An automated insulation oil withstand voltage detection system and detection method

Abstract

The application discloses an automatic insulation oil pressure resistance detection system and a detection method, which comprises an oil sample bottle feeding module, an empty oil bottle discharging module, an oil bottle cap opening and closing module, a suction nozzle assembling, oil sucking and disassembling module, a suction nozzle feeding module, a pressure resistance testing module and a robot module. The oil sample bottle feeding module comprises an oil sample bottle placing tray. The empty oil bottle discharging module comprises an empty oil bottle placing tray. The oil bottle cap opening and closing module comprises an oil bottle conveying mechanism, an oil bottle clamping mechanism and a bottle cap rotating mechanism. The suction nozzle assembling, oil sucking and disassembling module comprises a suction nozzle assembling clamping mechanism, a suction head moving mechanism and a suction nozzle disassembling clamping mechanism. The suction nozzle feeding module comprises a suction nozzle placing tray. The pressure resistance testing module comprises a pressure resistance cup and a pressure resistance instrument. The robot module comprises a mechanical arm and a clamping jaw mechanism connected to a movable end of the mechanical arm. The clamping jaw mechanism comprises a suction nozzle clamping jaw, an oil bottle clamping jaw and a pressure resistance cup clamping jaw. The clamping jaw mechanism can move between the above six modules under the drive of the mechanical arm.

Description

Technical Field

[0001] This invention relates to the field of power equipment testing technology, specifically to an automated insulating oil withstand voltage testing system and method. Background Technology

[0002] As a core component of the power transmission and distribution system, the safe and stable operation of oil-immersed power transformers directly affects the reliability of the power grid. Insulating oil is the core insulation and heat dissipation medium of the transformer. The breakdown voltage (withstand voltage) of the insulating oil is a key indicator for evaluating the oil's insulation performance and the equipment's operating status. Routine testing needs to be carried out throughout the entire process, from new oil acceptance and infrastructure commissioning to daily operation and maintenance and fault diagnosis.

[0003] Currently, insulating oil withstand voltage testing still relies primarily on the traditional method of manual operation combined with commercial testing instruments. While mainstream oil breakdown voltage testers (such as the BAUR DTA-100C) offer reliable testing accuracy, they only support independent manual operation and suffer from common technical drawbacks, including poor automation adaptability, high dependence on manual operation throughout the entire process, and insufficient testing efficiency and safety. These are detailed below:

[0004] The testing process is cumbersome and inefficient: oil sample loading, bottle cap opening and closing, nozzle assembly, quantitative liquid transfer, instrument operation, waste liquid recycling, and empty bottle unloading all require manual completion step by step. Batch oil sample testing is time-consuming and labor-intensive, making it difficult to meet the needs of large-scale, high-throughput oil quality testing in power grids.

[0005] Human error is prominent and data consistency is poor: the control of liquid volume, oil sample mixing and instrument operation are greatly affected by human operation techniques and experience, which can easily lead to problems such as cross-contamination of oil samples, uneven oil injection and non-standard operation, resulting in deviation of test data and affecting the accuracy of oil quality assessment.

[0006] High-voltage testing poses safety hazards: The withstand voltage test involves a maximum voltage of 100kV. When manual operation of instruments or changing oil samples is carried out at close range, there is a risk of electric shock, arc burns and other safety hazards, which does not comply with the safety operation specifications for power testing.

[0007] Commercial instruments have closed interfaces, making automation integration difficult: mainstream commercially available withstand voltage testers do not have open software control interfaces, making it impossible to directly start / stop the instrument, set parameters, and read data through a host computer. They can only rely on manual button operation and screen readings, making it difficult to integrate them into automated testing lines.

[0008] The modules are scattered and lack linkage, and the whole process lacks automation: The existing testing equipment only realizes a single testing function and does not integrate modules such as oil sample transfer, automatic nozzle switching, and waste liquid recovery. Each link is independent and isolated, and it is impossible to form a closed-loop operation that integrates feeding, testing and unloading.

[0009] In summary, achieving automated, integrated, and standardized withstand voltage testing of insulating oil has become an essential requirement for industry development. Existing technologies cannot simultaneously address core pain points such as reliance on manual labor, safety risks, instrument integration, and full-process automation. Therefore, there is an urgent need to develop an integrated device that combines automatic oil sample transfer, automatic cap opening and closing, quantitative liquid transfer, automated instrument control, and withstand voltage testing. This device will improve testing efficiency and operational safety, filling the technological gap in the field of fully automated withstand voltage testing of transformer insulating oil. Summary of the Invention

[0010] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide an automated, integrated, and standardized insulating oil withstand voltage testing system and testing method.

[0011] To achieve this objective, the automated insulating oil withstand voltage testing system designed in this invention includes an oil sample bottle loading module, an empty oil bottle unloading module, an oil bottle switch cover module, a nozzle assembly and disassembly module, a nozzle loading module, a withstand voltage testing module, and a robot module. The oil sample bottle loading module includes an oil sample bottle placement tray; the empty oil bottle unloading module includes an empty oil bottle placement tray; the oil bottle switch cover module includes an oil bottle conveying mechanism, an oil bottle clamping mechanism, and a bottle cap rotation mechanism; the nozzle assembly and disassembly module includes a nozzle assembly and clamping mechanism, a suction head moving mechanism, and a nozzle disassembly and clamping mechanism; the nozzle loading module includes a nozzle placement tray; the withstand voltage testing module includes a withstand voltage cup and a withstand voltage meter; the robot module includes a robotic arm and a gripper mechanism connected to the movable end of the robotic arm. The gripper mechanism includes a nozzle gripper, an oil bottle gripper, and a withstand voltage cup gripper, and the gripper mechanism can move between the above six modules under the drive of the robotic arm.

[0012] Furthermore, the oil sample bottle placement tray is disposed on the oil sample bottle moving slide rail, and the side of the oil sample bottle placement tray is provided with a handle for manual gripping. The oil sample bottle feeding module also includes a tray positioning mechanism for positioning the oil sample bottle placement tray on the oil sample bottle moving slide rail.

[0013] Furthermore, the oil bottle conveying mechanism includes a first oil sample bottle conveying slide rail arranged along a first direction and a second oil sample bottle conveying slide rail slidably arranged on the first oil sample bottle conveying slide rail and arranged perpendicular to the first oil sample bottle conveying slide rail. An oil sample bottle conveying slide block for carrying oil sample bottles is slidably arranged on the second oil sample bottle conveying slide rail. A first conveying drive mechanism for driving the second oil sample bottle conveying slide rail to slide on the first oil sample bottle conveying slide rail is connected to the second conveying drive mechanism for driving the oil sample bottle conveying slide block to slide on the second oil sample bottle conveying slide rail.

[0014] Furthermore, the oil bottle clamping mechanism includes two oil bottle clamping jaws that can move relative to or away from each other, with their inner surfaces matching the shape of the oil sample bottle, and an oil bottle clamping drive mechanism for driving the two oil bottle clamping jaws to move relative to or away from each other.

[0015] Furthermore, the bottle cap rotating mechanism includes two bottle cap clamping jaws that can move relative to or away from each other and whose inner surfaces match the shape of the bottle cap of the oil sample bottle, and a bottle cap clamping drive mechanism connected to the two bottle cap clamping jaws for driving the two bottle cap clamping jaws to move relative to or away from each other. The bottle cap clamping drive mechanism is connected to a bottle cap rotating drive mechanism for rotating the bottle cap clamping drive mechanism around the central axis of the oil sample bottle, and the bottle cap rotating drive mechanism is connected to a bottle cap up-and-down moving mechanism for driving it to move up and down.

[0016] Furthermore, the nozzle assembly clamping mechanism includes two nozzle assembly grippers that can move relative to or away from each other and whose inner surfaces match the surface shape of the nozzle, and a nozzle assembly clamping mechanism for driving the two nozzle assembly grippers to move relative to or away from each other.

[0017] Furthermore, the suction head moving mechanism includes a first suction head conveying slide rail arranged in a horizontal direction and a second suction head conveying slide rail slidably arranged on the first suction head conveying slide rail and arranged in a vertical direction. A suction head is slidably arranged on the second suction head conveying slide rail. The second suction head conveying slide rail is connected to a first suction head moving mechanism for driving it to slide on the first suction head conveying slide rail. The suction head is connected to a second suction head moving mechanism for driving it to slide on the second suction head conveying slide rail.

[0018] Furthermore, the nozzle disassembly and clamping mechanism includes two nozzle disassembly grippers that can move relative to or away from each other and whose inner surfaces match the surface shape of the nozzle, and a nozzle disassembly and clamping mechanism for driving the two nozzle disassembly grippers to move relative to or away from each other. A waste nozzle recycling mechanism is provided below the nozzle disassembly grippers.

[0019] Furthermore, the gripper mechanism includes two gripper supports that can move relative to or away from each other, and a gripper support driving mechanism for driving the two gripper supports to move relative to or away from each other. Each of the two gripper supports is respectively provided with a suction nozzle gripper whose inner surface matches the surface shape of the suction nozzle, an oil bottle gripper whose inner surface matches the shape of the oil sample bottle, and a pressure cup gripper whose inner surface matches the surface shape of the pressure cup.

[0020] Furthermore, an automated insulating oil withstand voltage testing method based on the aforementioned automated insulating oil withstand voltage testing system includes:

[0021] Place the oil sample bottle in the oil sample bottle placement tray;

[0022] The robotic arm drives the gripper mechanism to move above the oil sample bottle feeding module. The oil sample bottle gripper picks up the oil sample bottle and places it on the oil bottle conveying mechanism. The oil bottle conveying mechanism transports the oil sample bottle to the oil bottle clamping mechanism. The oil bottle clamping mechanism clamps the oil sample bottle, and the bottle cap rotating mechanism rotates to open the bottle cap of the oil sample bottle.

[0023] Place the nozzle in the nozzle placement tray;

[0024] The robotic arm drives the gripper mechanism to move above the nozzle placement tray. The nozzle gripper picks up the nozzle and transports it to the nozzle assembly and clamping mechanism. The nozzle assembly and clamping mechanism clamps the nozzle. The suction head moving mechanism moves the suction head above the nozzle and moves the suction head from top to bottom to assemble the suction head and nozzle to form an oil suction structure.

[0025] The suction head moving mechanism moves the oil suction structure into the oil sample bottle to perform the oil suction operation, and the pressure resistance test module injects the oil sucked by the oil suction structure into the pressure resistance cup;

[0026] The robotic arm drives the gripper mechanism to pick up the oil-filled pressure cup and place it in the pressure tester, which then tests the pressure resistance of the oil.

[0027] The beneficial effects of this invention are:

[0028] Integrated modular design, streamlined and closed-loop overall architecture: The system highly integrates eight modules: oil sample bottle loading, empty oil bottle unloading, oil bottle cap opening and closing, nozzle assembly and disassembly, nozzle loading, pressure cup oil filling and suction, pressure testing, and robot execution. It constructs a complete mechanical closed-loop system from loading to sampling, oil filling, pressure testing, oil discharge, and unloading, replacing traditional discrete pressure testing equipment. The whole machine has a compact structure, high space utilization, and the mechanical linkage of each module is free from interference and conflict.

[0029] The composite gripper collaborative robot has a multi-functional actuator: the robot module is equipped with a composite gripper mechanism that integrates oil bottle gripper, suction nozzle gripper, pressure cup gripper, and pressure cup oil filling head. It can move and switch autonomously between the functional modules, and simultaneously complete multiple mechanical actions such as oil sample bottle gripping, suction nozzle gripping, pressure cup transfer, and oil filling and suction. This greatly reduces the number of independent actuators, simplifies the mechanical transmission link, and reduces the mechanical failure points of the equipment.

[0030] Specialized oil bottle opening and closing mechanism ensures stable and reliable operation: The oil bottle opening and closing module integrates a bidirectional conveying mechanism, a bottle clamping mechanism, and a cap screwing mechanism. It can automatically complete the conveying, positioning, clamping, and opening / closing of oil sample bottles. The shape of the gripper is precisely adapted to the oil bottle body and cap. The clamping torque and screwing torque are controllable, effectively preventing bottle deformation and cap stripping. It is compatible with standard oil sample bottles and ensures stable operation.

[0031] The automated nozzle assembly and disassembly and oil handling mechanism eliminates cross-contamination: The nozzle assembly, oil suction and disassembly module is equipped with a complete set of mechanical structures for assembly clamping, nozzle movement, disassembly clamping, and waste nozzle recycling, which can automatically complete the entire process of nozzle assembly, oil suction, disassembly, and recycling; The pressure cup oil injection and suction module is equipped with a dedicated oil injection, oil suction, and oil unloading mechanism to achieve quantitative oil injection and automatic discharge of waste oil. It uses disposable nozzles, which completely avoids oil sample residue and cross-contamination from the mechanical structure.

[0032] The convenient loading and unloading mechanism is designed to be compatible with both manual and automatic modes: the oil sample bottle loading and nozzle loading modules adopt a sliding rail tray + handle + positioning mechanism design, which can be manually pushed and pulled for loading and precise positioning; the empty oil bottle unloading module is equipped with a dedicated receiving tray to automatically collect the empty oil bottles after testing, taking into account both the convenience of manual operation and the needs of automated circulation.

[0033] Precision mechanical positioning and transmission ensure accurate and controllable action execution: Each module adopts slide rails, dedicated drive and positioning mechanisms to achieve precise displacement. The mechanical positioning and transfer accuracy of oil sample bottles, nozzles, and pressure cups is high. Key mechanical actions such as oil suction, oil injection, and screwing are stable without jamming or misalignment, ensuring the consistency and reliability of mechanical operations before pressure testing.

[0034] The pressure-resistant cup has a dedicated actuator to match high-pressure testing conditions: The pressure-resistant cup transfer, oil filling, and oil suction mechanical mechanism is specially designed for pressure testing. It can stably complete the actions of picking up and placing the pressure-resistant cup, quantitative oil filling, and waste oil suction. The mechanical action is adapted to the oil sample processing requirements of high-pressure pressure testing, ensuring stable testing conditions.

[0035] The fully automated testing method significantly improves testing efficiency: It adopts a fully automated operation method that includes oil sample loading → oil bottle cap opening and closing → nozzle assembly → oil sample suction → pressure cup filling → pressure test → waste oil discharge → empty bottle unloading. This method replaces manual operation of loading, opening the cap, suctioning, filling, testing, and unloading step by step, without the need for manual intervention. It greatly reduces labor intensity and is suitable for high-throughput pressure testing of large batches of oil samples.

[0036] Standardized mechanical operation methods completely eliminate human error: Through standardized operation procedures that coordinate the robot with various functional modules, the operation specifications for oil bottle gripping, bottle cap opening and closing, nozzle assembly, oil sample aspiration, and pressure cup oil filling are unified, completely avoiding operational deviations caused by differences in human operation techniques and experience, and improving the consistency and repeatability of pressure test data.

[0037] The closed-loop usage method of disposable nozzles ensures testing accuracy from the source: adopting a disposable method of automatic nozzle feeding → assembly → oil suction → disassembly → recycling. Each oil sample corresponds to an independent nozzle, and automatic disassembly and recycling are performed after testing. Combined with the automatic oil filling and draining process of the pressure cup, the operation method eliminates oil sample residue and cross-contamination, ensuring accurate and reliable pressure test results.

[0038] The core scheduling method of the robot enables smooth and orderly multi-module linkage: with a multi-degree-of-freedom robotic arm as the core execution and scheduling unit, the actions of each module are driven sequentially according to preset logic to achieve the orderly flow of oil sample bottles, suction nozzles, pressure cups and oil. The mechanical actions of each link are smoothly connected without waiting or conflict, improving the continuity of the entire process.

[0039] The combination of manual assistance and automatic execution has a low operating threshold and strong adaptability: only the initial loading of oil sample bottles and nozzles needs to be completed manually, and the entire subsequent pressure resistance testing process is executed automatically, reducing the professional skill threshold and labor intensity of operators, while retaining the flexibility of manual loading. It can adapt to the testing needs of multiple scenarios such as substations, power maintenance, and oil production.

[0040] The testing process and methods conform to national standards, and the test results are compliant and valid: The standardized process of oil injection, settling, voltage boosting test and oil draining is designed according to the insulating oil withstand voltage test standard. The mechanical actions and testing rhythm strictly match the national standard requirements to ensure that the test results are compliant with the standards, have legal effect and traceability. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments disclosed in this invention, the accompanying drawings of the embodiments will be briefly described below. These drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0042] Figure 1 This is a perspective view of the automated insulating oil dielectric loss detection system of the present invention;

[0043] Figure 2 This is a top view showing the layout of the modules in the automated insulating oil dielectric loss detection system of the present invention.

[0044] Figure 3 This is a perspective view of the oil sample bottle feeding module in this invention;

[0045] Figure 4 This is a perspective view of the hollow oil bottle feeding module of the present invention;

[0046] Figure 5 This is a perspective view of the oil bottle switch cap module in this invention;

[0047] Figure 6 This is a perspective view of the bottle cap rotating mechanism in this invention;

[0048] Figure 7 This is a perspective view of the suction nozzle assembly and disassembly module in this invention;

[0049] Figure 8 This is a perspective view of the suction nozzle feeding module in this invention;

[0050] Figure 9 This is a perspective view of the pressure-resistant cup oil injection module in this invention;

[0051] Figure 10 This is a perspective view of the withstand voltage test module in this invention;

[0052] Figure 11 This is a perspective view of the robot module in this invention;

[0053] Figure 12 This is a perspective view of the gripper mechanism in this invention;

[0054] The module includes: 1—Oil sample bottle feeding module (1.1—Oil sample bottle placement tray, 1.2—Oil sample bottle moving slide rail, 1.3—Handle); 2—Empty oil bottle unloading module (2.1—Empty oil bottle placement tray); 3—Oil bottle cap opening and closing module (3.1—Oil bottle conveying mechanism, 3.2—Oil bottle clamping mechanism, 3.3—Bottle cap rotating mechanism); 4—Sucking nozzle assembly and disassembly module (4.1—Sucking nozzle assembly and clamping mechanism, 4.2—Sucking head moving mechanism, 4.3—Sucking nozzle disassembly and clamping mechanism); 5—Sucking nozzle feeding module (5.1—Sucking nozzle placement tray); 6—Pressure cup oil filling module; 7—Pressure resistance testing module (7.1—Pressure resistance cup, 7.2—Pressure resistance meter); 8—Robot module (8.1—Robotic arm, 8.2—Gripper mechanism); 9— 10—Second oil sample bottle conveying slide rail; 11—Oil sample bottle; 12—Oil sample bottle conveying slide; 13—Oil bottle clamping claw; 14—Bottle cap; 15—Bottle cap clamping claw; 16—Nose; 17—Nose assembly claw; 18—First suction head conveying slide rail; 19—Second suction head conveying slide rail; 20—Suction head; 21—Nose disassembly claw; 22—Claw bracket; 23—Nose claw; 24—Oil bottle claw; 25—Pressure cup claw; 26—System cabinet; 27—Indication panel; 28—Operation panel; 29—Electrical control cabinet; 30—Radiator; 31—Tray positioning seat; 32—Tray positioning buckle; 33—Oil drain trough; 34—Oil suction head; 35—Oil injection head; 36—Operation identification mechanism; 37—Button mechanism. Detailed Implementation

[0055] The technical solutions (including preferred technical solutions) of the present invention will be further described in detail below with reference to the accompanying drawings and by listing some optional embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0056] Example 1

[0057] This embodiment discloses an automated insulating oil withstand voltage testing system, which is integrated into a closed testing cabinet (such as...). Figure 1 As shown, including, Figure 2 The system consists of seven functional modules: oil sample bottle loading module 1, empty oil bottle unloading module 2, oil bottle switch cap module 3, suction nozzle assembly and disassembly module 4, suction nozzle loading module 5, pressure resistance test module (including pressure cup suction and injection module 6 and pressure resistance test module 7), and robot module 8. Each module is laid out according to the testing process, and the mechanical linkage is seamless.

[0058] like Figure 3 As shown, the oil sample bottle feeding module 1 includes an oil sample bottle placement tray 1.1, an oil sample bottle moving slide rail 1.2, a handle 1.3, and a tray positioning mechanism. The oil sample bottle moving slide rail 1.2 adopts a linear ball bearing slide rail, and the oil sample bottle placement tray 1.1 is slidably installed on the slide rail. A manual grip handle 1.3 is provided on the side. The tray positioning mechanism adopts the cooperation of a tray positioning seat 31 and a tray positioning buckle 32 to realize automatic locking and positioning after the tray is pushed in, ensuring accurate placement and removal of oil sample bottles.

[0059] like Figure 4 As shown, the empty oil bottle unloading module 2 includes an empty oil bottle placement tray 2.1 and a tray fixing base. The tray fixing base is a bolt-fixed rigid base. The empty oil bottle placement tray 2.1 is snapped onto the base to receive empty oil sample bottles after the test is completed, making it convenient for manual collection and removal.

[0060] like Figure 5As shown, the oil bottle switch cap module 3 includes an oil bottle conveying mechanism 3.1, an oil bottle clamping mechanism 3.2, and a cap rotating mechanism 3.3. The oil bottle conveying mechanism 3.1 includes a first oil sample bottle conveying slide rail 9 and a second oil sample bottle conveying slide rail 10 (both using linear modular slide rails). A first conveying drive mechanism drives the second oil sample bottle conveying slide rail 10 to move along the first oil sample bottle conveying slide rail 9, and a second conveying drive mechanism drives the oil sample bottle conveying slide block 12 to move along the second oil sample bottle conveying slide rail 10. Both the first and second conveying drive mechanisms use a servo motor + synchronous belt drive mechanism to drive the oil sample bottle conveying slide block 12 to complete two-dimensional displacement conveying. The oil bottle clamping mechanism 3.2 includes an oil bottle clamping gripper 13 (using a pneumatic finger cylinder), driven by the cylinder to achieve centering and clamping of the bottle body. The inner contour design adapts to the shape of a standard oil sample bottle 11. Figure 6 As shown, the bottle cap rotation mechanism 3.3 includes a bottle cap clamping jaw 15, a bottle cap clamping drive mechanism that is a bidirectional pneumatic drive mechanism that drives the bottle cap clamping jaw 15 to clamp or release the bottle cap 14, a bottle cap rotation drive mechanism that uses a stepper rotary motor to drive the bottle cap clamping drive mechanism and the bottle cap 14 to rotate, and a bottle cap up and down movement mechanism that uses an electric lifting cylinder to drive the bottle cap clamping drive mechanism, the bottle cap 14 and the bottle cap rotation drive mechanism to move up and down, so as to work together to complete the bottle cap clamping, lifting and twisting to open / close the cap.

[0061] like Figure 7 As shown, the nozzle assembly, suction, and disassembly module 4 includes a nozzle assembly clamping mechanism 4.1, a nozzle moving mechanism 4.2, and a nozzle disassembly clamping mechanism 4.3. Both the nozzle assembly clamping mechanism 4.1 and the nozzle disassembly clamping mechanism 4.3 employ pneumatic finger cylinders, with the inner side of the gripper adapted to the shape of the nozzle 16 to achieve centering and clamping of the nozzle. The nozzle moving mechanism 4.2 includes a first nozzle conveying slide rail 18 and a second nozzle conveying slide rail 19, both of which are precision linear slide rails. The first nozzle moving mechanism (driving the second nozzle conveying slide rail 19 to slide on the first nozzle conveying slide rail 18) and the second nozzle moving mechanism (driving the nozzle 20 to slide on the second nozzle conveying slide rail 19) both use servo motors to drive linear modules, driving the nozzle 20 to complete horizontal and vertical displacement. A waste nozzle recycling box is located below the nozzle disassembly gripper 21 for centralized recycling of waste nozzles.

[0062] like Figure 8 As shown, the nozzle feeding module 5 includes a nozzle placement tray 5.1, a push-pull slide rail, and a laser displacement sensor positioning mechanism. After manual pushing and pulling of the tray for feeding, the laser sensor identifies the position of the nozzle and provides a positioning signal for the robot to grip.

[0063] like Figure 9-10As shown, the withstand voltage test module includes a withstand voltage cup 7.1 and a withstand voltage tester 7.2; the withstand voltage cup 7.1 adopts the IEC standard ball gap electrode withstand voltage cup; the withstand voltage tester 7.2 adopts the BAURDTA-100C insulating oil breakdown voltage tester, which is suitable for high voltage withstand voltage testing requirements.

[0064] like Figure 11 As shown, robot module 8 includes a robotic arm 8.1 and a gripper mechanism 8.2. The robotic arm 8.1 is a six-axis industrial robotic arm with a repeatability of ±0.02mm. The gripper mechanism 8.2 includes a gripper bracket 22, a gripper bracket drive mechanism (pneumatic bidirectional drive cylinder), a suction nozzle gripper 23, an oil bottle gripper 24, and a pressure cup gripper 25. All three grippers are pneumatic contour grippers, which can simultaneously complete the gripping and transfer of the suction nozzle, oil sample bottle, and pressure cup.

[0065] Example 2

[0066] This embodiment is based on the automated insulating oil withstand voltage testing system described in Embodiment 1, and realizes fully automated testing of insulating oil withstand voltage throughout the entire process. The specific steps are as follows:

[0067] The oil sample bottle 11 containing insulating oil is manually placed into the oil sample bottle placement tray 1.1 of the oil sample bottle feeding module 1. The tray is pushed in and the tray positioning buckle 32 cooperates with the tray positioning seat 31 to realize the positioning of the oil sample bottle placement tray. The disposable suction nozzle 16 is neatly placed into the suction nozzle placement tray 5.1 of the suction nozzle feeding module 5 to complete the initial feeding.

[0068] The robotic arm 8.1 of robot module 8 drives the gripper mechanism 8.2 to move above the oil sample bottle loading module 1. The oil bottle gripper 24 (pneumatic finger cylinder) clamps the oil sample bottle 11 and transfers it to the oil sample bottle conveying slide 12 of the oil bottle opening and closing module 3. The servo motor and synchronous belt transmission mechanism drive the first oil sample bottle conveying slide 9 and the second oil sample bottle conveying slide 10 to move and transport the oil sample bottle 11 to the clamping station. The oil bottle clamping mechanism 3.2 (pneumatic finger cylinder) clamps the body of the oil sample bottle 11. The pneumatic gripper cylinder of the bottle cap rotating mechanism 3.3 clamps the bottle cap 14. The electric lifting cylinder drives the gripper to rise. The stepper rotary motor drives the gripper to rotate, completing the automatic opening of the oil sample bottle 11.

[0069] The robotic arm 8.1 drives the gripper mechanism 8.2 to move above the nozzle feeding module 5. The nozzle gripper 23 (pneumatic contour gripper) clamps the nozzle 16 and transfers it to the nozzle assembly clamping mechanism 4.1 of the nozzle assembly oil suction and disassembly module 4. The nozzle assembly clamping mechanism 4.1 (pneumatic finger cylinder) clamps the nozzle 16. The servo motor drives the linear module to drive the suction head 20 to move along the first suction head conveying slide rail 18 and the second suction head conveying slide rail 19, so that the suction head 20 docks with the nozzle 16 from top to bottom to form a complete oil suction structure.

[0070] The servo motor drives the linear module to extend the assembled oil suction structure into the oil sample bottle 11, and the peristaltic pump completes the quantitative oil suction. After the oil suction is completed, the oil is accurately injected into the IEC standard ball gap electrode pressure cup 7.1 of the pressure cup suction module 6.

[0071] The robotic arm 8.1 drives the gripper mechanism 8.2 to clamp the oil-filled pressure cup 7.1 with the pressure cup gripper 25 (pneumatic contour gripper) and accurately transfer it into the BAUR DTA-100C insulating oil breakdown voltage tester; the pressure tester 7.2 automatically closes the door and completes the insulating oil withstand voltage breakdown test according to the preset parameters, and collects the breakdown voltage data in real time.

[0072] After the test is completed, the robotic arm 8.1 resets the pressure cup 7.1, and the oil suction structure moves to the nozzle disassembly and clamping mechanism 4.3. The nozzle disassembly and clamping mechanism 4.3 (pneumatic finger cylinder) clamps the nozzle 16, and the suction head 20 rises to complete the nozzle disassembly. The discarded nozzle falls into the waste nozzle recycling box below. The oil bottle opening and closing module 3 automatically closes the oil sample bottle 11, and the robotic arm 8.1 transfers the empty oil sample bottle to the empty oil bottle unloading module 2 on the empty oil bottle placement tray 2.1, waiting for manual removal, thus completing the entire process of a single test.

[0073] It should be noted that the above description of the technical solutions is exemplary, and this specification may be embodied in different forms and should not be construed as limiting it to the technical solutions set forth herein. Rather, providing these descriptions will ensure that the disclosure of this invention is thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Furthermore, the technical solutions of this invention are defined only by the scope of the claims.

[0074] When using the terms “comprising,” “having,” and “including” as described in this specification, there may also be another part or other parts, and the terms used are generally singular but may also be plural.

[0075] It should be noted that although the terms "first," "second," "top," "bottom," "one side," "the other side," "one end," "the other end," etc., may appear and be used in this specification to describe various components, these components and parts should not be limited by these terms. These terms are only used to distinguish one component and part from another. For example, without departing from the scope of this specification, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component; top and bottom components may, under certain circumstances, be interchanged or converted; components at one end and at the other end may have the same or different performance characteristics.

[0076] Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments and many variations are possible. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention should be considered within the protection scope of the present invention.

Claims

1. An automated insulating oil withstand voltage testing system, characterized in that: It includes an oil sample bottle loading module (1), an empty oil bottle unloading module (2), an oil bottle switch cap module (3), a suction nozzle assembly and disassembly module (4), a suction nozzle loading module (5), a pressure resistance test module, and a robot module (8). The oil sample bottle feeding module (1) includes an oil sample bottle placement tray (1.1). The empty oil bottle unloading module (2) includes an empty oil bottle placement tray (2.1). The oil bottle switch cap module (3) includes an oil bottle conveying mechanism (3.1), an oil bottle clamping mechanism (3.2), and a cap rotating mechanism (3.3). The suction nozzle assembly and disassembly module (4) includes a suction nozzle assembly clamping mechanism (4.1), a suction head moving mechanism (4.2), and a suction nozzle disassembly clamping mechanism (4.3). The nozzle feeding module (5) includes a nozzle placement tray (5.1). The pressure resistance test module includes a pressure resistance cup (7.1) and a pressure resistance meter (7.2). The robot module (8) includes a robotic arm (8.1) and a gripper mechanism (8.2) connected to the movable end of the robotic arm (8.1). The gripper mechanism (8.2) includes a suction nozzle gripper (23), an oil bottle gripper (24), and a pressure cup gripper (25). The gripper mechanism (8.2) can move between the above six modules under the drive of the robotic arm (8.1).

2. The automated insulating oil withstand voltage testing system as described in claim 1, characterized in that: The oil sample bottle placement tray (1.1) is mounted on the oil sample bottle moving slide rail (1.2). The side of the oil sample bottle placement tray (1.1) is provided with a handle (1.3) for manual gripping. The oil sample bottle feeding module (1) also includes a tray positioning mechanism for positioning the oil sample bottle placement tray (1.1) on the oil sample bottle moving slide rail (1.2).

3. The automated insulating oil withstand voltage testing system as described in claim 1, characterized in that: The oil bottle conveying mechanism (3.1) includes a first oil sample bottle conveying slide rail (9) arranged along a first direction and a second oil sample bottle conveying slide rail (10) slidably arranged on the first oil sample bottle conveying slide rail (9) and arranged perpendicular to the first oil sample bottle conveying slide rail (9). An oil sample bottle conveying slide block (12) for carrying oil sample bottles (11) is slidably arranged on the second oil sample bottle conveying slide rail (10). A first conveying drive mechanism for driving the second oil sample bottle conveying slide rail (10) to slide on the first oil sample bottle conveying slide rail (9) is connected to the second conveying drive mechanism for driving the second oil sample bottle conveying slide rail (10) to slide.

4. The automated insulating oil withstand voltage testing system as described in claim 1, characterized in that: The oil bottle clamping mechanism (3.2) includes two oil bottle clamping jaws (13) that can move relative to each other or in opposite directions and whose inner surfaces match the shape of the oil sample bottle (11), and an oil bottle clamping drive mechanism for driving the two oil bottle clamping jaws (13) to move relative to each other or in opposite directions.

5. The automated insulating oil withstand voltage testing system as described in claim 1, characterized in that: The cap rotation mechanism (3.3) includes two cap clamping jaws (15) that can move relative to each other or in opposite directions and whose inner surfaces are matched with the shape of the cap (14) of the oil sample bottle (11), and a cap clamping drive mechanism connected to the two cap clamping jaws (15) for driving the two cap clamping jaws (15) to move relative to each other or in opposite directions. The cap clamping drive mechanism is connected to a cap rotation drive mechanism for rotating the cap clamping drive mechanism around the central axis of the oil sample bottle (11), and the cap rotation drive mechanism is connected to a cap up and down movement mechanism for driving it to move up and down.

6. The automated insulating oil withstand voltage testing system as described in claim 1, characterized in that: The nozzle assembly clamping mechanism (4.1) includes two nozzle assembly grippers (17) that can move relative to each other or in opposite directions and whose inner surfaces match the surface shape of the nozzle (16), and a nozzle assembly clamping mechanism for driving the two nozzle assembly grippers (17) to move relative to each other or in opposite directions.

7. The automated insulating oil withstand voltage testing system as described in claim 1, characterized in that: The suction head moving mechanism (4.2) includes a first suction head conveying slide rail (18) arranged in the horizontal direction and a second suction head conveying slide rail (19) arranged in the vertical direction and slidably disposed on the first suction head conveying slide rail (18). A suction head (20) is slidably disposed on the second suction head conveying slide rail (19). The second suction head conveying slide rail (19) is connected to a first suction head moving mechanism for driving it to slide on the first suction head conveying slide rail (18). The suction head (20) is connected to a second suction head moving mechanism for driving it to slide on the second suction head conveying slide rail (19).

8. The automated insulating oil withstand voltage testing system as described in claim 1, characterized in that: The nozzle disassembly clamping mechanism (4.3) includes two nozzle disassembly grippers (21) that can move relative to each other or in opposite directions and whose inner surfaces match the surface shape of the nozzle (16), and a nozzle disassembly clamping mechanism for driving the two nozzle disassembly grippers (21) to move relative to each other or in opposite directions. A waste nozzle recycling mechanism is provided below the nozzle disassembly grippers (21).

9. The automated insulating oil withstand voltage testing system as described in claim 1, characterized in that: The gripper mechanism (8.2) includes two gripper supports (22) that can move relative to or away from each other and a gripper support driving mechanism for driving the two gripper supports (22) to move relative to or away from each other. Each of the two gripper supports (22) is provided with a suction nozzle gripper (23) whose inner surface matches the surface shape of the suction nozzle (16), an oil bottle gripper (24) whose inner surface matches the bottle body shape of the oil sample bottle (11), and a pressure cup gripper (25) whose inner surface matches the surface shape of the pressure cup (7.1).

10. An automated insulating oil withstand voltage testing method based on the automated insulating oil withstand voltage testing system according to any one of claims 1-9, characterized in that: include: Place the oil sample bottle (11) in the oil sample bottle placement tray (1.1); The robotic arm (8.1) drives the gripper mechanism (8.2) to move above the oil sample bottle feeding module (1). The oil bottle gripper (24) picks up the oil sample bottle (11) and places it on the oil bottle conveying mechanism (3.1). The oil bottle conveying mechanism (3.1) conveys the oil sample bottle (11) to the oil bottle clamping mechanism (3.2). The oil bottle clamping mechanism (3.2) clamps the oil sample bottle (11). The bottle cap rotating mechanism (3.3) rotates to open the bottle cap (14) of the oil sample bottle (11). Place the nozzle (16) in the nozzle placement tray (5.1); The robotic arm (8.1) drives the gripper mechanism (8.2) to move above the nozzle placement tray (5.1), the nozzle gripper (23) picks up the nozzle (16), and transports the nozzle (16) to the nozzle assembly clamping mechanism (4.1). The nozzle assembly clamping mechanism (4.1) clamps the nozzle (16), and the suction head moving mechanism (4.2) moves the suction head (20) above the nozzle (16) and moves the suction head (20) from top to bottom so that the suction head (20) and the nozzle (16) are connected and assembled to form an oil suction structure. The suction head moving mechanism (4.2) moves the oil suction structure into the oil sample bottle (11) to perform the oil suction operation, and the pressure resistance test module injects the oil sucked by the oil suction structure into the pressure resistance cup (7.1). The robotic arm (8.1) drives the gripper mechanism (8.2) to grip the pressure cup gripper (25) after oil filling and place it in the pressure tester (7.2). The pressure tester (7.2) performs pressure test on the oil.

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