are required depending on the service life of the insulating oil: When sampling recently used insulating oil, since recently used insulating oil contains fewer impurities, the micro motor 25 can be directly started. The micro motor 25 will drive the rotating plate 251 to rotate until the connection port 252 on the rotating plate 251 coincides with the communication port 261. When the two coincide, the insulating oil flows into the rotating plate 251 along the leakage port 24, then flows along the connection port 252 and the communication port 261 in sequence, and finally flows out along the straight channel 26. The outflowing insulating oil will continue to flow out along the opening 28 and the one-way valve 29. Such oil sample can be directly used for testing; When sampling insulating oil that has been used for a long time, the impurities in the oil will settle to the bottom. If the sample is taken directly, it will have an adverse effect on the test results. Therefore, it is necessary to start the micro motor 25 to drive the rotating plate 251 to rotate so that the connecting port 252 on the rotating plate 251 coincides with the spiral flow channel 27. When the connecting port 252 coincides with the spiral flow channel 27, the insulating oil flows along the leakage port 24 into the rotating plate 251, and then flows along the connecting port 252 and the spiral flow channel 27 in sequence. As the insulating oil flows along the spiral flow channel 27, the inner wall of the spiral flow channel 27 will attach impurities in the insulating oil during the flow of the insulating oil, causing the impurities to adhere to the inner wall of the spiral flow channel 27, effectively reducing the outflow of impurities with the insulating oil. At the same time, the inner wall of the spiral flow channel 27 is spirally connected to a number of blocking blocks 272. During the flow of the insulating oil, these blocking blocks 272 will block some solid impurities from flowing with the oil. Moreover, the insulating oil will be stirred after contacting the blocking blocks 272, so that the oil sample is fully mixed to avoid sampling deviations due to local concentration differences. In addition, when the insulating oil approaches the blocking block 272, its streamline will be distorted due to the obstruction of the blocking block 272, changing the flow direction, thereby increasing the contact area between the blocking block 272 and the impurities inside the insulating oil and improving the blocking effect. Finally, the insulating oil flows out along the outflow port 271, and flows out along the opening 28 and the one-way valve 29 to complete the sampling.

[0019] like Figure 1 、 Figure 2 、 Figure 5 As shown, the inner wall of the outflow port 271 is provided with a dispersion assembly 30, which includes a fixing rope 31 fixedly connected to the inner wall of the outflow port 271, and an elliptical cylinder 32 is fixedly connected to the outer periphery of the fixing rope 31; When the insulating oil that has been blocked flows out along the outflow port 271, it will come into contact with the elliptical cylinder 32 on the outer periphery of the fixing rope 31. In the process of the insulating oil bypassing the two sides of the elliptical cylinder 32, since the outflow port 271 becomes narrower here, the flow space of the insulating oil is limited and the flow velocity increases accordingly. At the same time, the insulating oil separated by the elliptical cylinder 32 will form a low-speed wake area behind the elliptical cylinder 32. The flow velocity in this area is significantly lower than the speed of the insulating oil when it flows. This difference in flow velocity causes the insulating oil to produce vortex motion, which further promotes the full mixing of the insulating oil after blocking, thereby effectively improving the accuracy and reliability of subsequent detection.

[0020] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 、 Figure 6As shown, a sealing assembly 40 is provided inside the sleeve 21. The sealing assembly 40 includes an inner groove 41 formed inside the rotating plate 251. A sealing plug 43 is slidably connected to the inner wall of the inner groove 41. A telescopic spring 42 is connected between the sealing plug 43 and the inner wall of the inner groove 41. The outer circumference of the sealing plug 43 is provided with a rounded corner 431. The diameter of the sealing plug 43 is the same as that of the communication port 261 and the input end of the spiral flow channel 27. To improve the sealing performance of the communication port 261 and the spiral flow channel 27 in the closed state, when the rotating plate 251 starts to rotate, it will synchronously drive the telescopic spring 42 and the sealing plug 43 to move together. As the rotating plate 251 continues to rotate, when the sealing plug 43 moves to the position where it coincides with the communication port 261 or the spiral flow channel 27, the telescopic spring 42 that was previously in a squeezed state will begin to rebound. The rebounding telescopic spring 42 generates a thrust that pushes the sealing plug 43 deeper into the communication port 261 and the spiral flow channel 27, thereby achieving effective sealing of the communication port 261 and the spiral flow channel 27 by the sealing plug 43. Afterwards, if the rotating plate 251 continues to rotate, the rounded corners 431 provided on the outer periphery of the sealing plug 43 will contact the connecting port 261 and the end of the spiral flow channel 27. Under the action of the rotating force of the rotating plate 251, the rounded corners 431 will push the sealing plug 43, causing the sealing plug 43 to squeeze the telescopic spring 42 again. At this time, the sealing state of the sealing plug 43 on the connecting port 261 and the spiral flow channel 27 is released.

[0021] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 As shown, the sealing assembly 40 also includes an L-shaped groove 44 formed on the inner wall of the sleeve 21 and connected to the annular groove 253. A fixed plate 45 is fixed to the rotating plate 251. The inner wall of the L-shaped groove 44 is slidably connected to an abutment block 46 and a contact plate 47. Bevels 451 are formed on both sides of the fixed plate 45 to contact the abutment block 46. The abutment block 46 and the contact plate 47 are abutted by inclined surfaces. The bottom of the contact plate 47 extends from the L-shaped groove 44 and is connected to a lower pressure plate 48, which is in contact with the sealing ring 254. When the rotating plate 251 starts to rotate, it will synchronously drive the fixed plate 45 to move together. As the rotating plate 251 continues to rotate, when the connecting port 252 gradually overlaps with the communicating port 261 or the spiral flow channel 27, the bevel 451 set on the fixed plate 45 will come into contact with the abutment block 46. At the moment of contact, the fixed plate 45 will exert a force on the abutment block 46, pushing the abutment block 46 to move in the L-shaped groove 44. During the movement of the abutment block 46, its inclined surface will press against the contact plate 47, thereby causing the contact plate 47 to move downward in the L-shaped groove 44. Since the contact plate 47 is connected to the lower pressure plate 48, when the contact plate 47 descends, it will drive the lower pressure plate 48 to descend synchronously. When the lower pressure plate 48 descends, it will squeeze the sealing ring 254. Under the action of the squeezing force, the sealing ring 254 is deformed, so that it can fit more closely with the rotating plate 251, effectively enhancing the sealing between the rotating plate 251 and the sealing ring 254 when taking oil, and preventing leakage of insulating oil; Moreover, as the rotating plate 251 continues to rotate, it will drive the fixed plate 45 to continue to move. When the abutment block 46 breaks away from the contact with the fixed plate 45, the sealing ring 254 that was previously deformed due to extrusion will generate a rebound force. Under the action of the rebound force, the sealing ring 254 pushes the lower pressure plate 48 and the contact plate 47 to move upward. During the upward movement of the contact plate 47, it will abut the abutment block 46, causing it to return to its initial position, preparing for the sealing operation during the next oil extraction.

[0022] Working principle: When sampling the insulating oil inside the equipment, the dual-arm robot body 10 is first started, and the robot is manipulated to drive the sleeve 21 close to the sampling port of the equipment. The sleeve 21 is then moved upward to tightly connect with the sampling port. During the movement of the sleeve 21, the plug connector 23 is plugged into the sampling port of the equipment to realize the oil collection function. After the plug-in is completed, the insulating oil begins to flow along the leakage port 24 on the outer periphery of the plug connector 23; At this time, different sampling methods are adopted according to the use time of the insulating oil: if sampling the insulating oil that has been used for a short time, because it has less impurities inside, the micro motor 25 can be directly started to drive the rotating plate 251 to rotate until the connecting port 252 on the rotating plate 251 coincides with the connecting port 261. After the coincidence, the insulating oil flows into the rotating plate 251 along the leakage port 24, and then flows out through the connecting port 252, the connecting port 261, the straight channel 26 in sequence, and finally flows out through the opening 28 and the one-way valve 29. This oil sample can be directly used for testing; If sampling of insulating oil that has been used for a long time is necessary, direct sampling will affect the test results because its internal impurities tend to sink to the bottom. In this case, the micro motor 25 needs to be started to drive the rotating plate 251 to rotate so that the connecting port 252 and the spiral flow channel 27 coincide with each other. After the overlapping, the insulating oil flows through the leakage port 24 into the rotating plate 251, and then flows through the connecting port 252 and the spiral flow channel 27 in sequence. As the insulating oil flows through the spiral flow channel 27, its inner wall absorbs impurities, reducing their outflow with the oil. At the same time, several blocking blocks 272 are spirally connected to the inner wall of the spiral flow channel 27, which can block some solid impurities and fully mix the oil sample, avoiding sampling deviations caused by local concentration differences. In addition, when the insulating oil approaches the blocking blocks 272, the streamlines are twisted and the flow direction is changed, increasing the contact area between the blocking blocks 272 and the impurities and improving the blocking effect. Finally, the insulating oil flows out through the outflow port 271, and then flows out through the opening 28 and the one-way valve 29, completing the sampling. When the blocked insulating oil flows out through the outlet 271, it comes into contact with the elliptical cylinder 32 on the outer periphery of the fixing rope 31. As the insulating oil passes around the two sides of the elliptical cylinder 32, the outlet 271 becomes narrower, and the flow velocity increases. After being separated by the elliptical cylinder 32, the insulating oil forms a low-speed tail flow area behind the elliptical cylinder 32, with a flow velocity significantly lower than the incoming flow velocity. This flow velocity difference causes the insulating oil to generate vortex motion, promoting sufficient mixing and improving the accuracy and reliability of subsequent detection. To improve the sealing performance when the communication port 261 and the spiral flow channel 27 are closed, the rotating plate 251 rotates, which synchronously drives the telescopic spring 42 and the sealing plug 43 to move. When the sealing plug 43 coincides with the communication port 261 or the spiral flow channel 27, the telescopic spring 42 in the squeezed state rebounds, pushing the sealing plug 43 deeper into it, achieving effective sealing. If the rotating plate 251 continues to rotate, the rounded corner 431 on the outer periphery of the sealing plug 43 will contact the communication port 261 or the end of the spiral flow channel 27. Under the action of the rotational force, the rounded corner 431 pushes against the sealing plug 43 to squeeze the telescopic spring 42 again, releasing the sealing state. When the rotating plate 251 rotates, it will also synchronously drive the fixed plate 45 to move. When the connecting port 252 gradually coincides with the connecting port 261 or the spiral flow channel 27, the bevel 451 of the fixed plate 45 contacts the abutment block 46, and the fixed plate 45 pushes the abutment block 46 to move in the L-shaped groove 44. The inclined surface of the abutment block 46 presses the contact plate 47, causing it to move downward in the L-shaped groove 44, and the contact plate 47 drives the lower pressure plate 48 to descend synchronously. The lower pressure plate 48 squeezes the sealing ring 254 to deform it and fits tightly with the rotating plate 251, thereby enhancing the sealing during oil extraction and preventing insulating oil leakage. The rotating plate 251 continues to rotate to drive the fixed plate 45 to move. When the abutment block 46 is out of contact with the fixed plate 45, the squeezed sealing ring 254 rebounds, pushing the lower pressure plate 48 and the contact plate 47 upward, and the contact plate 47 pushes the abutment block 46 to reset, preparing for the next oil extraction seal.

[0023] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A dual-arm collaborative automatic oil extraction device, comprising a dual-arm robot body (10), characterized in that: Also includes: An oil extraction assembly (20) provided on one side of the dual-arm robot body (10); The oil extraction assembly (20) includes a sleeve (21) mounted on a mechanical arm of a dual-arm robot body (10), the inner wall of the sleeve (21) is connected to a sealing gasket (211), and the sleeve (21) is connected to a plug connector (23) via a positioning plate (22) fixed to the inner wall, the plug connector (23) is provided with a plurality of liquid leakage ports (24), and the plug connector (23) is provided with a slot (231), the inner wall of the slot (231) is provided with a micro motor (25), and the output of the micro motor (25) is The outlet end is connected to a rotating plate (251) that is in contact with the inner wall of the sleeve (21), a connecting port (252) is provided on the surface of the rotating plate (251), a straight flow channel (26) and a spiral flow channel (27) are provided inside the sleeve (21), the straight flow channel (26) is connected to the connecting port (252) through a connecting port (261), a flow outlet (271) is provided at the output end of the flow outlet (271), an opening (28) is provided at the bottom of the sleeve (21), and a one-way valve (29) is connected to the bottom of the sleeve (21); The sleeve (21) is connected to the sampling port of the device through the dual-arm robot body (10), and the oil flows into the spiral flow channel (27) along the leakage port (24) and the connecting port (252). The inner wall of the spiral flow channel (27) will absorb some impurities, and the adsorbed oil will flow out along the outflow port (271) and the one-way valve (29).

2. The dual-manipulator-arm coordinated automatic oil extraction device according to claim 1, characterized in that: A plurality of blocking blocks (272) are fixedly connected to the inner wall of the spiral flow channel (27), and the plurality of blocking blocks (272) are arranged in a spiral array on the inner wall of the spiral flow channel (27).

3. The dual-manipulator-arm coordinated automatic oil extraction device according to claim 2, characterized in that: The inner wall of the sleeve (21) is provided with an annular groove (253), and a sealing ring (254) is placed on the inner wall of the annular groove (253), and the sealing ring (254) is in contact with the outer wall of the rotating plate (251).

4. The dual-manipulator-arm coordinated automatic oil extraction device according to claim 1, characterized in that: The inner wall of the outflow port (271) is provided with a dispersion assembly (30), and the dispersion assembly (30) comprises a fixing rope (31) fixedly connected to the inner wall of the outflow port (271), and an elliptical cylinder (32) is fixedly connected to the outer periphery of the fixing rope (31).

5. The dual-manipulator-arm coordinated automatic oil extraction device according to claim 3, characterized in that: A sealing assembly (40) is provided inside the sleeve (21), and the sealing assembly (40) includes an inner groove (41) opened inside the rotating plate (251), a sealing plug (43) is slidably connected to the inner wall of the inner groove (41), and a telescopic spring (42) is connected between the sealing plug (43) and the inner wall of the inner groove (41).

6. The dual-manipulator-arm coordinated automatic oil extraction device according to claim 5, characterized in that: The outer circumference of the sealing plug (43) is provided with a rounded corner (431), and the diameter of the sealing plug (43) is the same as that of the communication port (261) and the input end of the spiral flow channel (27).

7. The dual-manipulator-arm coordinated automatic oil extraction device according to claim 5, characterized in that: The sealing assembly (40) further includes an L-shaped groove (44) provided on the inner wall of the sleeve (21) and connected to the annular groove (253); a fixed plate (45) is fixed on the rotating plate (251); an abutment block (46) and a contact plate (47) are slidably connected to the inner wall of the L-shaped groove (44), and the abutment block (46) and the contact plate (47) are abutted by an inclined surface; the bottom of the contact plate (47) extends out of the L-shaped groove (44) and is connected to a lower pressure plate (48), and the lower pressure plate (48) is in contact with the sealing ring (254).

8. The dual-manipulator-arm coordinated automatic oil extraction device according to claim 7, characterized in that: Both sides of the fixing plate (45) are provided with bevels (451) that contact the abutment block (46).

Images