Automatic oil taking and sampling mechanism of robot

Abstract

The utility model relates to an automatic oil sampling mechanism of a robot, which can solve the problems that the oil sampling efficiency of the existing transformer is low, the safety of sampling personnel has hidden danger, the sampling technique is not standard and the oil sample is exposed in the air and is easy to pollute, and comprises a sampling pipeline, an oil path control module, an oil sampling container and a gas path monitoring module, the oil sample sampling container is used for collecting an oil sample, the oil path control module is used for controlling a sampling pipeline to work, and the gas path monitoring module is in communication connection with the oil path control module and is used for judging the gas tightness of the sampling pipeline and feeding back the gas tightness to the oil path control module.

Description

Technical Field

[0001] This application relates to the technical field of oil extraction robots, and particularly to a robot automatic oil sampling mechanism. Background Art

[0002] Insulating oil chromatographic detection technology can effectively detect and diagnose abnormal faults such as discharge and overheating inside oil-filled equipment. For large oil-filled equipment such as transformers and oil-immersed reactors, if a fault occurs inside, there is a certain risk of combustion and explosion. If manual off-line oil sample collection work is carried out on-site at this time, there is a risk of high-risk operations, seriously endangering the personal safety of operating personnel.

[0003] Currently, oil sampling in substations mainly uses operating personnel to collect oil samples through syringes. During the oil sampling process, the oil sample is exposed to the air, resulting in oil sample contamination, so that the test results cannot fully reflect the true situation of the transformer. At the same time, the manual collection of oil pressure is unstable, resulting in easy degassing of the oil sample and inaccurate measurement of the gas density of the test oil sample. Summary of the Invention

[0004] This application provides a robot automatic oil sampling mechanism to at least partially solve the problems of low efficiency of existing transformer oil sample collection, potential safety hazards for sampling personnel, non-standard sampling methods, and easy contamination of oil samples exposed to the air.

[0005] To achieve the above object, this application provides a robot automatic oil sampling mechanism, including:

[0006] A sampling pipeline, an oil circuit control module, an oil sample sampling container, and an air circuit monitoring module,

[0007] The oil sample sampling container is used for collecting oil samples,

[0008] The oil circuit control module is used to control the operation of the sampling pipeline,

[0009] The air circuit monitoring module is communicatively connected to the oil circuit control module and is used to judge the airtightness of the sampling pipeline and feedback it to the oil circuit control module.

[0010] Preferably, the sampling pipeline includes an oil pipe and an oil cylinder connected to the oil pipe. The oil circuit control module includes an oil cylinder control solenoid valve and an oil cylinder motor for controlling the on / off of the oil pipe and the oil cylinder. The oil cylinder is controlled by the oil cylinder motor to operate.

[0011] Preferably, the oil sample sampling container includes at least one oil sample syringe connected to the oil pipe. The oil circuit control module includes a solenoid valve for controlling the on / off of the oil pipe and the oil sample syringe and an oil sample motor for controlling the operation of the oil sample syringe.

[0012] Preferably, the oil sample syringe includes a first oil sample syringe, a second oil sample syringe, and a third oil sample syringe. The first oil sample syringe, the second oil sample syringe, and the third oil sample syringe are respectively connected to the oil pipe. The oil circuit control module includes a first oil sample solenoid valve for controlling the on-off of the oil pipe and the first oil sample syringe, a second oil sample solenoid valve for controlling the on-off of the oil pipe and the second oil sample syringe, and a third oil sample solenoid valve for controlling the on-off of the oil pipe and the third oil sample syringe.

[0013] Preferably, the first oil sample syringe is controlled by a first motor, the second oil sample syringe is controlled by a second motor, and the third oil sample syringe is controlled by a third motor.

[0014] Preferably, the oil circuit control module includes a master control solenoid valve provided at the front of the oil pipe.

[0015] Preferably, the gas circuit monitoring module includes a standard pressure cavity, a standard pressure cavity control solenoid valve provided between the standard pressure cavity and the sampling pipeline, and a differential pressure sensor provided between the standard pressure cavity and the oil pipe.

[0016] Preferably, it further includes a waste oil collection module for collecting waste oil. The oil circuit control module includes a waste oil collection module control solenoid valve for controlling the on-off between the waste oil collection module and the sampling pipeline.

[0017] Preferably, the waste oil collection module includes a waste oil collection container connected to the sampling pipeline.

[0018] Preferably, a waste oil collection container liquid level sensor is provided on the waste oil collection container.

[0019] Preferably, the oil circuit control module includes a liquid level waste oil residual induction cavity for detecting whether there is waste oil in the oil circuit. The liquid level waste oil residual induction cavity is connected between the sampling pipeline and the waste oil collection container.

[0020] Preferably, the liquid level waste oil residual induction cavity is provided with a waste oil residual induction cavity liquid level sensor.

[0021] Preferably, it further includes a waste oil control valve for controlling the on-off between the liquid level waste oil residual induction cavity and the waste oil collection container.

[0022] Preferably, the oil circuit control module includes an I / O board and a control board.

[0023] Preferably, it further includes an oil sample installation mechanism for installing the oil sample sampling container.

[0024] Preferably, the oil sample mounting mechanism includes a fixing frame, the fixing frame is provided with an oil sample handle fixing seat, the oil sample handle fixing seat is provided with a middle card groove for positioning the middle part of the oil sample sampling container, the fixing frame is provided with an oil sample upper fixing plate, and the oil sample upper fixing plate is provided with an upper card groove for positioning the upper part of the oil sample sampling container.

[0025] Preferably, a stopper is provided at the upper slot, and the stopper is connected to the oil sample upper fixing plate via a quick-release handle so as to open or block the upper slot from opening or closing.

[0026] Preferably, the fixing frame is provided with an oil sample floating plate, and the bottom of the oil sample sampling container is elastically abutted against the oil sample floating plate via an oil sample pushing plate.

[0027] Preferably, the oil sample sampling container is driven by an oil sample motor, and the oil sample motor is transmission-connected to the oil sample push plate of the oil sample sampling container via a coupling and a trapezoidal screw.

[0028] Preferably, the oil sample motor is mounted on a fixing frame, the fixing frame is provided with a guide rod, and the oil sample push plate is slidably matched with the guide rod.

[0029] According to the above content, the beneficial effects of this application are:

[0030] During the entire oil production process, the present application completes the entire oil sampling work under the conditions of sealing and stable pressure to ensure that the oil sample is not degassed and the oil sample is isolated from the outside world, ensuring that during the collection process, the outside air will not enter the oil sample and affect the density of the sampled gas. The automatic oil sampling mechanism can sample capacity as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0032] Figure 1 This is an illustration of the overall scheme of this application. Figure 1 ;

[0033] Figure 2 This is an illustration of the overall scheme of this application. Figure 2 ;

[0034] Figure 3 This is a partial illustration of this application Figure 1 ;

[0035] Figure 4 This is a partial illustration of this application Figure 2 ;

[0036] Figure 5It is a schematic diagram of the principle of this application. Detailed implementation manners

[0037] In order to make the objectives, technical solutions and advantages of this application more clear and understandable, the following describes and explains this application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in this application without making creative efforts fall within the scope of protection of this application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in this application, some design, manufacturing or production changes based on the technical content disclosed in this application are only conventional technical means and should not be understood as insufficient disclosure of the content of this application.

[0038] Referring to "embodiments" in this application means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in this application can be combined with other embodiments without conflict.

[0039] Unless otherwise defined, the technical terms or scientific terms involved in this application should have the ordinary meaning understood by those with ordinary skills in the technical field to which this application belongs. The words such as "a", "an", "one kind", "the" and the like involved in this application do not indicate a quantity limitation and can represent a singular or plural number. The terms "including", "comprising", "having" and any variations thereof involved in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or units, but may further include unlisted steps or units, or may further include other steps or units inherent to these processes, methods, products or devices. The terms "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application means greater than or equal to two. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The terms "first", "second", "third" and the like involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0040] In this embodiment, a robot automatic oil sampling mechanism mainly includes a sampling pipeline, an oil circuit control module, an oil sample sampling container, and an air circuit monitoring module. The oil sample sampling container is used to collect oil samples. The oil circuit control module is used to control the operation of the sampling pipeline. The air circuit monitoring module is communicatively connected to the oil circuit control module and is used to judge the airtightness of the sampling pipeline and feedback it to the oil circuit control module.

[0041] For the structural composition of this robot automatic oil sampling mechanism, refer to Figure 1 、 Figure 2 and Figure 3 As shown. Among them, the sampling pipeline includes an oil pipe 507 and an oil cylinder 512 connected to the oil pipe 507. The oil circuit control module includes an oil cylinder control solenoid valve 534 for controlling the on / off of the oil pipe and the oil cylinder, and an oil cylinder motor M7 for controlling the operation of the oil cylinder 512.

[0042] The oil sample sampling container includes at least one oil sample syringe connected to the oil pipe 507. The oil circuit control module includes a solenoid valve for controlling the on / off of the oil pipe 507 and the oil sample syringe, and an oil sample motor 526 for controlling the operation of the oil sample syringe.

[0043] In this embodiment, the oil sample syringe includes an oil sample syringe one 503, an oil sample syringe two 504, and an oil sample syringe three 505. The oil sample syringe one 503, the oil sample syringe two 504, and the oil sample syringe three 505 are respectively connected to the oil pipe 507. The oil circuit control module includes a first oil sample solenoid valve 531 for controlling the on / off of the oil pipe 507 and the oil sample syringe one 503, a second oil sample solenoid valve 532 for controlling the on / off of the oil pipe 507 and the oil sample syringe two 504, and a third oil sample solenoid valve 506 for controlling the on / off of the oil pipe 507 and the oil sample syringe three 505. Among them, the oil sample syringe one 503 is controlled by a first motor M4, the oil sample syringe two 504 is controlled by a second motor M5, and the oil sample syringe three 505 is controlled by a third motor M6.

[0044] The oil circuit control module includes a master control solenoid valve 536 provided at the front of the oil pipe 507.

[0045] The air circuit monitoring module includes a standard pressure cavity 508, a standard pressure cavity control solenoid valve 535 provided between the standard pressure cavity 508 and the sampling pipeline, and a differential pressure sensor 511 provided between the standard pressure cavity and the oil pipe.

[0046] This embodiment further includes a waste oil collection module for collecting waste oil. The oil circuit control module includes a waste oil collection module control solenoid valve 533 for controlling the on / off between the waste oil collection module and the sampling pipeline.

[0047] Specifically, the waste oil collection module includes a waste oil collection container 502 connected to the sampling pipeline, and a waste oil collection container liquid level sensor 501 is provided on the waste oil collection container 502.

[0048] The oil circuit control module also includes a liquid level waste oil residual sensing chamber 509 for detecting whether there is waste oil in the oil circuit. The liquid level waste oil residual sensing chamber 509 is connected between the sampling pipeline and the waste oil collection container 502, and the liquid level waste oil residual sensing chamber 509 is provided with a waste oil residual sensing chamber liquid level sensor 515.

[0049] It also includes a waste oil control valve 510 for controlling the connection between the waste oil residual liquid level sensing chamber 509 and the waste oil collection container 502.

[0050] It also includes an oil sample installation mechanism for installing the oil sample sampling container. Specifically, the oil sample installation mechanism includes a fixed frame 530, the fixed frame 530 is provided with an oil sample handle fixing seat 520, the oil sample handle fixing seat 520 is provided with a middle card slot for locating the middle part of the oil sample sampling container, the fixed frame 530 is provided with an oil sample upper fixing plate 523, and the oil sample upper fixing plate 523 is provided with an upper card slot for locating the upper part of the oil sample sampling container. A stopper 522 is provided at the upper card slot, and the stopper 522 is connected to the oil sample upper fixing plate 523 through a quick release handle 521, so as to open or block the upper card slot from opening or closing. The oil sample installation mechanism is preferably a floating installation mechanism. The fixed frame 530 is provided with an oil sample floating plate 518, and the bottom of the oil sample sampling container is elastically abutted against the oil sample floating plate 518 through an oil sample push plate 519.

[0051] The oil sample motor 526 is connected to the oil sample push plate 519 of the oil sample sampling container through a coupling 527 and a trapezoidal screw 528. The oil sample motor 526 is installed on a fixed frame 530. The fixed frame 530 is provided with a guide rod 529. The oil sample push plate 519 slides with the guide rod 529.

[0052] In this embodiment, the working principle and operation steps of the robot's automatic oil sampling mechanism are as follows:

[0053] (1) The oil extraction robot uses ultrasonic radar sensors and automatic navigation to locate the oil extraction pile or transformer station, and completes the automatic pressure-connected connection between the oil extraction robot connector and the oil extraction pile or transformer station.

[0054] (2) Tightness test of the pipeline from the oil extraction pile to the robot sampling pipe

[0055] After the oil extraction pile is docked with the oil extraction robot, the main control solenoid valve 536, the standard pressure chamber control solenoid valve 535, and the oil cylinder control solenoid valve 534 are opened. The oil cylinder motor M7 is turned on, and the oil cylinder 512 is pulled down, causing the oil in the pipeline between the main control solenoid valve 536 and the oil cylinder 512 to enter the oil cylinder 512. At the same time, a negative pressure is formed in the pipeline. After stabilizing the pressure, the value of the differential pressure sensor 511 is read. The standard pressure chamber 508 is filled with standard gas. The standard pressure chamber control solenoid valve 535 and the oil cylinder control solenoid valve 534 are closed, and the pressure is maintained for 5 to 15 minutes to observe the pressure difference on both sides of the differential pressure sensor 511, the pressure in the standard pressure chamber 508, and the pressure in the docking head pipeline for comparison. If there is no leakage, the pressures should be equal, which is used as the basis for judging whether there is leakage.

[0056] (3) Cleaning of the pipeline at the rear end of the oil extraction pile and the oil extraction robot

[0057] The oil cylinder motor M7 is pulled to a certain position, where V 油缸512 = 3×V 油路 (The specific position needs to be determined by testing). The main control solenoid valve 536 and the oil cylinder control solenoid valve 534 are opened, allowing oil to enter the pipeline until the waste oil residual sensing chamber 509 detects the presence of liquid level, indicating that the cleaning is completed.

[0058] (4) Syringe rinsing (taking syringe one for oil sample as an example)

[0059] a. The main control solenoid valve 536 and the first oil sample solenoid valve 531 are opened. The oil sample motor 526 starts, driving the trapezoidal lead screw 528 to move. The floating mechanism of the oil sample protects the safety of the oil sample syringe and prevents the oil sample syringe from being damaged. There is a magnetic encoder at the tail of the oil sample motor 526 to perform closed-loop control on the oil sample motor, ensuring the reliability and stability of sampling. The oil sample motor M4 is turned on, and the oil sample starts to enter the oil sample syringe one 503. The lead screw is pulled to the lower position A.

[0060] b. The main control solenoid valve 536 is closed, and the first oil sample solenoid valve 531, the oil cylinder control solenoid valve 534, and the waste oil collection module control solenoid valve 533 are opened. At this time, the oil cylinder motor M7 is at the lower position A, and the oil sample motor M4 is pushed to the upper position to drain the oil into the waste oil collection container.

[0061] Repeat steps a and b 2 - 5 times.

[0062] (5) Syringe oil sampling (taking syringe one for oil sample as an example)

[0063] Open the main control solenoid valve 536 and the first oil sample solenoid valve 531, and slowly pull the oil sample motor M4 to the lower position A. At the same time, in order to ensure that no degassing occurs during the oil extraction process, the PT3 pressure value must be between 160-175Kpa. The electronic control module must ensure that the oil pressure change of M4 and the oil extraction pile or the transformer station is between 160-175Kpa. Too large or too small will affect the parameters of the gas in the oil sample.

[0064] (6) The oil cylinder is discharged into the waste oil collection container

[0065] Close the oil cylinder control solenoid valve 534, open the waste oil collection module control solenoid valve 533 and the waste oil control valve 510, push the oil cylinder motor M7 to the upper position, and the waste oil after cleaning enters the waste oil collection container 502. The liquid level sensor 501 on the waste oil collection container senses the oil level change. When the remaining space in the waste oil collection container cannot meet the next cleaning, the liquid level sensor 501 on the waste oil collection container starts to alarm, reminding the staff to discharge the waste oil. At this point, a complete automatic oil sample collection process is completed. The oil used for robot cleaning will pose a potential risk to the transformer station. In order to ensure the stability of the transformer station, the oil used for robot cleaning is discharged into the waste oil collection container.

[0066] In order to ensure the quality of the oil sample and avoid bubbles in the oil sample, the height of the sampling mechanism should be set lower than the oil circuit control module. Individual bubbles can be discharged into the waste oil collection container during the rinsing process to improve the stability and quality of sampling.

[0067] The present invention has the following advantages:

[0068] 1. Standardized and safe operation: Through standardized operation procedures, the whole process of oil extraction is ensured to be accurate and the oil sample is guaranteed, thus avoiding the risk of oil sample contamination caused by uncontrollable factors in manual operation and improving the quality of maintenance.

[0069] 2. Improve the quality of oil extraction: The entire process of oil extraction is completed under sealed and pressurized conditions to ensure the quality of the oil sample.

[0070] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A robot automatic oil sampling mechanism, characterized in that: include: Sampling pipeline, oil circuit control module, oil sampling container, and gas circuit monitoring module, The oil sampling container is used to collect oil samples. The oil circuit control module is used to control the operation of the sampling pipeline. The gas circuit monitoring module is in communication connection with the oil circuit control module, and is used for determining the air tightness of the sampling pipeline and feeding back the air tightness to the oil circuit control module.

2. The robot automatic oil sampling mechanism according to claim 1 is characterized in that: The sampling pipeline comprises an oil pipe (507) and an oil cylinder (512) connected to the oil pipe (507); the oil circuit control module comprises an oil cylinder control solenoid valve (534) for controlling the on / off of the oil pipe and the oil cylinder, and an oil cylinder motor (M7); the oil cylinder (512) is controlled to operate via the oil cylinder motor (M7).

3. The robot automatic oil sampling mechanism according to claim 2 is characterized in that: The oil sample collection container comprises at least one oil sample syringe connected to the oil pipe (507), and the oil circuit control module comprises a solenoid valve for controlling the on-off connection between the oil pipe (507) and the oil sample syringe, and an oil sample motor (526) for controlling the operation of the oil sample syringe.

4. The robot automatic oil sampling mechanism according to claim 3 is characterized by: The oil sample syringe comprises an oil sample syringe one (503), an oil sample syringe two (504), and an oil sample syringe three (505); the oil sample syringe one (503), the oil sample syringe two (504), and the oil sample syringe three (505) are respectively connected to the oil pipe (507); the oil circuit control module comprises a first oil sample solenoid valve (531) for controlling the on-off of the oil pipe (507) and the oil sample syringe one (503); a second oil sample solenoid valve (532) for controlling the on-off of the oil pipe (507) and the oil sample syringe two (504); and a third oil sample solenoid valve (506) for controlling the on-off of the oil pipe (507) and the oil sample syringe three (505).

5. The robot automatic oil sampling mechanism according to claim 4 is characterized in that: The oil sample syringe 1 (503) is controlled to work by a first motor (M4), the oil sample syringe 2 (504) is controlled to work by a second motor (M5), and the oil sample syringe 3 (505) is controlled to work by a third motor (M6).

6. The robot automatic oil sampling mechanism according to claim 4 is characterized by: The oil circuit control module comprises a master control solenoid valve (536) arranged at the front part of the oil pipe (507).

7. The robot automatic oil sampling mechanism according to claim 1 is characterized by: The gas circuit monitoring module comprises a standard pressure cavity (508), a standard pressure cavity control solenoid valve (535) arranged between the standard pressure cavity (508) and a sampling pipeline, and a differential pressure sensor (511) arranged between the standard pressure cavity and an oil pipe.

8. The robot automatic oil sampling mechanism according to claim 1 is characterized by: It also includes a waste oil collection module for collecting waste oil, and the oil circuit control module includes a waste oil collection module control solenoid valve (533) for controlling the connection between the waste oil collection module and the sampling pipeline.

9. The robot automatic oil sampling mechanism according to claim 8, characterized in that: The waste oil collection module comprises a waste oil collection container (502) connected to the sampling pipeline.

10. The robot automatic oil sampling mechanism according to claim 9, characterized in that: The waste oil collection container (502) is provided with a waste oil collection container liquid level sensor (501).

11. The robot automatic oil sampling mechanism according to claim 9, characterized in that: The oil circuit control module comprises a liquid level waste oil residual sensing chamber (509) for detecting whether there is waste oil in the oil circuit, and the liquid level waste oil residual sensing chamber (509) is connected between the sampling pipeline and the waste oil collection container (502).

12. The robot automatic oil sampling mechanism according to claim 11, characterized in that: The waste oil residual liquid level sensing cavity (509) is provided with a waste oil residual sensing cavity liquid level sensor (515).

13. The robot automatic oil sampling mechanism according to claim 11, characterized in that: It also includes a waste oil control valve (510) for controlling the on-off connection between the waste oil residual liquid level sensing chamber (509) and the waste oil collection container (502).

14. The robot automatic oil sampling mechanism according to claim 1, characterized in that: It also includes an oil sample installation mechanism for installing the oil sample sampling container.

15. The robot automatic oil sampling mechanism according to claim 14, characterized in that: The oil sample installation mechanism comprises a fixing frame (530), the fixing frame (530) is provided with an oil sample handle fixing seat (520), the oil sample handle fixing seat (520) is provided with a middle clamping groove for positioning the middle part of the oil sample sampling container, the fixing frame (530) is provided with an oil sample upper fixing plate (523), and the oil sample upper fixing plate (523) is provided with an upper clamping groove for positioning the upper part of the oil sample sampling container.

16. The robot automatic oil sampling mechanism according to claim 15, characterized in that: A stopper (522) is provided at the upper slot, and the stopper (522) is connected to the oil sample upper fixing plate (523) via a quick-release handle (521) so as to open or block the upper slot from opening or closing.

17. The robot automatic oil sampling mechanism according to claim 15, characterized in that: The fixing frame (530) is provided with an oil sample floating plate (518), and the bottom of the oil sample sampling container is elastically abutted against the oil sample floating plate (518) via an oil sample pushing plate (519).

18. The robot automatic oil sampling mechanism according to claim 14, characterized in that: The oil sample sampling container is driven to work by an oil sample motor (526), ​​and the oil sample motor (526) is transmission-connected to the oil sample push plate (519) of the oil sample sampling container via a coupling (527) and a trapezoidal lead screw (528).

19. The robot automatic oil sampling mechanism according to claim 18, characterized in that: The oil sample motor (526) is mounted on a fixing frame (530). The fixing frame (530) is provided with a guide rod (529). The oil sample push plate (519) is slidably matched with the guide rod (529).

Images