A mobile oil extraction device

Abstract

This utility model relates to a mobile oil extraction device, including an intelligent mobile component, a robotic arm, and an oil extraction unit. One end of the robotic arm is mounted on the intelligent mobile component, and the other end is mounted on the oil extraction unit. The intelligent mobile component transports the oil extraction unit to the oil extraction point. The oil extraction unit includes a housing, a robotic arm connector, a machine vision device, and an oil receiving pipe. The robotic arm connector is mounted outside the housing, and the machine vision device and the oil receiving pipe are installed inside the housing. The machine vision device locates the oil outlet at the oil extraction point. The inlet end of the oil receiving pipe extends out of the housing to connect to the oil outlet at the oil extraction point. Its advantages are: after the intelligent mobile component transports the oil extraction unit to the oil extraction point, the oil extraction unit automatically extracts oil at the oil outlet, improving work efficiency, reducing workload, and enhancing worker safety.

Description

Technical Field

[0001] This utility model relates to the field of oil sample testing technology, specifically a mobile oil sampling device. Background Technology

[0002] Traditional substations typically use manual methods to collect oil samples from transformers. Most sampling environments are located in high-risk production areas, requiring workers to take multiple protective measures. The safety procedures are cumbersome and inspections are inconvenient. In addition, manual sampling requires high operator proficiency, is labor-intensive, has low work efficiency, and uses crude sampling methods. Utility Model Content

[0003] This utility model addresses the technical problems existing in the prior art by providing a mobile oil sampling device that enables mobile sampling and improves work efficiency and safety.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: a mobile oil extraction device, including an intelligent mobile component, a robotic arm, and an oil extraction unit;

[0005] One end of the robotic arm is mounted on the intelligent mobile component, and the other end of the robotic arm is mounted on the oil sampling unit. The intelligent mobile component transports the oil sampling unit to the oil sampling point.

[0006] The oil extraction unit includes a housing, a robotic arm connector, a machine vision device, and an oil receiving pipe.

[0007] The robotic arm connector is installed outside the housing, and the machine vision device and the oil inlet pipe are installed inside the housing. The machine vision device is used to locate the oil outlet at the oil intake point.

[0008] The inlet end of the oil receiving pipe extends out of the housing to connect to the outlet end at the oil intake point.

[0009] As a further technical solution, the oil extraction unit also includes a driving component;

[0010] The drive unit is installed inside the housing and controls the opening and closing of the oil outlet at the oil intake point.

[0011] As a further technical solution, the output end of the drive component is connected to a coupling.

[0012] As a further technical solution, the oil extraction unit also includes a calibration device, which is installed inside the housing;

[0013] The oil receiving pipe is installed on the calibration device, and the position of the oil receiving pipe is calibrated by the calibration device.

[0014] As a further technical solution, the calibration device includes a floating mechanism and a calibration connector;

[0015] One end of the floating mechanism is fixed to the inner wall of the housing, and the other end of the floating mechanism is connected to the oil receiving pipe through the calibration connector. The position of the oil receiving pipe is calibrated by the floating mechanism.

[0016] The machine vision device, the oil receiving pipe, and the floating mechanism are arranged from top to bottom inside the housing.

[0017] As a further technical solution, the calibration device also includes a first proximity switch and a second proximity switch;

[0018] The first proximity switch and the second proximity switch are installed on the same end of the calibration connector, and the first proximity switch is located on the side near the oil outlet end at the oil sampling point.

[0019] As a further technical solution, the calibration connector includes a type 7 connector plate and an L-shaped connector plate;

[0020] The vertical edge of the type 7 connecting plate is connected to the floating mechanism, and the horizontal edge of the type 7 connecting plate is connected to the horizontal edge of the type L connecting plate.

[0021] The inner side of the vertical side of the L-shaped connecting plate is provided with a connecting member, and the connecting member has an oil passage hole, and the oil passage hole is coaxial with the through hole on the vertical side of the L-shaped connecting plate.

[0022] The oil receiving pipe fitting is installed on the connecting member.

[0023] As a further technical solution, the oil connection fitting includes a floating guide sleeve and an oil pipe joint;

[0024] The floating guide sleeve and the oil pipe joint are respectively installed at both ends of the connecting member, and the floating guide sleeve and the connecting member are coaxially arranged. The oil from the oil outlet at the oil sampling point is sequentially introduced into the connecting member and the oil pipe joint through the floating guide sleeve.

[0025] As a further technical solution, the intelligent mobile component includes a mobile chassis, an oil storage unit, and a navigation and communication unit;

[0026] The upper part of the mobile chassis is equipped with the oil storage unit, the robotic arm, and the navigation and communication unit;

[0027] The oil inlet of the oil storage unit is connected to the oil outlet of the oil extraction unit via a pipeline.

[0028] The beneficial effects of this utility model are: after the oil extraction unit is transported to the oil extraction point by the intelligent mobile component, the oil extraction unit realizes automatic oil extraction at the oil outlet, which improves work efficiency, reduces work intensity, and improves the safety of workers.

[0029] In addition, the specific structural design of the oil sampling unit is accurate in positioning, avoids oil leakage, and has a compact structure. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of a mobile oil extraction device according to the present invention, wherein the oil extraction unit does not have a housing;

[0031] Figure 2 This is a partial structural diagram of the controller of a mobile oil extraction device of this utility model after it is opened;

[0032] Figure 3 A three-dimensional structural diagram of the oil extraction unit with the housing installed.

[0033] Figure 4 This is a schematic diagram of the three-dimensional structure of the oil extraction unit after part of the shell has been removed.

[0034] The attached diagram lists the components represented by each number as follows:

[0035] Intelligent mobile component 1, mobile chassis 11, oil storage unit 12, navigation and communication unit 13;

[0036] Robotic arm 2;

[0037] Oil sampling unit 3, housing 31, robotic arm connector 32, machine vision equipment 33, oil receiving pipe fitting 34, floating guide sleeve 341, oil pipe joint 342, first proximity switch 343, second proximity switch 344, drive component 35, coupling 36, calibration device 37, floating mechanism 371, calibration connector 372, type 7 connecting plate 372a, type L connecting plate 372b, connecting component 372c, mounting plate 373;

[0038] Main control unit 4, control box 5. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] In the description of this application, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use the present invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the present invention can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the present invention with unnecessary detail. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0042] Example 1

[0043] See Figure 1 , Figure 2 , Figure 3 This embodiment provides a mobile oil extraction device, including an intelligent mobile component 1, a robotic arm 2, and an oil extraction unit 3. One end of the robotic arm 2 is mounted on the intelligent mobile component 1, and the other end of the robotic arm 2 is mounted on the oil extraction unit 3. The intelligent mobile component 1 transports the oil extraction unit 3 to the oil extraction point. The oil extraction unit 3 includes a housing 31, a robotic arm connector 32, a machine vision device 33, and an oil receiving pipe 34. The robotic arm connector 32 is mounted outside the housing 31, and the machine vision device 33 and the oil receiving pipe 34 are installed inside the housing 31. The machine vision device 33 locates the oil outlet at the oil extraction point. The inlet end of the oil receiving pipe 34 extends out of the housing 31 to connect to the oil outlet at the oil extraction point.

[0044] For example, the intelligent mobile component 1 moves to the oil collection site to collect oil according to instructions, and returns to the designated location according to instructions after oil collection is completed; for example, the intelligent mobile component 1 is an inspection robot. The robotic arm 2 is a six-axis robotic arm 2.

[0045] See Figure 1For example, the intelligent mobile component 1 includes a mobile chassis 11, an oil storage unit 12, and a navigation and communication unit 13; the upper part of the mobile chassis 11 is provided with the oil storage unit 12, the robotic arm 2, and the navigation and communication unit 13; the oil inlet of the oil storage unit 12 is connected to the oil outlet of the oil extraction unit 3 through a pipe, so that the oil at the oil extraction point is extracted by the oil extraction unit 3 and stored in the oil storage unit 12 for later testing; for example, the oil storage unit 12 is an oil storage container tank.

[0046] It should be noted that the mobile chassis 11 is the actuator that drives the robotic arm 2 to move. For example, the mobile chassis 11 includes a chassis frame, a drive unit (including a drive motor and a transmission mechanism), a motion actuator (e.g., a wheeled structure, a tracked structure, or a legged structure), a drive controller, and a sensor system (e.g., a positioning and navigation sensor, an environmental perception sensor, and a power supply system).

[0047] For example, the machine vision device 33 converts the target being photographed into an image signal, transmits it to the image processing system, and then the system analyzes and processes the image, finally outputting the result and guiding the movement of the robotic arm 2. For example, the machine vision device 33 includes an optical imaging system, an image acquisition and transmission module, an image processing and analysis system, a stage, a motion control module, etc.

[0048] For example, the oil inlet fitting 34 is used to introduce oil from the oil outlet at the oil intake point into the oil storage unit 12.

[0049] For example, the oil extraction point is at the transformer of the substation.

[0050] For example, the navigation and communication unit 13 is the core module for realizing the autonomous movement and data interaction of this device, including GPS positioning, laser SLAM navigation, lidar, vision camera, tilt sensor, ultrasonic sensor, robot operating system, etc.

[0051] See Figure 4 In the specific implementation process, the oil sampling unit 3 also includes a driving component 35; the driving component 35 is installed inside the housing 31, and the opening and closing of the oil outlet at the oil sampling point is controlled by the driving component 35.

[0052] For example, the drive component 35 is a valve motor, which controls the opening and closing of the oil outlet at the oil intake point by rotating the valve motor in both directions.

[0053] Furthermore, the output end of the drive component 35 is connected to a coupling 36. For example, one end of the coupling 36 is connected to the output shaft of the valve motor, and the other end of the coupling 36 is connected to the valve at the oil outlet at the oil intake point. By rotating the valve motor forward and backward, the coupling 36 is driven to rotate forward and backward, thereby realizing the opening and closing of the valve.

[0054] See Figure 4 In the specific implementation process, the oil sampling unit 3 also includes a calibration device 37, which is installed inside the housing 31; the oil receiving pipe 34 is installed on the calibration device 37, and the position of the oil receiving pipe 34 is calibrated by the calibration device 37. That is, after the oil sampling unit 3 is initially positioned by the machine vision equipment 33, the calibration device 37 is used to compensate and correct the positional deviation of the oil receiving pipe 34 at this time, so that the oil receiving pipe 34 is inserted into the oil outlet end.

[0055] See Figure 4 In the specific implementation process, the calibration device 37 includes a floating mechanism 371 and a calibration connector 372; one end of the floating mechanism 371 is fixed to the inner side wall of the housing 31, and the other end of the floating mechanism 371 is connected to the oil receiving pipe 34 through the calibration connector 372, and the position of the oil receiving pipe 34 is calibrated by the floating mechanism 371; the machine vision device 33, the oil receiving pipe 34, and the floating mechanism 371 are arranged from top to bottom inside the housing 31.

[0056] For example, the floating mechanism 371 is an elastic floating mechanism to achieve flexible displacement or angle compensation within a certain range.

[0057] See Figure 4 Furthermore, the calibration connector 372 includes a type 7 connector 372a and an L-shaped connector 372b; the vertical side of the type 7 connector 372a is connected to the floating mechanism 371, and the horizontal side of the type 7 connector 372a is connected to the horizontal side of the L-shaped connector 372b; a connecting member 372c is provided on the inner side of the vertical side of the L-shaped connector 372b, and the connecting member 372c has an oil passage hole (not labeled in the figure), and the oil passage hole is coaxial with the through hole on the vertical side of the L-shaped connector 372b; the oil receiving pipe 34 is installed on the connecting member 372c.

[0058] For example, the type 7 connecting plate 372a and the type L connecting plate 372b, the type 7 connecting plate 372a and the floating mechanism 371, the floating mechanism 371 and the housing 31, and the type L connecting plate 372b and the oil receiving pipe 34 are all fixed by screws.

[0059] See Figure 3 , Figure 4Furthermore, the oil receiving pipe fitting 34 includes a floating guide sleeve 341 and an oil pipe connector 342; the floating guide sleeve 341 and the oil pipe connector 342 are respectively installed at both ends of the connecting member 372c, and the floating guide sleeve 341 and the connecting member 372c are coaxially arranged, and the oil at the oil outlet end of the oil taking point is sequentially introduced into the connecting member 372c and the oil pipe connector 342 through the floating guide sleeve 341.

[0060] It should be noted that the oil outlet of the oil pipe connector 342 is connected to the oil inlet of the oil storage unit 12 via a pipe.

[0061] See Figure 3 , Figure 4 In the specific implementation process, the calibration device 37 further includes a first proximity switch 343 and a second proximity switch 344; the first proximity switch 343 and the second proximity switch 344 are installed on the same end of the calibration connector 372, and the first proximity switch 343 is located on the side near the oil outlet end at the oil sampling point.

[0062] For example, the first proximity switch 343 and the second proximity switch 344 are both installed on the inner side of the vertical side of the type 7 connecting plate 372a and are opposite to the floating mechanism 371. That is, the position of the first proximity switch 343 and the second proximity switch 344 can be controlled by the floating mechanism 371.

[0063] It should be noted that the first proximity switch 343 is used to determine whether the oil inlet fitting 34 is fully inserted into the oil outlet end, and the second proximity switch 344 is used to identify the on / off state of the oil outlet valve. For example, the first proximity switch 343 is an access switch, and the second proximity switch 344 is a valve switch.

[0064] See Figure 4 Furthermore, the calibration device 37 also includes a mounting plate 373, through which the first proximity switch 343 and the second proximity switch 344 are fixed to the calibration connector 372. It should be noted that the mounting plate 373 has mounting holes, with each of the first proximity switch 343 and the second proximity switch 344 corresponding to one mounting hole, allowing them to pass through their respective mounting holes (not shown in the figure); for example, the two mounting holes are parallel.

[0065] See Figure 2It should be noted that this utility model also includes a main control unit 4, which is installed on the intelligent mobile component 1. The main control unit 4 is a component that receives input signals, processes information, and issues control commands to achieve unified scheduling of related devices, modules, or subsystems, ensuring that the whole system operates stably according to preset logic or real-time requirements. The main control unit 4 is signal-connected to the intelligent mobile component 1, the robotic arm 2, the oil extraction unit 3, and the navigation and communication unit 13. For example, the main control unit 4 can receive data transmitted by the intelligent mobile component 1 and issue commands to the intelligent mobile component 1 (e.g., direction of travel, distance, whether to move, etc.).

[0066] For example, the main control unit 4 includes a processor, memory, etc.

[0067] Furthermore, the main control unit 4 is installed inside the control box 5.

[0068] This utility model is implemented as follows:

[0069] 1. The controller 4 receives an instruction to control the intelligent mobile component 1 to move to the oil sampling point (e.g., a transformer station).

[0070] 2. The robotic arm 2 moves to the photography location (i.e., the oil outlet of the transformer station) and uses the machine vision device 33 to perform 3D visual positioning of the insertion point of the oil receiving pipe 34.

[0071] 3. The floating guide sleeve 341 is inserted into the valve at the oil outlet end, and the floating mechanism 371 is used to supplement and correct the positional deviation to achieve precise docking between the floating guide sleeve 341 and the oil outlet end; at this time, the first proximity switch 343 determines that the floating guide sleeve 341 is fully connected to the oil outlet end; if the docking is completed, the robotic arm 2 stops working.

[0072] 4. Turn on the drive unit 35, and drive the valve at the oil outlet to open through the coupling 36. At the same time, the valve is fully opened through the second proximity switch 344, that is, the oil circuit connection is established. At this time, oil can be drawn from the oil outlet into the oil storage unit 12 of this utility model.

[0073] 5. After the oil extraction is completed, the coupling 36 rotates in the opposite direction to close the valve at the oil extraction port until the second proximity switch 344 detects that the valve is completely closed. Then, the robotic arm 2 guides the oil extraction unit 3 to exit, return to the photo taking point, and then retract the robotic arm 2.

[0074] This utility model structure realizes automatic oil extraction at the oil extraction point and can be remotely controlled to automatically move to the oil extraction point to extract oil, eliminating the need for manual entry into the oil extraction point, thereby improving safety and work efficiency.

[0075] In addition, the oil extraction device of this invention can enter the oil extraction site at any time to automatically extract oil as needed, reducing the labor intensity of workers.

[0076] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0077] Although preferred embodiments of the present 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 the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0078] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A mobile oil extraction device, characterized in that, Includes intelligent mobile components (1), robotic arm (2), and oil extraction unit (3); One end of the robotic arm (2) is mounted on the intelligent mobile component (1), and the other end of the robotic arm (2) is mounted on the oil collection unit (3). The oil collection unit (3) is transported to the oil collection point through the intelligent mobile component (1). The oil extraction unit (3) includes a housing (31), a robotic arm connector (32), a machine vision device (33), and an oil receiving pipe (34). The robotic arm connector (32) is installed outside the housing (31), and the machine vision device (33) and the oil inlet pipe (34) are installed inside the housing (31). The oil outlet at the oil inlet point is located by the machine vision device (33). The inlet end of the oil inlet fitting (34) extends out of the housing (31) to connect to the outlet end at the oil intake point.

2. The mobile oil extraction device according to claim 1, characterized in that, The oil extraction unit (3) also includes a drive component (35); The drive unit (35) is installed inside the housing (31) and controls the opening and closing of the oil outlet at the oil intake point.

3. A mobile oil extraction device according to claim 2, characterized in that, The output end of the drive unit (35) is connected to a coupling (36).

4. A mobile oil extraction device according to claim 1, characterized in that, The oil extraction unit (3) also includes a calibration device (37), which is installed inside the housing (31); The oil receiving pipe (34) is installed on the calibration device (37), and the position of the oil receiving pipe (34) is calibrated by the calibration device (37).

5. A mobile oil extraction device according to claim 4, characterized in that, The calibration device (37) includes a floating mechanism (371) and a calibration connector (372). One end of the floating mechanism (371) is fixed to the inner wall of the housing (31), and the other end of the floating mechanism (371) is connected to the oil receiving pipe (34) through the calibration connector (372). The floating mechanism (371) is used to calibrate the position of the oil receiving pipe (34). The machine vision device (33), the oil receiving pipe (34), and the floating mechanism (371) are arranged from top to bottom inside the housing (31).

6. A mobile oil extraction device according to claim 5, characterized in that, The calibration device (37) also includes a first proximity switch (343) and a second proximity switch (344). The first proximity switch (343) and the second proximity switch (344) are mounted on the same end of the calibration connector (372), and the first proximity switch (343) is located on the side near the oil outlet end at the oil sampling point.

7. A mobile oil extraction device according to claim 6, characterized in that, The calibration connector (372) includes a type 7 connector (372a) and an L-type connector (372b); The vertical edge of the type 7 connecting plate (372a) is connected to the floating mechanism (371), and the horizontal edge of the type 7 connecting plate (372a) is connected to the horizontal edge of the type L connecting plate (372b). The inner side of the vertical side of the L-shaped connecting plate (372b) is provided with a connecting member (372c), the connecting member (372c) is provided with an oil passage hole, and the oil passage hole is coaxial with the through hole on the vertical side of the L-shaped connecting plate (372b); The oil inlet fitting (34) is installed on the connecting member (372c).

8. A mobile oil extraction device according to claim 7, characterized in that, The oil connection fitting (34) includes a floating guide sleeve (341) and an oil pipe joint (342). The floating guide sleeve (341) and the oil pipe joint (342) are respectively installed at both ends of the connecting member (372c), and the floating guide sleeve (341) and the connecting member (372c) are coaxially arranged. The oil at the oil outlet of the oil sampling point is sequentially introduced into the connecting member (372c) and the oil pipe joint (342) through the floating guide sleeve (341).

9. A mobile oil extraction device according to claim 1, characterized in that, The intelligent mobile component (1) includes a mobile chassis (11), an oil storage unit (12), and a navigation and communication unit (13). The upper part of the mobile chassis (11) is provided with the oil storage unit (12), the robotic arm (2), and the navigation and communication unit (13). The oil inlet of the oil storage unit (12) is connected to the oil outlet of the oil extraction unit (3) through a pipeline.

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