A high-voltage substation transformer insulation oil sampling device and method

Abstract

This invention discloses a sampling device and method for insulating oil in transformers of high-voltage substations, relating to the field of intelligent operation and maintenance and automated sampling technology for high-voltage power equipment. It includes: a sampling robot comprising a walking chassis, an oil sampling component, and an oil extraction sampling mechanism; a target sampling end mounted on the transformer's oil sample collection box; the oil extraction sampling mechanism being connected to the oil sampling component via a fluid pipeline; the oil sampling component comprising: an oil sampling robotic arm mounted on the walking chassis for driving an end effector to adjust its spatial position; and a sampling docking component located at the end of the oil sampling robotic arm, having an internal fluid transmission channel and being connected to the oil extraction sampling mechanism. It has advantages such as high sampling process safety, high automation, high docking efficiency, strong sealing protection, high standardization of sample collection, and effective reduction of manual operation risks and sample contamination probability.

Description

Technical Field

[0001] This invention belongs to the field of intelligent operation and maintenance and automated sampling technology of high-voltage power equipment, and more specifically, it relates to a sampling device and method for insulating oil of transformers in high-voltage substations. Background Technology

[0002] In the operation of power grid systems, insulating oil gas chromatography (DGA) is a crucial technical means for assessing the health status of high-voltage transformers and is currently recognized in the industry as the "gold standard" for transformer condition monitoring. By regularly collecting transformer insulating oil samples and analyzing their gas composition, moisture content, and physicochemical indicators, the risks of internal transformer faults such as latent discharge, overheating, and insulation degradation can be effectively identified. With the continuous expansion of my country's power grid, the number of insulating oil samples collected annually nationwide is enormous. Although the back-end testing and analysis of insulating oil has largely achieved automation and standardization, the front-end sampling process still generally remains manual, becoming a significant bottleneck restricting overall testing efficiency, quality stability, and intrinsic safety levels.

[0003] Traditional insulating oil sampling typically involves two operators and one supervisor, requiring them to bring tools into the high-voltage substation site. The process involves manually opening the sampling interface, connecting the device, turning the valve, extracting the oil sample, and sealing it, with each process taking 60 to 90 minutes. High-voltage substations are characterized by high voltage, strong electromagnetic fields, high pollution, and complex working spaces. Manual close-range operation poses a high risk of electric shock, misoperation, high-temperature burns, and environmental pollution, with safety hazards being even more pronounced in inclement weather or at night. Furthermore, manual sampling is highly dependent on operator experience, and deviations are prone to occur in interface connection accuracy, sealing effectiveness, sample volume control, and sample management, easily leading to problems such as incomplete sealing, oil sample contamination, or cross-contamination. Especially when using manual syringes for sampling, the aspiration rate, venting process, and sealing force are difficult to standardize and control, easily introducing trace amounts of air, moisture, or contaminants, resulting in distorted oil samples. This, in turn, affects chromatographic analysis errors and the accuracy of fault diagnosis, potentially leading to misjudgments, unnecessary power outages, or flawed maintenance decisions.

[0004] With the development of intelligent inspection technology, some automated sampling equipment has begun to use mobile platforms or robotic arms to replace manual labor. However, most existing solutions only achieve basic mechanical replacement, and the overall level of intelligence and systematization is insufficient. Existing sampling interfaces mostly use threaded or flanged connection structures, resulting in low automated docking efficiency, high mechanical wear, and a lack of rapid connection, rapid separation, and safe power-off mechanisms, making it difficult to meet the demands of high-frequency, high-reliability unmanned operations. Regarding interface protection, traditional solutions have limited protection levels, and long-term exposure of interfaces makes them susceptible to dust, moisture, and external pollution. Furthermore, they cannot adapt to the dynamic opening and closing requirements of automated operations and lack adaptive sealing capabilities suitable for high-pollution industrial scenarios. In addition, due to equipment installation errors, robot positioning errors, and environmental interference, the robotic arm end effector is prone to rigid collisions during automatic docking. Existing compensation methods mostly rely on high-cost six-dimensional force sensors or complex active control algorithms, leading to high system costs, complex structures, and insufficient industrial stability. At the same time, existing automated equipment still has significant shortcomings in oil sampling, sample dispensing, independent storage, cross-contamination prevention, and automatic sample sorting, making it difficult to meet the needs of large-scale, standardized, and intelligent inspection.

[0005] Therefore, there is an urgent need for a sampling device and method for insulating oil in high-voltage substation transformers to solve the above problems. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a sampling device and method for insulating oil in high-voltage substation transformers, which has the advantages of high safety in the sampling process, high degree of automation, high docking efficiency, strong sealing and protection capabilities, high degree of standardization in sample collection, and the ability to effectively reduce the risks of manual operation and the probability of sample contamination.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A high-voltage substation transformer insulating oil sampling device, comprising:

[0009] The sampling robot includes a walking chassis, and an oil sampling component and an oil extraction mechanism mounted on the walking chassis;

[0010] The target sampling end is set on the oil sample collection box of the transformer and forms a quick connection with the oil sampling component;

[0011] The oil sampling assembly is used to spatially dock with the target sampling end installed at the sampling port of the transformer and to sample insulating oil.

[0012] The oil sampling mechanism is connected to the oil extraction component via a fluid pipeline;

[0013] The oil sampling assembly includes: an oil sampling robotic arm, mounted on a walking chassis, used to drive an end effector to adjust its spatial position;

[0014] The sampling docking assembly is located at the end of the oil sampling robotic arm, has a fluid transmission channel inside, and is connected to the oil sampling mechanism.

[0015] The advantages of this solution are at least as follows: Addressing the problems of high safety risks, low sampling efficiency, poor environmental adaptability, and insufficient standardization in the manual close-range operation of transformer insulating oil sampling in existing high-voltage substations, this solution utilizes an autonomously mobile sampling robot, combined with a walking chassis, to achieve flexible deployment of the equipment in complex substation environments. The oil-sampling robotic arm drives the sampling docking component to achieve precise spatial docking with the preset target sampling end, enabling the equipment to remotely complete insulating oil sampling operations under conditions of no power outage or high-risk areas.

[0016] Meanwhile, the quick-connect structure improves the connection efficiency and sealing reliability of the sampling interface, reducing the risk of manual intervention and misoperation. The oil sampling mechanism realizes the automatic extraction, transportation and collection of insulating oil through the fluid pipeline connected to the oil sampling component, effectively ensuring the continuity, stability and purity of the sampling process and avoiding the pollution, leakage or sample distortion problems that may occur in traditional manual sampling. This significantly improves the safety, automation level, sampling accuracy and operation and maintenance efficiency of insulating oil sampling operations in high-voltage substations.

[0017] In practice, the sampling robot first moves to the designated working area of ​​the transformer oil sample collection box via its chassis. Then, the robotic arm starts, driving its end effector to perform multi-degree-of-freedom spatial attitude adjustments based on the specific spatial coordinates of the target sampling end. This guides the sampling docking component at the end to precisely approach the target sampling end until the two are docked and form a stable, rapid connection. At this point, the fluid transmission channel inside the sampling docking component is connected to the target sampling end, forming a closed oil circuit. Next, the oil extraction sampling mechanism starts, providing suction power through the fluid pipeline to automatically extract the insulating oil inside the transformer through the target sampling end and the fluid transmission channel into the sampling mechanism. After sampling, the robotic arm drives the sampling docking component to automatically detach and reset. The entire process eliminates the need for close contact between the operator and the high-voltage live equipment, completely achieving "human-machine separation" in sampling operations. This not only significantly reduces the safety risks and labor intensity of the operators, but also greatly improves sampling efficiency through mechanized precise docking and a fully enclosed fluid transmission process. It effectively prevents the leakage of insulating oil and secondary contamination of the oil sample by external impurities, ensuring the accuracy of the sampling data.

[0018] The present invention is further configured such that the oil-collecting robotic arm comprises:

[0019] The lifting base is fixedly installed on the walking chassis and is used to realize the overall lifting of the oil-collecting robotic arm;

[0020] The shoulder joint is mounted on the lifting base.

[0021] The first arm segment is rotatably mounted on the shoulder joint via a first drive assembly;

[0022] The second boom segment is rotatably mounted on the first boom segment via a second drive assembly;

[0023] The end mount is rotatably mounted on the end of the second arm segment via a third drive assembly; the sampling docking assembly is mounted on the end mount.

[0024] The advantages of this scheme are at least as follows: by setting up a multi-degree-of-freedom oil sampling robotic arm structure consisting of a lifting base, shoulder joint, first arm segment, second arm segment, and end mounting seat, the overall height can be adjusted by using the lifting base, and the multi-axis linkage of each arm segment and end mounting seat can be controlled by multiple drive components, so that the sampling docking component can achieve a wide range and high precision spatial attitude adjustment in the vertical, horizontal and angular directions, thereby adapting to the sampling needs of different types of transformer oil sample collection boxes and complex installation positions;

[0025] Through multi-joint coordinated movement, it can effectively avoid on-site equipment, pipelines and obstacles, improve the robot's operational flexibility and docking success rate in narrow environments, and at the same time improve the stability and sealing reliability of the sampling interface connection, reduce the risk of connection failure, oil leakage or equipment damage caused by position deviation, and further enhance the environmental adaptability, automation control level and sampling accuracy of the entire sampling equipment.

[0026] When the oil sampling robot is working, after the sampling robot moves to the vicinity of the transformer, the lifting base fixed on the walking chassis first drives the entire oil sampling robot to rise and fall vertically, achieving a macroscopic coarse adjustment and matching with the height position of the transformer oil sample collection box. Subsequently, the first drive component, the second drive component, and the third drive component work independently, sequentially driving the first arm segment to rotate around the shoulder joint, the second arm segment to rotate around the first arm segment, and the end mount to rotate around the end of the second arm segment. Through the linkage and cooperation of these three rotary joints, a wide range of fine crossings and multi-degree-of-freedom attitude fine adjustments are achieved in three-dimensional space, thereby accurately delivering the sampling docking component fixed on the end mount to the front of the target sampling end at the optimal angle and position and completing the docking.

[0027] The present invention is further configured such that the sampling docking component includes:

[0028] The mounting base has its rear end fixedly connected to the end mounting base, and its front end forms an accommodating chamber.

[0029] The floating platform is coaxially housed within the accommodating cavity of the mounting base, and a central channel extends through the interior of the floating platform along the axial direction; the outer wall of the front end of the floating platform forms a tapered guide surface; and multiple circumferentially distributed magnetic conductive components are provided at the front end of the floating platform.

[0030] A passive elastic compliant mechanism is disposed in the accommodating cavity, with its two ends elastically abutting against the inner wall of the mounting base and one side wall of the floating platform, respectively.

[0031] The sampling connector is fixedly installed in the central channel of the floating platform and is connected to the oil sampling mechanism through a fluid pipeline.

[0032] The advantages of this scheme are at least as follows: by setting up an installation base, a floating platform with radial floating capability, and a passive elastic compliant mechanism, the sampling connector can automatically compensate for position deviation and angle error within a certain range during the insertion process, thereby effectively improving the adaptive centering capability of the sampling interface.

[0033] By setting a tapered guide surface at the front end of the floating platform, active guidance and correction can be achieved in the early stage of contact, reducing the precision requirements of manual or robotic arm control and improving the insertion success rate. At the same time, multiple circumferentially distributed magnetic components can further enhance the rapid capture and stable bonding effect during end docking by using magnetic adsorption, thereby improving connection reliability.

[0034] When the robotic arm drives the sampling docking assembly to approach the target sampling end, the tapered guide surface at the front end of the floating platform first contacts the target sampling end and plays a mechanical adaptive guiding role, achieving initial spatial alignment of the central axis. As the distance between the two further decreases, the magnetically conductive components distributed around the front end generate magnetic attraction with the target sampling end, assisting the floating platform in accurately fitting and providing locking force for the end face connection. During this process of physical compression and magnetic attraction, the passive elastic compliant mechanism in the accommodating cavity undergoes elastic deformation under stress, allowing the floating platform to make small-range multi-degree-of-freedom compliant displacements relative to the mounting base. This automatically compensates for the absolute spatial positioning error of the robotic arm and effectively buffers and absorbs the rigid impact force at the moment of docking, ensuring that the sampling docking connector fixed in the central channel can smoothly and stably complete the sealed connection of the fluid pipeline with the transformer interface.

[0035] The present invention is further configured such that: the passive elastic compliance mechanism includes a first spring group and a second spring group arranged circumferentially around the periphery of the sampling connector; the first spring group is located in the upper region of the mounting base, and the second spring group is located in the lower region of the mounting base;

[0036] The compression stiffness of the second spring group is greater than that of the first spring group, and it is used to output a gravity compensation torque from bottom to top to the floating platform.

[0037] The advantages of this scheme are at least as follows: by setting a partitioned passive elastic compliance mechanism around the periphery of the sampling connector, a differentiated elastic support structure is formed by the first spring group in the upper region and the second spring group in the lower region. The lower second spring group has higher compressive stiffness and can generate a continuous upward gravity compensation torque for the self-weight of the floating platform and the sampling connector, effectively counteracting the sinking tendency of the end effector caused by gravity. The upper first spring group provides flexible buffering and attitude adjustment capabilities, so that the floating platform can still achieve multi-directional elastic deflection and automatic reset when subjected to external contact forces.

[0038] By using a differentiated stiffness design with upper and lower partitions, this solution not only enhances the axial stability and attitude maintenance capability of the end docking components under different spatial postures, but also significantly improves the adaptive compensation effect for complex docking errors. It reduces the risk of insertion resistance, interface wear and sealing failure caused by end misalignment, thereby achieving a more precise and stable insulating oil sampling docking process, and further improving the reliability, safety and long-term operating performance of the whole machine's automatic sampling operation.

[0039] The present invention is further configured such that: the target sampling end includes a docking interface that cooperates with the sampling docking component, and the docking interface is disposed on one side of the oil sample collection box body;

[0040] The outer periphery of the interface is provided with an electromagnetic adsorption component for providing adsorption and locking force.

[0041] A sealing and protective component is provided at the interface to seal the interface when not sampling, and to automatically open to form a sampling channel when the sampling connector is connected.

[0042] The sealing and protection assembly includes: an outer fixed housing, and an upper mounting cover plate and a lower mounting base plate respectively fixedly connected to the two axial ends of the outer fixed housing; the upper mounting cover plate, the lower mounting base plate and the outer fixed housing together form an internal mounting cavity; a central through hole corresponding to the interface is formed in the center of the internal mounting cavity; the sealing and protection assembly also includes a sealing and protection mechanism disposed in the internal mounting cavity.

[0043] The advantages of this scheme are at least as follows: by setting up a composite structure integrating an interface, an electromagnetic adsorption component, and a sealing and protection component at the target sampling end, with the interface located on the side of the oil sample collection box, it is easy for the robot's end effector to quickly approach and complete a standardized connection. The electromagnetic adsorption component on the outer periphery can provide a stable and reliable adsorption and locking force during the sampling docking process, achieving automated and rapid connection and enhancing the sealing performance.

[0044] Meanwhile, the outer fixed shell, upper mounting cover, lower mounting base plate and internal mounting cavity together form a closed sealing protection component. In the non-sampling state, the internal sealing protection mechanism continuously seals and protects the interface, effectively isolating external dust, moisture and pollutants from intrusion and keeping the sampling port clean for a long time. When the sampling connector is connected, it can automatically open to form a stable sampling channel, taking into account both protection and ease of operation.

[0045] In the non-sampling state, the sealing and protection mechanism built into the internal mounting cavity surrounded by the outer fixed shell and upper and lower cover plates is in a normally closed state, reliably sealing the central through hole, effectively isolating external dust and moisture from entering the transformer oil circuit, and ensuring the absolute cleanliness of the internal insulating oil and sampling channel; when the sampling robot's sampling connector approaches and docks, the electromagnetic adsorption component surrounding the interface is energized to generate a strong magnetic attraction, accurately adsorbing with the sampling end and providing a stable and uniform circumferential locking force. At the same time, the docking action of the sampling connector directly triggers the internal sealing and protection mechanism to automatically open, smoothly conducting and forming a closed sampling channel.

[0046] The present invention is further configured such that the sealing and protective mechanism includes;

[0047] Multiple openable and closable blades are arranged in a circular array along the circumference. One end of each openable and closable blade is pivotally connected to the inner wall of the outer fixed housing, and is used to open and close the central through hole by synchronous deflection.

[0048] The slider drive assembly is slidably disposed in the internal mounting cavity, and its trigger end extends into the path of the central through hole to receive the axial thrust when the sampling connector is connected and generate linear displacement.

[0049] A pulley drive assembly is connected between the slider drive assembly and each of the openable and closable blades; the pulley drive assembly is used to convert the axial linear displacement of the slider drive assembly into synchronous rotational motion of each of the openable and closable blades about its pivot, so that the plurality of openable and closable blades deflect radially outward to open.

[0050] The advantages of this scheme are at least as follows: By setting up a sealing and protective mechanism consisting of multiple openable and closable blades, a slider drive assembly, and a pulley transmission assembly, a dynamic protective structure similar to iris opening and closing is formed. The multiple openable and closable blades arranged in a circular array close synchronously when not in operation, forming a surrounding closed barrier around the central through hole, effectively blocking the intrusion of external dust, water vapor, oil, and foreign objects, and significantly improving the long-term cleanliness and environmental protection capability of the sampling interface. When the sampling connector is inserted, its axial thrust acts directly on the slider drive assembly, causing the slider to produce linear displacement. The pulley transmission assembly efficiently converts this axial displacement into synchronous and uniform radial outward rotation of each blade, thereby automatically opening the central through hole to form a sampling channel. Mechanical adaptive opening and closing can be achieved without additional electrical control mechanisms, and the structure is reliable and responds quickly.

[0051] In actual operation, when the sampling connector approaches the sealing and protection component along the axis of the interface, the floating platform first contacts the trigger end of the slider drive component located on the path of the central through hole, and drives the slider drive component to produce linear sliding in the internal mounting cavity along a preset direction by continuously pushing and outputting axial thrust. This linear displacement is synchronously transmitted to multiple openable and closable blades arranged in a circular array along the circumferential direction through the pulley transmission component, so that each openable and closable blade rotates and unfolds radially outward around its respective pivot connection part, thereby gradually opening the central through hole and forming a dynamic opening channel adapted to the sampling connector.

[0052] Because the pulley drive assembly converts axial thrust into symmetrical and balanced blade rotation, it not only significantly reduces opening resistance but also ensures the synchronization and opening / closing accuracy of each blade, enabling the sealing and protection mechanism to adapt to sampling and docking requirements of different sizes and slight positional deviations. Subsequently, the sampling connector completes attitude compensation and position fine-tuning under the combined action of the floating platform, tapered guide surface, and passive elastic compliant mechanism, achieving precise insertion with the docking interface. At the same time, multiple magnetically conductive components form a rapid magnetic locking under the action of the electromagnetic adsorption assembly, ensuring a stable connection between the sampling docking assembly and the target sampling end, establishing a highly sealed insulating oil sampling path.

[0053] The present invention is further configured such that the oil sampling mechanism includes:

[0054] Multiple sets of independent sampling needles are used to store the extracted insulating oil samples separately;

[0055] A needle array holder is used to rigidly position the multiple sets of sampling needles;

[0056] The lead screw-driven telescopic mechanism is used to convert the rotational motion of the motor into linear driving force to drive each of the sampling needles to synchronously perform quantitative extraction and dispensing operations.

[0057] The advantages of this scheme are at least as follows: By setting up an oil sampling mechanism consisting of multiple sets of independent sampling needles, a needle array fixing frame, and a screw-driven telescopic mechanism, the multiple sets of independent sampling needles can independently store insulating oil samples extracted from different batches or stages, avoiding sample mixing and improving traceability; the needle array fixing frame provides high-precision rigid positioning for each sampling needle, ensuring that each sampling unit maintains a stable positional relationship during equipment movement and sampling, thereby improving sampling consistency and structural reliability; the screw-driven telescopic mechanism converts the rotational motion of the motor into linear driving force with high precision, realizing synchronous advancement, quantitative extraction, and automatic dispensing control of each sampling needle, making the sample volume more accurate and controllable each time, reducing human operation errors, and improving the level of sampling standardization.

[0058] Once the sampling docking and oil circuit connection are established, the drive motor starts, and the lead screw drives the telescopic mechanism to precisely convert the motor's rotational motion into a smooth and powerful linear push-pull force. This linear driving force acts synchronously on the piston ends of multiple sampling needles that are firmly held by the needle array fixing frame, forcing multiple sampling needles to perform suction actions at the same time and with the same stroke, thereby directly, synchronously and equally extracting and distributing the insulating oil inside the transformer into each independent sampling needle.

[0059] The present invention is further configured such that the needle array holder includes:

[0060] A syringe holder is fixedly mounted on a walking chassis by several upright plates; the upper surface of the syringe holder is provided with a plurality of parallel first arc-shaped positioning grooves, the inner diameter of which is adapted to the outer diameter of the sampling needle tube.

[0061] An axial limiting groove is formed at the end of the first arc-shaped positioning groove, and the width and depth of the axial limiting groove match the tail flange of the sampling needle tube.

[0062] Two fastening plates are symmetrically arranged and rotatably mounted on the syringe holder. The fastening plates are provided with several second arc-shaped positioning grooves that are adapted to the outer diameter of the sampling needle tube.

[0063] Fasteners are fixedly installed on the two fastening plates to lock and position the closed fastening plates onto the syringe holder.

[0064] The advantages of this scheme are at least as follows: By setting up a needle array fixing frame structure consisting of a syringe holder, axial limiting groove, fastening plate, and fasteners, the syringe holder is stably installed on the chassis via a vertical plate, and multiple parallel first arc-shaped positioning grooves are used to accurately initially position each sampling needle, ensuring that the needle array maintains a uniform arrangement; the axial limiting groove further limits the axial movement of the flange at the tail of the sampling needle, effectively preventing the needle from shifting back and forth during extraction and advancement; the fastening plates on both sides, which can be rotated and closed, form an upper pressing and covering of the outer wall of the needle through the second arc-shaped positioning groove, and after the fasteners are locked, they form a rigid fixing structure with multi-point clamping and upper and lower coordination, thereby significantly enhancing the overall vibration resistance, structural stability, and positioning accuracy of the needle array.

[0065] The present invention is further configured to include a multimodal perception system and a control center, wherein the multimodal perception system includes a positioning module and a machine vision module; the satellite navigation positioning module is used to guide the walking chassis to move towards the area where the target sampling end is located;

[0066] The machine vision module is used to identify the three-dimensional spatial pose of the target sampling end;

[0067] The control center is electrically connected to the multimodal sensing system and the oil sampling robotic arm, respectively, and is used to precisely align the sampling docking component with the target sampling end by visual servo control based on the three-dimensional spatial pose.

[0068] The advantages of this scheme are at least as follows: By setting up a multimodal perception system and intelligent control system composed of a positioning module, a machine vision module, and a control center, the positioning module provides global position guidance for the walking chassis, enabling the sampling robot to autonomously plan its path and quickly reach the target transformer area, improving the mobility and deployment efficiency of large-scale on-site operations; the machine vision module performs real-time scanning and identification of the target sampling end on the oil sample collection box, accurately acquiring its three-dimensional spatial pose information, thereby solving the target positioning problem under different equipment installation deviations, environmental obstructions, and complex spatial conditions; based on the multimodal perception data fusion results, the control center drives the joints of the oil sampling robot arm to dynamically adjust in real time through a visual servo control algorithm, enabling the sampling docking component to continuously correct pose deviations and achieve high-precision autonomous alignment with the target sampling end.

[0069] A method for sampling insulating oil from transformers in high-voltage substations includes the following steps:

[0070] S1. The sampling robot obtains location information through the positioning module and drives the walking chassis to move to the target area of ​​the transformer.

[0071] S2. The machine vision module scans and identifies the target sampling end on the oil sample collection box to obtain its three-dimensional spatial pose. The control center drives the oil sampling robotic arm according to the pose deviation so that the sampling docking component is aligned with the target sampling end.

[0072] S3. The oil sampling robotic arm drives the sampling connector to approach and insert into the sealing and protective component of the target sampling end, and absorbs the positional deviation and impact load during docking through a passive elastic compliant mechanism.

[0073] S4. The electromagnetic adsorption component on the target sampling end is energized, so that it is attracted to the magnetic part (226) on the sampling docking component to complete the mechanical locking, and the oil sampling mechanism is controlled to perform oil extraction operation.

[0074] S5. After the oil extraction is completed, the electromagnetic adsorption component is de-energized and released, the oil extraction robotic arm drives the sampling connector to withdraw, and the sealing and protection component automatically closes to achieve self-locking protection.

[0075] The advantages of this scheme are at least as follows: First, the satellite navigation and positioning module drives the sampling robot to autonomously reach the target transformer area, significantly reducing manual on-site intervention; then, the machine vision module accurately identifies the three-dimensional spatial pose of the target sampling end of the oil sample collection box, and the control center drives the multi-degree-of-freedom oil sampling robotic arm to complete high-precision spatial alignment, enabling the system to have a wide adaptability to complex station environments and interfaces of multiple equipment models.

[0076] During the sampling process, the sampling connector uses a passive elastic compliance mechanism to adaptively compensate for installation deviations, posture errors, and contact impacts, effectively improving the docking success rate and reducing the risk of mechanical damage; the electromagnetic adsorption component and the magnetic conductive component work together to achieve rapid mechanical locking and highly reliable sealing connection, ensuring a stable, safe, and pure oil extraction process.

[0077] After sampling, the target sampling end quickly returns to a closed and protected state through automatic power-off release and the self-closing structure of the sealing and protection components, continuously blocking external pollution.

[0078] Overall, this method realizes a closed-loop intelligent operation process from target location, interface identification, precise docking, automatic sampling to self-recovery protection, which significantly improves the safety, automation level, sampling efficiency, sample quality and long-term unmanned operation and maintenance capability of insulating oil sampling in high-voltage substations.

[0079] In summary, the present invention has at least the following advantages:

[0080] 1. By setting up a multimodal perception system consisting of a satellite navigation and positioning module, a machine vision module, and a control center, and combining the autonomous movement of the walking chassis with visual servo control technology, the sampling robot can achieve autonomous navigation, target recognition, and precise docking in the complex environment of high-voltage substations, which greatly improves the equipment's environmental adaptability, automation level, and unmanned operation efficiency, and reduces the risks of high-risk manual operation.

[0081] 2. By setting up a multi-degree-of-freedom oil sampling robotic arm structure consisting of a lifting base, shoulder joint, first arm segment, second arm segment and end mounting seat, the sampling docking component can achieve multi-dimensional spatial position and posture adjustment, adapt to the complex installation position of the sampling end of different transformer models, and effectively avoid obstacles and improve docking accuracy and operational flexibility.

[0082] 3. By setting up a sampling docking assembly including a floating platform, a conical guide surface, magnetic conductive components, and a differentiated elastic compensation structure, the system has passive compliant compensation, automatic alignment, rapid magnetic locking, and high sealing connection capabilities during the sampling process, which significantly improves the docking success rate and reduces mechanical impact, oil leakage risk, and interface wear.

[0083] 4. By setting up a sealing and protection mechanism consisting of openable and closable blades, slider drive components and pulley transmission components, a high level of sealing and protection is formed at the target sampling end when it is not in operation. During the sampling process, mechanical triggering automatic opening and closing reset is realized, taking into account the requirements of long-term cleanliness, dust and water resistance and rapid automated operation of the interface.

[0084] 5. By setting up an oil sampling mechanism consisting of multiple independent sampling needles, needle array fixing frames, and screw-driven telescopic mechanisms, multi-channel quantitative extraction, automatic dispensing, and standardized management of insulating oil samples can be achieved, effectively improving sample purity, sampling consistency, and batch testing efficiency, and further enhancing the overall intelligent operation and maintenance capabilities and long-term operational reliability of the system. Attached Figure Description

[0085] Figure 1 This is an overall schematic diagram of this embodiment;

[0086] Figure 2 This is an overall schematic diagram showing the removal of the chassis in this embodiment;

[0087] Figure 3 This is a partial cross-sectional view of the oil extraction component in this embodiment;

[0088] Figure 4 This is an overall schematic diagram of the oil extraction component extended in this embodiment;

[0089] Figure 5 This is a three-dimensional cross-sectional view of the sampling docking component in this embodiment;

[0090] Figure 6 This is a partial schematic diagram of the oil sampling mechanism in this embodiment;

[0091] Figure 7 This is an overall schematic diagram of the target sampling end in this embodiment;

[0092] Figure 8 This is a partial schematic diagram of the target sampling end in this embodiment.

[0093] Figure 9 This is an overall schematic diagram of the sealing and protection assembly in this embodiment;

[0094] Figure 10 This is an exploded view of the sealing and protective assembly in this embodiment.

[0095] Reference numerals: 100, Sampling robot; 10, Walking chassis; 20, Oil sampling assembly; 21, Oil sampling robotic arm; 211, Lifting base; 212, Shoulder joint; 213, First arm segment; 214, Second arm segment; 215, End mount; 22, Sampling docking assembly; 221, Mounting base; 222, Receptacle chamber; 223, Floating platform; 224, Central channel; 225, Conical guide surface; 226, Magnetic conductive component; 227, Passive elastic compliant mechanism; 2271, First spring assembly; 2272, Second spring assembly; 228, Sampling docking connector; 30, Oil extraction sampling mechanism; 31, Sampling needle; 32. Needle array fixing frame; 321. Syringe holder; 322. First arc-shaped positioning groove; 323. Axial limiting groove; 324. Fastening pressure plate; 325. Second arc-shaped positioning groove; 326. Fastener; 33. Screw-driven telescopic mechanism; 40. Target sampling end; 41. Oil sample collection box body; 42. Interface; 43. Electromagnetic adsorption assembly; 50. Sealing and protection assembly; 51. Outer fixed shell; 52. Upper mounting cover plate; 53. Lower mounting base plate; 54. Internal mounting cavity; 55. Central through hole; 60. Sealing and protection mechanism; 61. Openable and closable blade; 62. Slider drive assembly; 63. Pulley transmission assembly. Detailed Implementation

[0096] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0097] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0098] Example 1

[0099] like Figure 1 As shown, a high-voltage substation transformer insulating oil sampling device includes a sampling robot 100 and a target sampling end 40 set on the transformer oil sample collection box; wherein the sampling robot 100 serves as a mobile intelligent sampling platform, used to autonomously complete the unmanned collection of target transformer insulating oil samples in the high-voltage substation environment.

[0100] Specifically, the sampling robot 100 includes a walking chassis 10, an oil sampling component 20 and an oil extraction sampling mechanism 30 mounted on the walking chassis 10, and also includes a multimodal perception system and a control center; wherein the multimodal perception system is mounted on the walking chassis 10 and includes a positioning module and a machine vision module, wherein the positioning module is a satellite navigation positioning module, used to obtain the real-time location information of the equipment in the substation, and guide the walking chassis 10 to move to the area where the target transformer is located by combining a preset map or the coordinates of the target equipment;

[0101] The machine vision module is used for image acquisition, target recognition, and spatial positioning of the target transformer oil sample collection box area. It obtains the three-dimensional spatial pose information of the target sampling end 40 by recognizing its structural features. The control center is electrically connected to the satellite navigation and positioning module, the machine vision module, and the oil sampling robotic arm 21. The control center can be an industrial controller, an embedded computing platform, or an intelligent control unit with edge computing capabilities. It is used to fuse positioning and visual information and drive the oil sampling robotic arm 21 to complete spatial pose adjustment in real time through a visual servo control algorithm, so that the sampling docking component 22 and the target sampling end 40 are precisely aligned.

[0102] Preferably, the chassis 10 adopts a diagonal drive four-wheel architecture, forming a movement mode similar to biological gait coordination, and achieving stable driving and balanced torque distribution of the whole machine through the diagonal distribution of power.

[0103] Specifically, the chassis 10 includes a frame structure, a drive motor, a transmission assembly, and a wheel assembly. The frame structure serves as the main load-bearing component, housing the oil extraction robotic arm 21, the oil sampling mechanism 30, the multimodal sensing system, and the control center. The drive system preferably uses two 104L type high-torque DC servo motors as the core power source. Each motor has a rated power of 850W and a peak output torque of 25N·m. One motor directly drives the left front wheel, and the other directly drives the right rear wheel, forming a diagonal power arrangement. The corresponding right front wheel and left rear wheel are linked to the diagonal drive wheels via a 06B type double-row roller chain transmission system, achieving four-wheel coordinated drive. This ensures structural compactness while achieving all-wheel drive and power redundancy distribution.

[0104] Furthermore, to ensure the synchronization of movement and transmission stability of each traveling wheel, the chain drive system adopts an equal-length chain design, so that the speed synchronization error between each drive wheel is controlled within 2%. At the same time, an adjustable tensioning mechanism is provided, with an adjustment range preferably ±15mm, to compensate for the elongation changes of the chain during use and maintain appropriate tension. A magnetic adsorption type sealing chain cover is provided on the outside of the chain drive part to prevent dust, oil and moisture from entering, improve the overall protection level, and make the chassis meet the IP55 environmental protection requirements.

[0105] In terms of support and vibration reduction, the walking wheel assembly preferably adopts Langchi X131 all-terrain drive wheels with a wheel diameter of approximately Φ200mm. The tread is made of polyurethane and rubber composite material with a friction coefficient of not less than 0.65, which can provide good grip performance in complex ground environments. Each walking wheel is mounted on the frame through a double-sealed bearing and is equipped with an AST_Bearings_UCP204 spherical roller bearing structure. This bearing has a self-aligning capability of ±2°, which can effectively absorb asymmetrical loads caused by uneven ground or load offset. At the same time, rubber damping pads are set at key connection nodes to attenuate high-frequency vibrations, improve the overall running stability of the machine and extend the service life of key components.

[0106] Furthermore, the oil sampling assembly 20 includes an oil sampling robotic arm 21 and a sampling docking assembly 22 installed at the end of the robotic arm. The oil sampling robotic arm 21 is fixedly installed on the walking chassis 10 and can adopt a multi-degree-of-freedom articulated mechanical structure to enable flexible adjustment of the end effector under different height, angle, and spatial position conditions to adapt to the installation position of different types of transformer oil sample collection boxes. The sampling docking assembly 22 is located at the end of the oil sampling robotic arm 21 and forms a through-type fluid transmission channel inside. It is connected to the oil sampling mechanism 30 through an oil-resistant fluid pipeline to establish an insulating oil delivery path after completing the spatial docking with the target sampling end 40, thereby realizing oil sample extraction. The target sampling end 40 is fixedly installed at the designated sampling port position of the transformer oil sample collection box. Its structure matches the sampling docking assembly 22, which can form a quick plug-in and stable sealed connection, thereby realizing standardized interface cooperation in the automated robotic sampling process.

[0107] Example 2

[0108] like Figure 2 , Figure 3 , Figure 4As shown, the oil-sampling robotic arm 21, as the core actuator of the sampling robot 100 for performing insulating oil sampling spatial operations, is mounted on the walking chassis 10. Under the guidance of the control center and multimodal perception system, it drives the sampling docking assembly 22 to accurately approach, adjust its posture, and stably dock with the target sampling end 40. Preferably, the oil-sampling robotic arm 21 adopts a TRRR four-degree-of-freedom serial configuration, structurally integrating high-precision planar positioning capabilities with multi-directional spatial degrees of freedom. Its motion control achieves multi-joint coordinated linkage through inverse kinematics algorithms, enabling the robotic arm to possess flexible response capabilities similar to bionic limbs during execution. Specifically, the oil-sampling robotic arm 21 includes: a lifting base 211, a shoulder joint 212, a first arm segment 213, a second arm segment 214, and an end effector mounting base 215.

[0109] The lifting base 211 is fixedly installed on the walking chassis 10. It can be equipped with an electric push rod, a ball screw lifting module, a hydraulic cylinder or a synchronous lifting guide rail mechanism to drive the entire robotic arm to lift and lower in the vertical direction to adapt to the transformer oil sample collection box interface at different heights. In a preferred embodiment, the lifting base 211 is driven by an iCL42-RS06 V2.0 servo motor to drive a ball screw with a lead of 5mm to achieve a vertical stroke adjustment of ±100mm to adapt to different terrain undulations and the height difference of the transformer oil sample collection box interface.

[0110] The shoulder joint 212 is mounted on the lifting base 211, serving as the basic support node for the lateral and pitch movements of the robotic arm. It connects to the first arm segment 213 and bears the overall working load of the robotic arm. The first arm segment 213 is rotatably mounted on the shoulder joint 212 via the first drive assembly. Driven by the first drive assembly, it can swing around the axis of the shoulder joint 212 to achieve a wide range of forward extension, lifting, or retraction movements of the robotic arm. The second arm segment 214 is rotatably mounted on the first arm segment 213 via the second drive assembly. The second arm segment 214 is rotatably mounted at the end of the first arm segment 213 via the second drive assembly, used to further expand the working space of the robotic arm based on the first arm segment 213 and achieve mid-section posture adjustment. The end effector 215 is mounted at the end of the second arm segment 214 via the third drive assembly, enabling fine angle compensation and direction correction of the end effector. The sampling docking assembly 22 is fixedly mounted at the front end of the end effector 215, used to finally complete high-precision spatial docking with the target sampling end 40.

[0111] Furthermore, in a preferred embodiment, the first drive assembly may include a servo motor, a reducer, and a joint output shaft structure. The servo motor outputs rotational power, which is reduced and amplified by a high-precision reducer, an RV reducer, or a planetary reducer before being transmitted to the rotation axis of the shoulder joint 212, thereby achieving high-precision angle control of the first arm segment 213. This structure ensures that the shoulder joint 212 has high load-bearing capacity, positioning accuracy, and dynamic response capability, meeting the needs of the robotic arm's wide range of motion. The second drive assembly may adopt a servo drive structure similar to the first drive assembly, also including a second servo motor, a reduction transmission mechanism, and a rotating connecting shaft, for driving the second arm segment 214 to perform folding, extending, or angle compensation actions relative to the first arm segment 213, thereby improving the robotic arm's obstacle avoidance capability and flexibility in complex spatial environments.

[0112] In another embodiment, the second drive assembly can also adopt an electric cylinder drive, linkage drive, or synchronous belt drive structure to adapt to different load requirements. The third drive assembly preferably adopts a high-response precision servo motor combined with a small reduction mechanism, which can drive the end mounting base 215 to perform small-angle high-precision rotation adjustment to compensate for the installation error of the target sampling end 40, visual recognition deviation, or the posture error of the robotic arm front stage, thereby ensuring that the sampling docking assembly 22 always maintains the best docking posture before insertion; in some embodiments, the third drive assembly can also adopt a hollow rotating platform structure so that fluid pipelines, cable lines, or signal lines can pass through the inside, improving the structural integration and reliability.

[0113] In this embodiment, the first drive assembly is preferably a combination of an iCL57-RS13 V2.0 servo motor and a CSD-17 harmonic reducer, which outputs approximately 120 N·m of torque to drive the first arm segment 213 to swing around the shoulder joint 212 axis within a large angle range of ±150°, thereby completing the large-range spatial positioning of the robotic arm. The front end of the first arm segment 213 is connected to the second arm segment 214 through the second drive assembly. The second drive assembly preferably adopts a structure of dual motors driving a CSD-14 harmonic reducer in parallel, which can output approximately 45 N·m of torque to achieve fine posture adjustment of the second arm segment 214 around the connecting axis within a range of ±120°, thereby improving the mid-section movement flexibility and obstacle avoidance capability. The end mount 215 is installed at the end of the second arm segment 214 through the third drive assembly. The third drive assembly preferably adopts a high-response servo drive unit or a hollow rotary actuator to achieve 360° continuous rotational orientation of the end, thereby completing the fine angle compensation and direction correction of the sampling docking assembly 22.

[0114] Example 3

[0115] like Figure 5As shown, the sampling docking assembly 22, as an important component of the end effector of the oil sampling robotic arm 21, is used to achieve high-precision spatial docking, attitude adaptive compensation, and the establishment of an insulating oil fluid path between the sampling robot 100 and the target sampling end 40. It is mounted on the front end of the end mount 215 and connected to the oil sampling mechanism 30 via a fluid pipeline. Specifically, the sampling docking assembly 22 includes a mounting base 221, a floating platform 223, a passive elastic compliant mechanism 227, and a sampling docking connector 228.

[0116] The mounting base 221 serves as the main support structure for the sampling docking assembly 22. Its rear end is rigidly connected to the end mount 215 via bolts, flanges, or an integrated fixing structure to ensure the overall structural stability during the movement of the robotic arm. The front end of the mounting base 221 forms an axially extending accommodating chamber 222 to house the floating platform 223 and the passive elastic compliant mechanism 227, and to provide installation space for the floating compensation movement. The mounting base 221 can be made of high-strength aluminum alloy, stainless steel, or insulating composite materials to balance structural strength, weather resistance, and adaptability to high-pressure environments.

[0117] The floating platform 223 is coaxially disposed inside the mounting base 221, and its rear part is at least partially housed in the receiving chamber 222. Under the action of the passive elastic compliant mechanism 227, it can generate a certain range of micro-displacement, angular deflection or attitude compensation relative to the mounting base 221. A central channel 224 is provided through the floating platform 223 along the axial direction for installing the sampling connector 228 and forming an insulating oil fluid transmission path. The outer wall of the front end of the floating platform 223 forms a tapered guide surface 225 with a tapered structure. This tapered guide surface 225 can play an automatic guiding role during the approach to the target sampling end 40, reduce the initial position deviation of docking through geometric guidance, reduce the risk of hard collision, and improve the smoothness of insertion. The front end of the floating platform 223 is also provided with multiple magnetically conductive components 226 evenly distributed along the circumference. The magnetically conductive components 226 can be made of soft magnetic steel, magnetically conductive alloy or electromagnetic response material, and are used to form a rapid magnetic attraction and locking connection with the electromagnetic adsorption assembly 43 set on the outer periphery of the target sampling end 40 during the docking process, thereby improving the stability, sealing and anti-detachment ability during the sampling connection process.

[0118] A passive elastic compliance mechanism 227 is disposed inside the accommodating chamber 222 of the mounting base 221. Its two ends elastically abut against the inner wall of the mounting base 221 and the outer wall of the floating platform 223, respectively, providing multi-directional elastic compensation capability during docking operations at the end of the robotic arm. In specific implementations, the passive elastic compliance mechanism 227 can be composed of multiple sets of compression springs, elastic support columns, flexible damping components, or differentiated stiffness elastic structures. This allows the floating platform 223 to automatically fine-tune its position and attitude when subjected to external contact forces in the axial, radial, or angular directions, thereby absorbing docking errors caused by visual recognition errors, mechanical control errors, installation deviations, or on-site vibrations. After the external force is released, the passive elastic compliance mechanism 227 can drive the floating platform 223 to automatically reset to its initial center position, ensuring the consistency of repeated operations.

[0119] The sampling connector 228 is fixedly installed inside the central channel 224 of the floating platform 223. Its front end is used to insert into the target sampling end 40 and establish a sealed fluid connection, while its rear end is connected to the oil sampling mechanism 30 through an oil-resistant fluid pipeline. This enables the extraction, transportation, and collection of insulating oil samples. The sampling connector 228 can adopt a metal pressure-resistant connector, an insulating composite connector, or a quick-sealing plug-in structure. It can also be configured with sealing rings, one-way valves, or leak-proof structures according to actual needs to further improve the sealing reliability and sample purity during the sampling process.

[0120] Example 4

[0121] like Figure 3 , Figure 5 As shown, the passive elastic compliance mechanism 227, as a key structure for achieving high-precision compliance compensation and attitude stability control of the sampling docking assembly 22, is disposed inside the accommodating chamber 222 of the mounting base 221 and forms a circumferentially distributed elastic support around the sampling docking head 228. Specifically, the passive elastic compliance mechanism 227 includes a first spring group 2271 and a second spring group 2272, wherein the first spring group 2271 and the second spring group 2272 are respectively arranged circumferentially around the sampling docking head 228 and form a zoned differentiated support structure inside the mounting base 221.

[0122] The first spring assembly 2271 is located in the upper region of the mounting base 221, and the second spring assembly 2272 is located in the lower region of the mounting base 221. The two spring assemblies form an elastic contact relationship with the inner wall of the mounting base 221 and the outer peripheral side wall of the floating platform 223, respectively, and are used to provide elastic restoring force in the corresponding direction when the floating platform 223 undergoes micro-displacement or attitude deflection.

[0123] Furthermore, both the first spring group 2271 and the second spring group 2272 may include several compression springs and elastic plungers. The elastic plungers are fixedly installed on the floating platform 223 and one end is slidably connected to the mounting base 221. One end of each spring abuts against the inner wall of the mounting base 221 and the other end abuts against the corresponding support surface on the rear side of the floating platform 223. This is used to provide flexible support and buffer adjustment for the upper area when the floating platform 223 is subjected to external contact force. It is worth mentioning that the compression stiffness of the second spring group 2272 is greater than that of the first spring group 2271.

[0124] Since the first spring assembly 2271 is located on the upper part of the structure, its main function is to allow the floating platform 223 to generate a moderately compliant deflection during the initial contact stage of sampling, so as to absorb the minor impact caused by the positioning error of the robotic arm, the visual recognition error or the installation deviation of the target sampling end 40, and to assist the floating platform 223 in completing the attitude adaptive correction.

[0125] Because the sampling docking assembly 22 has a certain overhang length at its front end, the sampling docking joint 228 and the floating platform 223 are prone to tilting forward or sag under the influence of gravity during long-term operation. Therefore, the second spring group 2272 outputs a gravity compensation torque with high stiffness, which can effectively counteract the attitude sinking caused by the self-weight of the front structure and maintain the stable alignment of the central axis of the floating platform 223 with the axis of the target sampling end 40. Through the synergistic effect of spring groups with different stiffnesses in the upper and lower regions, the floating platform 223 can form a passive compensation mechanism that combines support stability and compliant adaptability within a certain range of vertical, radial, and angular dimensions.

[0126] Example 5

[0127] like Figure 7 , Figure 8 As shown, the target sampling end 40 serves as a sampling interface component installed on the transformer oil sample collection box body 41. It is used to form a rapid, safe, and sealed automated connection with the sampling docking component 22 at the end of the sampling robot 100, thereby achieving unmanned collection of insulating oil samples under high-voltage conditions. Specifically, the target sampling end 40 is located on one side of the oil sample collection box body 41, preferably installed in a side wall area that is easily accessible to the robotic arm and has structural stability. Its overall structure includes a docking interface 42, an electromagnetic adsorption component 43, and a sealing and protective component 50.

[0128] The interface 42 is located at the end of the sampling passage of the oil sample collection box body 41. Its structural dimensions, axial position, and sealing method are matched with the sampling connector 228 in the sampling docking assembly 22, and it is used to establish a standardized insulating oil fluid connection channel during the sampling process. The interface 42 can adopt a metal pressure-resistant interface, a quick-plug fluid connector, or an insulating sealing structure to ensure mechanical strength, oil resistance, and sealing reliability under long-term high-pressure environment.

[0129] The electromagnetic adsorption component 43 is arranged around the periphery of the interface 42 to provide rapid adsorption and locking force after the sampling docking connector 228 is connected. In specific implementations, the electromagnetic adsorption component 43 may include a ring-shaped electromagnetic coil, a magnetic core structure, and an external power supply control unit. When energized, it forms a stable magnetic attraction with multiple magnetically conductive components 226 located at the front end of the sampling docking component 22, thereby achieving automated and rapid locking connection without the need for complex mechanical twisting or snap-locking structures. This structure not only improves robot docking efficiency but also effectively compensates for minor assembly deviations, enhancing stability and sealing during the connection process. After sampling, the adsorption state can be quickly released by power-off, facilitating the safe withdrawal of the robotic arm.

[0130] like Figure 9 , Figure 10 As shown, to ensure excellent environmental protection capabilities of the target sampling end 40 during long-term non-operation, the target sampling end 40 is equipped with a sealing and protection component 50. The sealing and protection component 50 is installed on the outer area of ​​the interface 42, used to seal the interface 42 in the non-sampling state to prevent external contamination from entering, and automatically opens to form a passageway when the sampling connector 228 is connected. Specifically, the sealing and protection component 50 includes an outer fixed housing 51, an upper mounting cover plate 52, a lower mounting base plate 53, and a sealing and protection mechanism 60 disposed within the internal mounting cavity 54. The outer fixed housing 51 forms an overall external structural frame, with its axial ends connected to the upper mounting cover plate 52 and the lower mounting base plate 53 respectively by bolts, welding, or flange fixing, the three together forming a closed internal mounting cavity 54. A central through hole 55 corresponding to the axis of the interface 42 is formed in the center of the internal mounting cavity 54 for the sampling connector 228 to be inserted through.

[0131] The sealing and protective assembly 50 includes: an outer fixed housing 51, and an upper mounting cover plate 52 and a lower mounting base plate 53 respectively fixedly connected to the two axial ends of the outer fixed housing 51; the upper mounting cover plate 52, the lower mounting base plate 53 and the outer fixed housing 51 together form an internal mounting cavity 54; the center of the internal mounting cavity 54 forms a central through hole 55 corresponding to the interface 42;

[0132] like Figure 8 As shown, the sealing and protection assembly 50 also includes a sealing and protection mechanism 60 disposed in the internal mounting cavity 54, which is used to perform automatic opening and closing control on the central through hole 55 of the target sampling end 40, thereby forming a highly reliable sealing and protection in the non-sampling state, and automatically opening to form a sampling channel when the sampling robot 100 performs docking operations.

[0133] Specifically, the sealing and protection mechanism 60 includes multiple openable and closable blades 61, a slider drive assembly 62, and a pulley transmission assembly 63.

[0134] Multiple openable and closable blades 61 are arranged in a circular array around the central through-hole 55. Each blade is preferably arranged in an iris-like structure, fan-shaped, or arc-shaped configuration. One end of each blade is pivotally connected to the inner wall of the outer fixed housing 51 via a rotating shaft, pin, or micro-hinged structure. In the initial state, the openable and closable blades 61 are arranged in a closed configuration towards the center, forming a closed protective surface around the central through-hole 55 to prevent external dust, moisture, pollutants, and foreign objects from entering the target sampling end 40. In the open state, each blade rotates and unfolds radially outward around its respective pivot, thereby forming a sufficient diameter for the sampling connector 228 to pass through smoothly. The synchronous opening and closing of multiple blades ensures balanced force and stable diameter changes during the opening process of the central through-hole 55, and effectively avoids the problems of uneven wear, jamming, and uneven local force that are prone to occur in traditional single-panel structures.

[0135] The slider drive assembly 62 is slidably disposed inside the internal mounting cavity 54, typically arranged along the axial direction of the target sampling end 40, with its trigger end extending into the path range of the central through hole 55. When the sampling connector 228 is axially inserted into the target sampling end 40, the front end of the sampling connector 228 first contacts the trigger end of the slider drive assembly 62 and applies an axial thrust, causing the slider drive assembly 62 to produce a stable linear displacement along a preset direction. The slider drive assembly 62 can employ a guide rail slider structure, a limiting groove guide structure, or a low-friction sliding mechanism to ensure smooth operation and repeatability.

[0136] The pulley transmission assembly 63 is connected between the slider drive assembly 62 and each openable / closeable blade 61, and is used to convert the axial linear displacement of the slider drive assembly 62 into the synchronous deflection rotational motion of each blade. In specific implementation, the pulley transmission assembly 63 may include a cable, a connecting rod, a guide wheel, a miniature pulley block or a lever mechanism, and each blade forms a mechanical linkage with the slider through a corresponding transmission unit. When the slider is axially pushed, the pulley transmission assembly 63 synchronously pulls or drives each blade to rotate around the pivot, realizing the mechanical automatic opening of the central through hole 55; when the external pushing force disappears, under the action of the elastic reset structure, gravity reset or pre-tightening mechanism, the slider drive assembly 62 automatically returns to its position, and drives each blade to synchronously close towards the center through the pulley transmission assembly 63, restoring the sealed protection state.

[0137] During the actual operation, when the sampling robot 100 controls the robotic arm to advance the sampling connector 228 along the axis of the target sampling end 40, the sampling connector 228 first presses against the trigger end of the slider drive component 62, driving the slider to generate axial displacement. This displacement acts synchronously on multiple openable and closable blades 61 through the pulley transmission component 63, causing each blade to unfold outwards evenly like an iris structure, quickly forming a central sampling channel. The sampling connector 228 then passes through the opened central through hole 55 and completes a precise connection with the internal interface 42. After sampling is completed, the robotic arm withdraws, the slider automatically resets after losing its pushing force, and each blade closes synchronously under the action of the pulley transmission component 63, resealing the target sampling end 40. The entire process forms a closed-loop protection logic of "automatic opening upon contact—operational passage—automatic closing upon withdrawal".

[0138] Example 6

[0139] like Figure 6 As shown, the oil sampling mechanism 30 is mounted on the chassis 10 of the sampling robot 100 and is connected to the sampling docking component 22 via a fluid pipeline. It is used to automatically extract, quantitatively control, independently store, and dispense multiple samples of insulating oil after docking with the target sampling end 40. The oil sampling mechanism 30 adopts a standardized multi-needle parallel sampling structure, which can effectively meet the requirements of multiple batches of insulating oil sample collection and cross-contamination prevention in high-voltage substations.

[0140] Specifically, the oil sampling mechanism 30 includes multiple sets of independent sampling needle tubes 31, a needle tube array fixing frame 32, and a screw-driven telescopic mechanism 33. It also includes an oil outlet, which is set on the sampling docking assembly 22 and connected to the sampling needle tubes 31 through a hose and a three-way valve assembly.

[0141] The sampling syringes 31 preferably adopt a standard injection syringe structure. Each set of sampling syringes 31 includes an independent syringe, piston rod, and internal liquid storage chamber, used to store insulating oil samples extracted at different stages or for different tasks. The independent arrangement of each sampling syringe 31 effectively avoids sample mixing and contamination, and facilitates subsequent testing and analysis, sample traceability, and batch management. The sampling syringes 31 can be made of oil-resistant polymer materials, glass, or corrosion-resistant engineering plastics to ensure long-term sample storage stability and sample purity.

[0142] The needle array mounting bracket 32 ​​is used for the unified installation, rigid support and high-precision positioning of multiple sampling needles 31, and is fixedly mounted on the walking chassis 10. In specific implementation, the needle array mounting bracket 32 ​​includes a syringe holder 321, an axial limiting groove 323, a fastening pressure plate 324 and fasteners 326.

[0143] The syringe holder 321 is fixedly installed above the walking chassis 10 by several upright plates, forming a basic support platform for the sampling needle tube 31. The upper surface of the syringe holder 321 has multiple parallel first arc-shaped positioning grooves 322. The inner diameter of each first arc-shaped positioning groove 322 is adapted to the outer diameter of the sampling needle tube 31 syringe, providing lower semi-enclosed support and positioning for each sampling needle tube 31, ensuring that each needle tube maintains a uniform arrangement direction and stable spacing.

[0144] An axial limiting groove 323 is provided at the end of each first arc-shaped positioning groove 322. The size of the axial limiting groove 323 matches the flange structure of the tail flange of the sampling needle tube 31. It is used to limit the forward and backward displacement of the needle tube in the axial direction, prevent the needle tube from moving due to push and pull loads during the sampling process, and thus ensure the accuracy of quantitative sampling.

[0145] Two rotatable fastening plates 324 are symmetrically arranged above the syringe holder 321. Each fastening plate 324 can be opened or closed by rotating around its mounting axis. Its inner side is provided with multiple second arc-shaped positioning grooves 325 that match the outer diameter of the sampling needle tube 31. When the fastening plate 324 is closed, the second arc-shaped positioning grooves 325 and the lower first arc-shaped positioning groove 322 together form a complete enveloping circumferential clamping structure, providing rigid fixation of the sampling needle tube 31 in both upward and downward directions, thereby significantly improving the vibration resistance and positioning stability of the overall array structure.

[0146] Fasteners 326 are fixedly installed between the two fastening plates 324 and can be bolted, quick-release, or rotary locking mechanisms. They securely lock the fasteners onto the syringe holder 321 after the fastening plates 324 are closed, thus enabling the rapid installation and reliable fixing of multiple sampling syringes 31. This structure ensures the stability of the equipment during long-term operation and facilitates subsequent syringe replacement, maintenance, and sample recovery operations.

[0147] Specifically, the fastener 326 can adopt a bolt locking structure, including a screw, a nut, and a clamping washer. The screw passes through the corresponding through holes of the fastening plates 324 on both sides and cooperates with the threaded holes or connecting lugs on the syringe holder 321. By tightening the nut or screw, the fastening plates 324 on both sides are brought inward and form a stable clamping force on the sampling needle tube 31. To improve the vibration resistance, anti-loosening washers, nylon locking nuts, or anti-loosening adhesive layers can also be provided at the threaded connection to ensure a reliable locking state under robot movement and sampling vibration conditions.

[0148] In another embodiment, the fastener 326 may adopt a quick-release buckle structure, which includes a buckle body, an elastic locking element and a release button. The buckle body is connected to the fastening pressure plates 324 on both sides respectively. It can be automatically locked by pressing to close and can be quickly unlocked by operating the button when released, thereby realizing quick assembly and disassembly without tools. It is suitable for application scenarios that require frequent replacement of sampling needle tubes 31.

[0149] In another embodiment, the fastener 326 may also adopt a knob-type locking structure, which includes a locking rod with external threads and a manual knob. One end of the locking rod is connected to a fastening pressure plate 324 on one side, and the other end passes through the fastening pressure plate 324 on the other side and forms a threaded engagement with the syringe holder 321. The pressure plate can be quickly closed and locked by rotating the knob, which has the advantages of convenient operation, adjustable locking force and high repeatability.

[0150] In some embodiments, the fastener 326 may also be combined with an elastic preload element (such as a compression spring or a disc spring) to provide a continuous preload force in the locked state to compensate for gap changes caused by temperature changes, material deformation or long-term use, thereby further improving the stability and reliability of the needle array fixation.

[0151] Furthermore, a lead screw-driven telescopic mechanism 33 is located in the driving area at the tail of the sampling needle tube 31, and includes a drive motor, a lead screw transmission shaft, a nut-slider assembly, and a synchronous push plate structure. The drive motor outputs rotational power, which is converted into high-precision linear driving force through the lead screw transmission structure. This drives the synchronous push plate to simultaneously push the piston rods of each sampling needle tube 31, realizing the synchronous pulling or pushing operation of multiple sets of needle tubes. By controlling the displacement stroke of the lead screw, the sampling volume of each sampling needle tube 31 can be precisely controlled, realizing standardized quantitative extraction and automatic dispensing of insulating oil samples.

[0152] Example 7

[0153] Based on Examples 1-6, the present invention also provides a method for sampling insulating oil from transformers in high-voltage substations, comprising the following steps:

[0154] S1. Autonomous Navigation Phase: First, the control center activates the sampling robot 100. The satellite navigation and positioning module in the multimodal perception system acquires the current geographical location, station path information, and coordinates of the target transformer area in real time. Combined with a pre-set substation equipment map or inspection task plan, the control center controls the walking chassis 10 to autonomously move along the predetermined route to the work area near the target transformer. During the movement, the control center continuously combines environmental perception information to dynamically correct the travel path, avoiding obstacles, complex terrain, or interference from station equipment, ensuring the robot safely and stably reaches the target oil sample collection box work location.

[0155] S2. Visual Recognition and Precise Alignment Stage: When the sampling robot 100 arrives at the target area (e.g., within a 5-10 meter range), the machine vision module is activated to acquire images, recognize structures, and locate the target interface of the transformer oil sample collection box. By recognizing the external structural features, central axis position, and posture parameters of the target sampling end 40, the three-dimensional spatial pose information of the target sampling end 40 is obtained in real time. After processing the acquired data, the control center coordinates the actions of the lifting base 211, shoulder joint 212, first drive component, second drive component, and third drive component through a visual servo control algorithm. The overall height, extension distance, pitch angle, and end posture of the oil sampling robotic arm 21 are adjusted step by step, so that the sampling docking component 22 installed on the end mounting base 215 gradually approaches the target sampling end 40 and achieves high-precision alignment in spatial position, angular direction, and central axis, laying the foundation for subsequent automatic insertion.

[0156] S3, Compliant Guiding Docking Stage: After visual alignment is completed, the control center further drives the oil sampling robotic arm 21 to slowly advance, so that the tapered guide surface 225 at the front end of the sampling docking assembly 22 first contacts the central area of ​​the sealing and protection assembly 50 of the target sampling end 40. As the sampling docking head 228 continues to advance, it contacts the trigger end of the slider drive assembly 62 in the sealing and protection mechanism 60, triggering the slider drive assembly 62 to move axially, and synchronously driving multiple openable and closable blades 61 to deflect and unfold radially outward through the pulley transmission assembly 63, thereby automatically opening the central through hole 55 to form a sampling channel. During the insertion process, if there are slight positional deviations, angular errors or contact impacts, the first spring group 2271 and the second spring group 2272 in the passive elastic compliance mechanism 227 correct the attitude and buffer the impact of the floating platform 223 through a differentiated stiffness compensation mechanism. The second spring group 2272 provides gravity compensation torque to suppress end sagging, and the first spring group 2271 provides compliance guidance capability, so that the sampling connector 228 can still achieve stable and low-impact accurate insertion under multi-directional error conditions.

[0157] S4. Electromagnetic Locking and Automatic Sampling Stage: After the sampling connector 228 is fully inserted into the target sampling end 40 and establishes a fluid connection with the internal connector 42, the control center triggers the electromagnetic adsorption component 43 around the target sampling end 40 to be energized. The electromagnetic adsorption component 43 and the multiple magnetically conductive components 226 arranged circumferentially at the front end of the floating platform 223 quickly form a magnetic locking structure, thereby achieving a stable mechanical locking and high-sealing connection between the sampling connector 22 and the target sampling end 40. Subsequently, the control center activates the screw-driven telescopic mechanism 33 in the oil sampling mechanism 30, driving multiple sets of independent sampling needles 31 to simultaneously perform negative pressure suction, drawing the transformer insulating oil sample from the target sampling end 40 into each independent sampling needle 31 through the fluid pipeline. The screw-driven structure can accurately control the sampling volume according to preset parameters, realizing standardized quantitative sampling, automatic multi-sample dispensing and independent sealing, avoiding human operation errors and sample cross-contamination.

[0158] S5. Separation and Automatic Protection Phase: After the sampling task is completed, the control center stops the screw drive mechanism, completing sample sealing; then, the electromagnetic adsorption component 43 of the target sampling end 40 is de-energized, releasing the magnetic locking state; the oil sampling robotic arm 21 performs a reverse withdrawal action, driving the sampling connector 228 to withdraw axially from the target sampling end 40. During the withdrawal process, the slider drive component 62 automatically resets after losing its pushing force, and drives multiple openable and closable blades 61 to simultaneously close towards the center through the pulley transmission component 63, resealing the central through hole 55, thereby restoring the fully sealed protection state of the target sampling end 40, achieving dustproof, waterproof, pollution-proof, and mechanical self-locking protection. Finally, the sampling robot 100 returns to the standby area or continues to perform the next target equipment sampling task according to the task plan.

[0159] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0160] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A high voltage substation transformer insulation oil sampling apparatus, characterized by, The utility model relates to a kind of oil sampling robots, including walking chassis (10), and oil taking assembly (20) and oil sampling mechanism (30) are arranged on the walking chassis (10);Target sampling end (40) is arranged on the oil sample collection box of transformer, and forms quick connection with the oil taking assembly (20);The oil taking assembly (20) is used to space docking with target sampling end (40) installed at transformer sampling port and insulating oil sampling;The oil sampling mechanism (30) is communicated with the oil taking assembly (20) by fluid pipeline;The oil taking assembly (20) includes: oil taking mechanical arm (21), is arranged on walking chassis (10), for driving end effector to carry out spatial position adjustment;Sampling docking assembly (22) is arranged at the end of the oil taking mechanical arm (21), and inside is equipped with fluid transmission channel, and is communicated with the oil sampling mechanism (30). The oil taking mechanical arm (21) includes: lifting base (211), is fixedly installed on the walking chassis (10), for realizing the overall lifting of oil taking mechanical arm (21);Shoulder joint (212) is arranged on the lifting base (211);First arm section (213) is rotatably installed on the shoulder joint (212) by first drive assembly;Second arm section (214) is rotatably installed on the first arm section (213) by second drive assembly;End mounting seat (215) is rotatably installed on the end of the second arm section (214) by third drive assembly;Sampling docking assembly (22) is installed on the end mounting seat (215). The sampling docking assembly (22) includes: mounting base (221), rear end is fixedly connected with the end mounting seat (215), and front end is formed with accommodating cavity (222);Floating platform (223) is coaxially partially accommodated in the accommodating cavity (222) of the mounting base (221), and the inside of the floating platform (223) is provided with central passage (224) along the axial direction;The outer side wall of the front end of the floating platform (223) is formed with tapered conical guide surface (225);The front end of the floating platform (223) is provided with a plurality of circumferentially distributed magnetic guide components (226);Passive elastic compliance mechanism (227) is arranged in the accommodating cavity (222), and both ends are respectively elastically abutted with the inner wall of the mounting base (221) and the side wall of the floating platform (223);Sampling docking head (228) is fixedly arranged in the central passage (224) of the floating platform (223), and is communicated with the oil sampling mechanism (30) by fluid pipeline. The passive elastic compliance mechanism (227) includes first spring group (2271) and second spring group (2272) arranged circumferentially along the periphery of the sampling docking head (228) respectively;The first spring group (2271) is located in the upper region of the mounting base (221), and the second spring group (2272) is located in the lower region of the mounting base (221). ​ ​ ​ 2. A high voltage substation transformer insulation oil sampling device according to claim 1, characterized in that: ​ ​ ​ ​ ​ ​ 3. A high voltage substation transformer insulation oil sampling device according to claim 2, characterized in that: ​ ​ ​ ​ ​ 4. A high voltage substation transformer insulation oil sampling device according to claim 3, characterized in that: ​ The compression stiffness of the second spring set (2272) is greater than the compression stiffness of the first spring set (2271), and is used to output a self-downward gravity compensation moment to the floating platform (223).

5. A high voltage substation transformer insulation oil sampling device according to claim 4, characterized in that: The target sampling end (40) comprises a docking port (42) matched with the sampling docking assembly (22), and the docking port (42) is arranged on one side of the oil sample collection box body (41). An electromagnetic adsorption assembly (43) is arranged around the outer periphery of the docking port (42) to provide adsorption locking force. A sealing protection assembly (50) is arranged at the docking port (42), and is used to close the docking port (42) in a non-sampling state, and automatically open a sampling channel when the sampling docking head (228) is connected. The sealing protection assembly (50) comprises an outer fixed shell (51), and an upper mounting cover plate (52) and a lower mounting bottom plate (53) fixedly connected to the axially opposite ends of the outer fixed shell (51). The upper mounting cover plate (52), the lower mounting bottom plate (53) and the outer fixed shell (51) jointly form an internal mounting cavity (54). A central through hole (55) corresponding to the docking port (42) is formed in the center of the internal mounting cavity (54). The sealing protection assembly (50) further comprises a sealing protection mechanism (60) arranged in the internal mounting cavity (54).

6. A high voltage substation transformer insulation oil sampling device according to claim 5, characterized in that: The sealing protection mechanism (60) comprises: A plurality of openable and closable blades (61) are arranged in a circular array in the circumferential direction. One end of each of the openable and closable blades (61) is pivotally connected to the inner wall of the outer fixed shell (51), and is used to open and close the central through hole (55) by synchronous deflection. A slider driving assembly (62) is slidingly arranged in the internal mounting cavity (54), and a triggering end of the slider driving assembly (62) extends into the path of the central through hole (55), and is used to receive the axial thrust when the sampling docking head (228) is connected and generate linear displacement. A pulley transmission assembly (63) is connected between the slider driving assembly (62) and each of the openable and closable blades (61). The pulley transmission assembly (63) is used to convert the axial linear displacement of the slider driving assembly (62) into synchronous rotary motion of each of the openable and closable blades (61) around the pivot portion thereof, so that a plurality of the openable and closable blades (61) are deflected to the radial outside to be opened.

7. A high voltage substation transformer insulation oil sampling apparatus according to claim 1, characterized in that: The oil sampling mechanism (30) comprises: A plurality of groups of sampling needle tubes (31) are used to store the extracted insulating oil samples respectively. A needle tube array fixing frame (32) is used to rigidly position the plurality of groups of sampling needle tubes (31). A screw drive telescopic mechanism (33) is used to convert the rotary motion of the motor into linear driving force to drive each of the sampling needle tubes (31) to perform quantitative extraction and dispensing operation synchronously.

8. A high voltage substation transformer insulation oil sampling device according to claim 7, characterized in that: The needle tube array fixing frame (32) comprises: The syringe holder (321) is fixedly mounted on the walking chassis (10) by several upright plates; the upper surface of the syringe holder (321) is provided with a plurality of parallel first arc-shaped positioning grooves (322), the inner diameter of the first arc-shaped positioning grooves (322) is adapted to the outer diameter of the syringe of the sampling needle tube (31); An axial limiting groove (323) is provided at the end of the first arc-shaped positioning groove (322), and the width and depth of the axial limiting groove (323) match the tail flange of the sampling needle tube (31). Two fastening plates (324) are symmetrically provided and are rotatably installed on the syringe holder (321). The fastening plates (324) are provided with several second arc-shaped positioning grooves (325) that are adapted to the outer diameter of the sampling needle tube (31). Fasteners (326) are fixedly installed on the two fastening plates (324) for locking and positioning the closed fastening plates (324) on the syringe holder (321).

9. A high voltage substation transformer insulation oil sampling apparatus according to claim 1, characterized in that: It also includes a multimodal perception system and a control center. The multimodal perception system includes a positioning module and a machine vision module. The positioning module is used to guide the walking chassis (10) to move towards the area where the target sampling end (40) is located. The machine vision module is used to identify the three-dimensional spatial pose of the target sampling end (40); The control center is electrically connected to the multimodal sensing system and the oil sampling robot arm (21) respectively, and is used to precisely align the sampling docking component (22) with the target sampling end (40) by visual servo control according to the three-dimensional spatial pose.

10. A method of sampling transformer insulating oil in a high voltage substation transformer, characterized by Includes the following steps: S1. The sampling robot (100) obtains location information through the satellite navigation and positioning module and drives the walking chassis (10) to move to the transformer target area; S2. The target sampling end (40) on the oil sample collection box is scanned and identified by the machine vision module to obtain its three-dimensional spatial pose. The control center drives the oil sampling robotic arm (21) according to the pose deviation so that the sampling docking component (22) is aligned with the target sampling end (40). S3. The oil sampling robotic arm (21) drives the sampling connector (228) to approach and insert into the sealing and protective component (50) of the target sampling end (40), and absorbs the position deviation and impact load during docking through the passive elastic compliance mechanism (227). S4. The electromagnetic adsorption component (43) on the target sampling end (40) is energized, so that it is attracted to the magnetic component (226) on the sampling docking component (22) to complete the mechanical locking, and the oil sampling mechanism (30) is controlled to perform oil extraction operation; S5. After the oil extraction is completed, the electromagnetic adsorption component (43) is de-energized and released, the oil extraction robotic arm (21) drives the sampling connector (228) to withdraw, and the sealing protection component (50) automatically closes to achieve self-locking protection.

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