Dual-robot collaborative automatic oil taking device

Abstract

The application discloses a kind of double mechanical arm collaborative automatic oil taking equipment, it is related to oil taking equipment technical field, including double mechanical arm robot body, still include: the oil taking assembly of being arranged in double mechanical arm robot body one side, for the insulating oil of little impurity that is used shortly, direct channel sampling is adopted, reduce impurity interference, for the insulating oil of impurity bottoming that is used for a long time, by screw flow passage inner wall adsorption impurity, block block and agitate oil sample, change insulating oil streamline increase contact area etc., effectively reduce the impurity with oil flow out, avoid impurity interference detection instrument, reduce the misjudgment or the risk of missing judgment to transformer fault, improve detection accuracy, the dispersion component of flow outlet inner wall makes the insulating oil that is blocked in bypassing oval cylinder, because flow space is limited, flow rate increases, low-speed wake region is formed behind oval cylinder, vortex motion is generated, promote oil sample fully mixed, avoid local concentration difference to cause sampling deviation, further improve detection accuracy and reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil taking equipment, and particularly relates to a double-mechanical-arm cooperative automatic oil taking equipment. BACKGROUND

[0002] The main transformer of a substation is called the "heart" of the power grid and is a crucial power equipment in the power system, which shoulders the core tasks of voltage transformation, power distribution and transmission. The operation state of the main transformer directly relates to the safety and stability of the entire power system, and the quality of transformer insulation oil is a key indicator for evaluating the operation state of the transformer before commissioning, during operation and in the fault diagnosis link.

[0003] The insulation oil not only plays an insulating role in the transformer, but also undertakes the important functions of heat dissipation and arc extinction. However, with the operation of the transformer, metal impurities will be generated due to wear and corrosion of mechanical components such as oil pumps and tap changer contacts; impurities will also be generated due to the thermal aging of insulation materials; in addition, if a discharge occurs inside the transformer, new impurities will be generated by pulling the solid insulation material. These impurities will gradually mix into the insulation oil, affecting its performance. In order to timely grasp the health status of the transformer, the existing technology usually takes oil samples from the transformer for detection before commissioning, during operation and within a certain time after a fault occurs. Specifically, the dissolved gas in the oil sample is analyzed by chromatography, and the content and proportion of specific gases are detected to determine whether the transformer bushing has experienced internal discharge, overheating and other fault phenomena.

[0004] However, there are certain limitations in the existing technology during the insulation oil sampling process. Generally, insulation oil needs to be extracted from the bottom of the transformer equipment. However, various impurities generated during the operation of the transformer often settle at the bottom. When the insulation oil is extracted, these impurities settled at the bottom will be taken out together with the oil flow. When the insulation oil containing these impurities is detected, the impurities may interfere with the detection instrument, affecting the accuracy of the detection result, and thus leading to misjudgment or missed judgment of the transformer fault. SUMMARY

[0005] The purpose of the present application is to solve the problem that the existing technology has certain limitations during the insulation oil sampling process. Generally, insulation oil needs to be extracted from the bottom of the transformer equipment. However, various impurities generated during the operation of the transformer often settle at the bottom. When the insulation oil is extracted, these impurities settled at the bottom will be taken out together with the oil flow. When the insulation oil containing these impurities is detected, the impurities may interfere with the detection instrument, affecting the accuracy of the detection result, and thus leading to misjudgment or missed judgment of the transformer fault.

[0006] In order to achieve the above object, the application adopts the following technical scheme: a double-robot-arm cooperative automatic oil taking equipment, comprising a double-robot-arm robot body, further comprising: an oil taking assembly arranged on one side of the double-robot-arm robot body;

[0007] The oil taking assembly comprises a sleeve assembled on the mechanical arm of the double-robot-arm robot body, the inner wall of the sleeve is connected with a sealing gasket, the sleeve is connected with a plug connector through the fixed positioning plate of the inner wall, a plurality of liquid leakage openings are formed in the plug connector, a slot is formed in the plug connector, a micro motor is assembled on the inner wall of the slot, the output end of the micro motor is connected with a rotating plate attached to the inner wall of the sleeve, a connecting port is formed on the surface of the rotating plate, a straight channel and a spiral channel are formed in the sleeve, the straight channel is communicated with the connecting port through a communication port, a vertical flow outlet is formed at the output end of the spiral channel, an opening is formed at the bottom of the sleeve, and a one-way valve is connected to the bottom of the sleeve.

[0008] The sleeve and the sampling port of the equipment are plugged by the double-robot-arm robot body, the oil flows into the spiral channel through the liquid leakage openings and the connecting port, and the inner wall of the spiral channel adsorbs part of the impurities, and the adsorbed oil flows out through the flow outlet and the one-way valve.

[0009] As a further description of the above technical scheme:

[0010] The inner wall of the spiral channel is fixedly connected with a plurality of blocking blocks, and the plurality of blocking blocks are arranged in a spiral array on the inner wall of the spiral channel.

[0011] As a further description of the above technical scheme:

[0012] The inner wall of the sleeve is provided with a circular groove, and a sealing ring is placed on the inner wall of the circular groove, and the sealing ring is in contact with the outer wall of the rotating plate.

[0013] As a further description of the above technical scheme:

[0014] The inner wall of the flow outlet is provided with a dispersion assembly, the dispersion assembly comprises a fixed rope fixedly connected to the inner wall of the flow outlet, and an elliptical cylinder is fixedly connected to the outer periphery of the fixed rope.

[0015] As a further description of the above technical scheme:

[0016] The inner wall of the sleeve is provided with a sealing assembly, the sealing assembly comprises an inner recess formed in the rotating plate, a sealing plug is slidably connected to the inner wall of the inner recess, and a telescopic spring is connected between the sealing plug and the inner wall of the inner recess.

[0017] As a further description of the above technical scheme:

[0018] The outer periphery of the sealing plug is provided with a round corner, and the diameter of the sealing plug is the same as that of the communication port and the input end of the spiral channel.

[0019] As a further description of the above technical solutions:

[0020] The sealing assembly further comprises an L-shaped groove formed in the inner wall of the sleeve and communicated with the annular groove, a fixed plate fixed on the rotating plate, an abutting block and a contact plate slidably connected to the inner wall of the L-shaped groove respectively, and the abutting block and the contact plate are in abutment through an inclined surface, and the bottom of the contact plate extends out of the L-shaped groove and is connected with a pressing plate, and the pressing plate is in contact with the sealing ring.

[0021] As a further description of the above technical solutions:

[0022] The two sides of the fixed plate are provided with an inclined angle in contact with the abutting block.

[0023] As described above, due to the adoption of the above technical solutions, the beneficial effects of the present application are:

[0024] For the insulating oil with less impurities used for a short time, direct channel sampling is adopted to reduce impurity interference, and for the insulating oil with impurities settled at the bottom used for a long time, the impurities are adsorbed by the inner wall of the spiral flow channel, blocked by the blocking block, agitated, the contact area of the insulating oil flow is changed, and the like, so that the impurities are effectively reduced to flow out with the oil, the impurities are avoided to interfere with the detection instrument, the risk of misjudgment or missed judgment of transformer fault is reduced, and the detection accuracy is improved.

[0025] The dispersion assembly of the inner wall of the flow outlet makes the blocked insulating oil increase in flow rate when passing around the elliptical cylinder due to limited flow space, a low-speed wake region is formed behind the elliptical cylinder, vortex motion is generated, the oil sample is promoted to mix fully, sampling deviation caused by local concentration difference is avoided, and the detection accuracy and reliability are further improved.

[0026] The rotating plate drives the extension spring and the sealing plug to move, when the sealing plug coincides with the communication port or the spiral flow channel, the extension spring rebounds to push the sealing plug to move deeply into the interior to achieve effective sealing, the rotating plate continues to rotate, the outer peripheral fillet of the sealing plug is removed from the sealing state under the action of the rotating force, and the sealing performance of the communication port and the spiral flow channel in the closed state is improved.

[0027] The rotating plate drives the fixed plate to move, the fixed plate pushes the abutting block through the inclined angle, the abutting block pushes the contact plate to make the pressing plate descend and extrude the sealing ring, the sealing ring is deformed to tightly fit the rotating plate, the sealing property between the rotating plate and the sealing ring during oil taking is enhanced, the insulating oil is prevented from leaking, the rotating plate continues to rotate, the sealing ring rebounds to push the pressing plate and the contact plate to move upward, the abutting block is abutted to restore the initial position, and preparation is made for the next sealing operation. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The overall structure schematic diagram of the present application is shown;

[0029] Figure 2The sleeve structure of the present application is shown in the schematic diagram.

[0030] Figure 3 The internal structure of the sleeve of the present application is shown in the schematic diagram.

[0031] Figure 4 The straight-through channel structure of the present application is shown in the schematic diagram.

[0032] Figure 5 The dispersion assembly structure of the present application is shown in the schematic diagram.

[0033] Figure 6 The sealing assembly structure of the present application is shown in the schematic diagram.

[0034] Figure 7 The sectional view of the sealing assembly of the present application is shown in the schematic diagram.

[0035] Figure 8 The partial enlarged view of A in the present application is shown. Figure 7

[0036] Legend:

[0037] 10, double-robot arm body;

[0038] 20, oil taking assembly; 21, sleeve; 211, sealing gasket; 22, positioning plate; 23, plug; 231, slot; 24, liquid leakage port; 25, micro motor; 251, rotating plate; 252, connecting port; 253, circular ring groove; 254, sealing ring; 26, straight-through channel; 261, communication port; 27, spiral flow channel; 271, flow port; 272, blocking block; 28, opening; 29, one-way valve;

[0039] 30, dispersion assembly; 31, fixed rope; 32, elliptical cylinder;

[0040] 40, sealing assembly; 41, inner groove; 42, extension spring; 43, sealing plug; 431, round corner; 44, L-shaped groove; 45, fixed plate; 451, bevel; 46, abutting block; 47, contact plate; 48, pressing plate. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0042] As Figures 1-8 ​As shown, the present application provides a double mechanical arm cooperative automatic oil taking equipment: comprising a double mechanical arm robot body 10, further comprising: an oil taking assembly 20 arranged on one side of the double mechanical arm robot body 10, the oil taking assembly 20 comprising a sleeve 21 assembled on the mechanical arm of the double mechanical arm robot body 10, the sleeve 21 is capable of stably inserting the plug 23 with the equipment sampling port by operating the two mechanical arms of the double mechanical arm robot body 10 to respectively grab the upper and lower two part outer walls of the sleeve 21 during oil taking, the inner wall of the sleeve 21 is connected with a sealing gasket 211, and the sleeve 21 is connected with the plug 23 through the inner wall fixed positioning plate 22, a plurality of liquid leakage openings 24 are arranged in the plug 23, and a slot 231 is arranged in the plug 23, a micro motor 25 is assembled on the inner wall of the slot 231, the output end of the micro motor 25 is connected with a rotating plate 251 which is attached to the inner wall of the sleeve 21, a connecting port 252 is arranged on the surface of the rotating plate 251, a circular groove 253 is arranged 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 is in contact with the outer wall of the rotating plate 251, a straight channel 26 and a spiral channel 27 are arranged in the sleeve 21, the straight channel 26 is communicated with the connecting port 252 through a communication port 261, and a vertical flow outlet 271 is arranged at the output end of the spiral channel 27, an opening 28 is arranged 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 channel 27, and the plurality of blocking blocks 272 are arranged in a spiral array on the inner wall of the spiral channel 27.

[0043] When it is necessary to sample the insulating oil inside the equipment, first, the double mechanical arm robot body 10 is started to drive the sleeve 21 to approach the equipment sampling port, then the sleeve 21 is moved upward to be tightly connected with the sampling port, during the movement of the sleeve 21, the plug 23 is inserted into the equipment sampling port to realize the oil taking function, after the insertion is completed, the insulating oil begins to flow along the liquid leakage openings 24 arranged on the outer periphery of the plug 23.

[0044] At this time, different sampling methods are required according to the use time of the insulating oil:

[0045] For the sampling of insulating oil used for a short time, since the insulating oil used for a short time 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 arranged on the rotating plate 251 is aligned with the communication port 261, when the two are aligned, the insulating oil flows into the rotating plate 251 through the liquid leakage openings 24, then flows through the connecting port 252 and the communication port 261 in turn, and finally flows out along the straight channel 26, the flowed out insulating oil continues to flow out through the opening 28 and the one-way valve 29, such oil sample can be directly used for detection;

[0046] The internal impurities of the long-used insulating oil will sink to the bottom, and if directly sampled, it will have an adverse effect on the detection result. Therefore, the micro motor 25 is started to drive the rotating plate 251 to rotate, so that the connecting port 252 on the rotating plate 251 is aligned with the spiral flow channel 27. When the connecting port 252 is aligned with the spiral flow channel 27, the insulating oil flows into the rotating plate 251 through the liquid leakage port 24, and then flows through the connecting port 252 and the spiral flow channel 27 in turn,

[0047] In the process of the insulating oil flowing through the spiral flow channel 27, the inner wall of the spiral flow channel 27 will adhere to the impurities in the insulating oil during the flow process, so that the impurities are adhered to the inner wall of the spiral flow channel 27, effectively reducing the impurities flowing out with the insulating oil. At the same time, the inner wall of the spiral flow channel 27 is connected with a plurality of blocking blocks 272. During the flow process of the insulating oil, these blocking blocks 272 will block part of the solid impurities from flowing with the oil. Moreover, after the insulating oil contacts the blocking blocks 272, an agitation phenomenon will occur, so that the oil sample is fully mixed to avoid sampling deviation caused by local concentration difference. In addition, when the insulating oil approaches the blocking blocks 272, the flow line will be twisted due to the obstruction of the blocking blocks 272, changing the flow direction and thereby increasing the contact area between the blocking blocks 272 and the internal impurities of the insulating oil, improving the blocking effect. Finally, the insulating oil flows out along the flow outlet 271 and then flows out along the opening 28 and the one-way valve 29, completing the sampling.

[0048] As shown in Figure 1 , Figure 2 , Figure 5 , the inner wall of the flow outlet 271 is provided with a dispersion assembly 30. The dispersion assembly 30 includes a fixed rope 31 fixedly connected to the inner wall of the flow outlet 271, and an elliptical cylinder 32 fixedly connected to the outer periphery of the fixed rope 31.

[0049] When the blocked insulating oil flows out along the flow outlet 271, it will contact the elliptical cylinder 32 on the outer periphery of the fixed rope 31. During the process of the insulating oil passing by the two sides of the elliptical cylinder 32, the flow space of the insulating oil is limited due to the narrowing of the flow outlet 271 at this position, and the flow rate increases accordingly. At the same time, after the insulating oil is separated by the elliptical cylinder 32, a low-speed wake region is formed behind the elliptical cylinder 32. The flow speed in this region is significantly lower than the speed of the incoming insulating oil. This difference in flow speed causes the insulating oil to produce vortex motion, further promoting the full mixing of the blocked insulating oil, thereby effectively improving the accuracy and reliability of subsequent detection.

[0050] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6As shown, the inside of the sleeve 21 is provided with a sealing assembly 40, which includes an inner recess 41 opened in the inside of the rotating plate 251, the inner wall of the inner recess 41 is slidably connected with a sealing plug 43, and the sealing plug 43 is connected with the inner wall of the inner recess 41 through an elastic spring 42, the outer periphery 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;

[0051] In order 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, the elastic spring 42 and the sealing plug 43 will move synchronously, with the continuous rotation of the rotating plate 251, when the sealing plug 43 moves to the position coinciding with the communication port 261 or the spiral flow channel 27, the elastic spring 42 in the squeezed state will start to rebound, and the rebounding elastic spring 42 will generate a pushing force to push the sealing plug 43 into the inside of the communication port 261 and the spiral flow channel 27, thereby realizing the effective sealing of the sealing plug 43 to the communication port 261 and the spiral flow channel 27.

[0052] Then, if the rotating plate 251 continues to rotate, the rounded corner 431 provided on the outer periphery of the sealing plug 43 will contact the port of the communication port 261 and the spiral flow channel 27, under the action of the rotating force of the rotating plate 251, the rounded corner 431 will abut against the sealing plug 43, so that the sealing plug 43 squeezes the elastic spring 42 again, and at this time, the sealing state of the sealing plug 43 to the communication port 261 and the spiral flow channel 27 is released.

[0053] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, the sealing assembly 40 further includes an L-shaped groove 44 opened in the inner wall of the sleeve 21 and communicated with the annular groove 253, the rotating plate 251 is fixed with a fixed plate 45, the inner wall of the L-shaped groove 44 is slidably connected with an abutting block 46 and a contact plate 47, the two sides of the fixed plate 45 are provided with inclined angles 451 in contact with the abutting block 46, and the abutting block 46 and the contact plate 47 are in abutment through an inclined surface, the bottom of the contact plate 47 extends out of the L-shaped groove 44 and is connected with a pressing plate 48, and the pressing plate 48 is in contact with the sealing ring 254.

[0054] When the rotating plate 251 starts to rotate, the fixed plate 45 will be moved synchronously. When the connecting port 252 gradually coincides with the communicating port 261 or the spiral flow channel 27, the inclined angle 451 arranged on the fixed plate 45 will contact the abutting block 46. At the moment of contact, the fixed plate 45 will exert an acting force on the abutting block 46 to push the abutting block 46 to move in the L-shaped groove 44. During the movement of the abutting block 46, the inclined surface thereof will press against the contact plate 47, so that the contact plate 47 moves downward in the L-shaped groove 44;

[0055] Since the contact plate 47 is connected with the pressing plate 48, the contact plate 47 will drive the pressing plate 48 to descend synchronously when the contact plate 47 descends. After the pressing plate 48 descends, it will extrude the sealing ring 254. Under the action of the extrusion force, the sealing ring 254 deforms, so as to be more closely attached to the rotating plate 251, effectively enhancing the sealing between the rotating plate 251 and the sealing ring 254 during oil taking, preventing the insulating oil from leaking;

[0056] Furthermore, as the rotating plate 251 continues to rotate, the fixed plate 45 will continue to move. After the abutting block 46 is separated from the fixed plate 45, the sealing ring 254 which deforms due to extrusion will generate a rebound force. Under the action of the rebound force, the sealing ring 254 pushes the pressing plate 48 and the contact plate 47 to move upward. During the upward movement of the contact plate 47, the contact plate 47 will push the abutting block 46 to return to the initial position, preparing for the sealing operation during the next oil taking.

[0057] Working principle: when the insulating oil inside the equipment needs to be sampled, first start the double mechanical arm robot body 10 to control the sleeve 21 to approach the sampling port of the equipment. Then move the sleeve 21 upward to make it tightly connected with the sampling port. During the movement of the sleeve 21, the plug-in head 23 will be plugged with the sampling port of the equipment to realize the oil taking function. After the plugging is completed, the insulating oil will flow along the liquid leakage port 24 on the outer periphery of the plug-in head 23;

[0058] At this time, different sampling methods are adopted according to the service life of the insulating oil. If the insulating oil is sampled after being used for a short time, because the internal impurities are few, 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 communicating port 261. After the coincidence, the insulating oil flows into the rotating plate 251 through the liquid leakage port 24, and then flows out through the connecting port 252, the communicating port 261 and the straight flow channel 26 in turn, and finally flows out through the opening 28 and the one-way valve 29. This oil sample can be directly used for detection;

[0059] If the sampling of the long-used insulating oil is taken, the internal impurities are easy to sink to the bottom, which will affect the detection results. At this time, the micro motor 25 is started to drive the rotating plate 251 to rotate, so that the connecting port 252 is coincided with the spiral flow channel 27. After the coincidence, the insulating oil flows into the rotating plate 251 through the liquid leakage port 24, and then flows through the connecting port 252 and the spiral flow channel 27 in turn;

[0060] When the insulating oil flows through the spiral flow channel 27, the inner wall of the spiral flow channel 27 will adsorb the impurities, reducing the impurities flowing out with the oil. At the same time, the spiral flow channel 27 is connected with a plurality of blocking blocks 272, which can block part of the solid impurities and make the oil sample fully mixed to avoid the sampling deviation caused by the local concentration difference. In addition, when the insulating oil approaches the blocking block 272, the streamline is distorted to change the flow direction, increase the contact area between the blocking block 272 and the impurities, and improve the blocking effect. Finally, the insulating oil flows out along the flow outlet 271, and then flows out along the opening 28 and the one-way valve 29, completing the sampling;

[0061] When the insulating oil after the blocking flows out along the flow outlet 271, it will contact the elliptical cylinder 32 outside the fixed rope 31. When the insulating oil passes the two sides of the elliptical cylinder 32, the flow rate increases due to the narrowing of the flow outlet 271. After the separation of the elliptical cylinder 32, the insulating oil forms a low-speed wake zone behind the elliptical cylinder 32, and the flow rate is significantly lower than the incoming flow rate. This flow rate difference makes the insulating oil produce vortex motion, promotes full mixing, and improves the accuracy and reliability of subsequent detection;

[0062] In order to improve the sealing performance of the connecting port 261 and the spiral flow channel 27 when they are closed, the rotating plate 251 will synchronously drive the extension spring 42 and the sealing plug 43 to move when it rotates. When the sealing plug 43 is coincided with the connecting port 261 or the spiral flow channel 27, the extension spring 42 in the extrusion state rebounds to push the sealing plug 43 into it, realizing effective sealing. If the rotating plate 251 continues to rotate, the round corner 431 on the outer periphery of the sealing plug 43 will contact the port of the connecting port 261 or the spiral flow channel 27. Under the action of the rotating force, the round corner 431 abuts against the sealing plug 43 to extrude the extension spring 42 again, and the sealing state is released;

[0063] When the rotating plate 251 rotates, the fixed plate 45 is also moved synchronously. When the connecting port 252 gradually coincides with the communicating port 261 or the spiral flow channel 27, the inclined angle 451 of the fixed plate 45 contacts the abutting block 46, the fixed plate 45 pushes the abutting block 46 to move in the L-shaped groove 44, the inclined surface of the abutting block 46 abuts against the contact plate 47, so that the contact plate 47 moves downward in the L-shaped groove 44, the contact plate 47 drives the lower pressing plate 48 to move downward synchronously, the lower pressing plate 48 extrudes the sealing ring 254 to deform, and the sealing ring 254 is tightly attached to the rotating plate 251, so that the sealing property during oil taking is enhanced, the insulation oil is prevented from leaking, and the rotating plate 251 continues to rotate to drive the fixed plate 45 to move. When the abutting block 46 is separated from the fixed plate 45, the sealing ring 254 extruded is rebounded to push the lower pressing plate 48 and the contact plate 47 to move upward, the contact plate 47 abuts against the abutting block 46 to reset, and the next oil taking and sealing is prepared.

[0064] The above merely describes the preferred embodiments of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacements or changes according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A dual-arm collaborative automatic oil extraction device, comprising a dual-arm robot body (10), characterized in that, Also includes: An oil-collecting component (20) is located on one side of the dual-arm robot body (10). The oil extraction assembly (20) includes a sleeve (21) mounted on the robotic arm of the dual-arm robot body (10). A sealing gasket (211) is connected to the inner wall of the sleeve (21), and a connector (23) is connected to the sleeve (21) via a positioning plate (22) fixed to the inner wall. The connector (23) has several leakage ports (24) inside, and a slot (231) is formed inside the connector (23). A micro motor (25) is mounted on the inner wall of the slot (231). The micro motor (25) outputs... The outlet is connected to a rotating plate (251) that is in contact with the inner wall of the sleeve (21). The surface of the rotating plate (251) is provided with a connection port (252). The inside of the sleeve (21) is provided with a straight channel (26) and a spiral channel (27). The straight channel (26) is connected to the connection port (252) through a connecting port (261). The output end of the spiral channel (27) is provided with an outlet (271). The bottom of the sleeve (21) is provided with an opening (28). The bottom of the sleeve (21) is connected to a one-way valve (29). The sleeve (21) is inserted into the sampling port of the equipment by the dual robotic arm body (10). The oil flows into the spiral channel (27) through the drain port (24) and the connection port (252). The inner wall of the spiral channel (27) will adsorb some impurities. The adsorbed oil flows out through the outlet (271) and the one-way valve (29). The inner wall of the spiral flow channel (27) is fixedly connected with a number of blocking blocks (272), and the blocking blocks (272) are arranged in a spiral array on the inner wall of the spiral flow channel (27); 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). The inner wall of the outlet (271) is provided with a dispersion component (30), the dispersion component (30) includes a fixing rope (31) fixedly connected to the inner wall of the outlet (271), and an elliptical cylinder (32) is fixedly connected to the outer periphery of the fixing rope (31). When taking a sample of insulating oil that has been used for a short time, the rotating plate (251) is rotated until the connection port (252) on the rotating plate (251) coincides with the connecting port (261). The insulating oil flows into the rotating plate (251) through the leakage port (24) and then flows out through the connection port (252), the connecting port (261), and the direct current channel (26) in sequence. For the long-used insulating oil, the rotating plate (251) is rotated so that the connection port (252) coincides with the spiral flow channel (27). The insulating oil flows into the rotating plate (251) through the leakage port (24) and then flows through the connection port (252) and the spiral flow channel (27) in sequence.

2. The dual-robotic arm cooperative automatic oil extraction device according to claim 1, characterized in that, The sleeve (21) is provided with a sealing assembly (40), which 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).

3. The dual-robotic arm cooperative automatic oil extraction device according to claim 2, characterized in that, The sealing plug (43) has a rounded corner (431) on its outer periphery, and the diameter of the sealing plug (43) is the same as that of the connecting port (261) and the input end of the spiral flow channel (27).

4. The dual-robotic arm cooperative automatic oil extraction device according to claim 2, characterized in that, The sealing assembly (40) further includes an L-shaped groove (44) formed on the inner wall of the sleeve (21) and communicating with the annular groove (253). A fixing 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). The abutment block (46) and the contact plate (47) abut against each other through 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). The lower pressure plate (48) contacts the sealing ring (254).

5. The dual-robotic arm cooperative automatic oil extraction device according to claim 4, characterized in that, The fixing plate (45) has beveled angles (451) on both sides that contact the abutment block (46).

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