Mechanical hand oil taking device

Abstract

The utility model relates to a kind of mechanical hand oil taking device, including mechanical arm, oil taking assembly;The end of the mechanical arm is connected with the oil taking assembly, to control the oil taking assembly to butt joint oil outlet end at oil taking point;The oil taking assembly includes shell, mechanical arm connecting piece, machine vision equipment, oil receiving pipe fitting;The shell outside installs the mechanical arm connecting piece, the shell is equipped with the machine vision equipment, the oil receiving pipe fitting, and the oil outlet end at oil taking point is positioned by the machine vision equipment;The inlet end of the oil receiving pipe fitting extends out of the shell to communicate the oil outlet end at oil taking point.It has beneficial effects: it can realize automatic oil taking, reduce oil sample pollution risk, and oil sample is not easy to mix into bubble in oil taking process, and operation specification.

Description

Technical Field

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

[0002] Currently, oil chromatography remains the primary technical means for assessing ultra-high voltage transformers. Generally, oil is extracted from the monitoring point and then transported to the testing station for testing. However, using oil sampling tools is relatively complex. For example, manually pulling the tube to extract oil has drawbacks such as high risk of oil contamination, easy mixing of air bubbles into the oil sample, and poor operational standardization. Utility Model Content

[0003] This invention addresses the technical problems existing in the prior art by providing a robotic oil extraction device, which has at least the advantages of simple operation and reduced oil sample contamination.

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

[0005] The end of the robotic arm is connected to the oil sampling assembly to control the oil sampling assembly to connect to the oil outlet at the oil sampling point;

[0006] The oil extraction assembly 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 component also includes a driving component, which is installed inside the housing and controls the opening and closing of the oil outlet at the oil extraction point.

[0010] As a further technical solution, the output end of the drive component is connected to a coupling.

[0011] As a further technical solution, the oil extraction assembly also includes a calibration device, which is installed inside the housing;

[0012] The oil receiving pipe is installed on the calibration device, and the position of the oil receiving pipe is calibrated by the calibration device.

[0013] As a further technical solution, the calibration device includes a floating mechanism and a calibration connector;

[0014] 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.

[0015] The machine vision device, the oil receiving pipe, and the floating mechanism are arranged from top to bottom inside the housing.

[0016] As a further technical solution, the calibration device also includes a first proximity switch and a second proximity switch;

[0017] 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.

[0018] As a further technical solution, the calibration device also includes a mounting plate, and the first proximity switch and the second proximity switch are both fixed to the calibration connector via the mounting plate.

[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] The beneficial effects of this utility model are: it can realize automatic oil extraction, reduce the risk of oil sample contamination, and the oil sample is not easily mixed with air bubbles during the oil extraction process, and the operation is standardized.

[0026] In addition, the specific structural design of the oil extraction component in this utility model is accurate in positioning, avoids oil leakage, and has a compact structure. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of a robotic oil-collecting device according to the present invention, wherein the oil-collecting component is not fitted with a housing;

[0028] Figure 2 This is a three-dimensional structural diagram of the oil sampling component of this utility model, wherein a housing is installed on the oil sampling component;

[0029] Figure 3 This is a three-dimensional structural diagram of the oil extraction component of this utility model after part of the shell has been removed.

[0030] The attached diagram lists the components represented by each number as follows:

[0031] Robotic arm 1;

[0032] Oil intake assembly 2, housing 21, robotic arm connector 22, machine vision equipment 23, oil inlet fitting 24, floating guide sleeve 241, oil pipe joint 242, drive component 25, coupling 26, calibration device 27, floating mechanism 271, calibration connector 272, type 7 connecting plate 272a, type L connecting plate 272b, connecting component 372c, first proximity switch 273, second proximity switch 274, mounting plate 275. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Example 1

[0037] See Figures 1-3 This embodiment provides a robotic oil-collecting device, including a robotic arm 1 and an oil-collecting component 2. The end of the robotic arm 1 is connected to the oil-collecting component 2 to control the oil-collecting component 2 to connect to the oil outlet at the oil collection point. The oil-collecting component 2 includes a housing 21, a robotic arm connector 22, a machine vision device 23, and an oil receiving pipe 24. The robotic arm connector 22 is installed outside the housing 21, and the machine vision device 23 and the oil receiving pipe 24 are installed inside the housing 21. The machine vision device 23 is used to locate the oil outlet at the oil collection point. The inlet end of the oil receiving pipe 24 extends out of the housing 21 to connect to the oil outlet at the oil collection point.

[0038] For example, the robotic arm 1 is a six-axis robotic arm 1.

[0039] The machine vision device 23 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 1. For example, the machine vision device 23 includes an optical imaging system, an image acquisition and transmission module, an image processing and analysis system, a stage, a motion control module, etc.

[0040] For example, the oil inlet fitting 24 is used to pass oil from the oil outlet at the oil sampling point for subsequent testing.

[0041] For example, the oil extraction point is at the transformer of the substation.

[0042] See Figure 3 In the specific implementation process, the oil sampling component 2 also includes a driving component 25, which is installed inside the housing 21 and controls the opening and closing of the oil outlet at the oil sampling point.

[0043] For example, the drive component 25 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.

[0044] Furthermore, the output end of the drive component 25 is connected to a coupling 26. For example, one end of the coupling 26 is connected to the output shaft of the valve motor, and the other end of the coupling 26 is connected to the valve at the oil outlet at the oil intake point. By rotating the valve motor in both directions, the coupling 26 is driven to rotate in both directions, thereby realizing the opening and closing of the valve.

[0045] See Figures 2-3 In its specific implementation, the oil sampling assembly 2 further includes a calibration device 27, which is installed inside the housing 21. The oil receiving pipe 24 is mounted on the calibration device 27, and the position of the oil receiving pipe 24 is calibrated by the calibration device 27. That is, after the oil sampling assembly 2 is initially positioned by the machine vision device 23, the calibration device 27 compensates for and corrects the positional deviation of the oil receiving pipe 24, so that the oil receiving pipe 24 is inserted into the oil outlet.

[0046] See Figures 2-3 In the specific implementation process, the calibration device 27 includes a floating mechanism 271 and a calibration connector 272; one end of the floating mechanism 271 is fixed to the inner side wall of the housing 21, and the other end of the floating mechanism 271 is connected to the oil receiving pipe 24 through the calibration connector 272, and the position of the oil receiving pipe 24 is calibrated by the floating mechanism 271; the machine vision device 23, the oil receiving pipe 24, and the floating mechanism 271 are arranged from top to bottom inside the housing 21.

[0047] For example, the floating mechanism 271 is an elastic floating mechanism 271, which can achieve flexible displacement or angle compensation within a certain range.

[0048] See Figures 2-3 In the specific implementation process, the calibration device 27 further includes a first proximity switch 273 and a second proximity switch 274; the first proximity switch 273 and the second proximity switch 274 are installed on the same end of the calibration connector 272, and the first proximity switch 273 is located on the side near the oil outlet end at the oil sampling point.

[0049] It should be noted that the first proximity switch 273 is used to determine whether the oil inlet fitting 24 is fully inserted into the oil outlet end, and the second proximity switch 274 is used to identify the on / off state of the oil outlet valve. For example, the first proximity switch 273 is an access switch, and the second proximity switch 274 is a valve switch.

[0050] See Figure 3Furthermore, the calibration device 27 also includes a mounting plate 275, through which the first proximity switch 273 and the second proximity switch 274 are fixed to the calibration connector 272. It should be noted that the mounting plate 275 has mounting holes, with each of the first proximity switch 273 and the second proximity switch 274 corresponding to a mounting hole, allowing the first proximity switch 273 and the second proximity switch 274 to pass through their respective mounting holes (not shown in the figure); for example, the two mounting holes are parallel.

[0051] See Figure 3 In the specific implementation process, the calibration connector 272 includes a type 7 connector 272a and an L-shaped connector 272b; the vertical side of the type 7 connector 272a is connected to the floating mechanism 271, and the horizontal side of the type 7 connector 272a is connected to the horizontal side of the L-shaped connector 272b; a connecting member 372c is provided on the inner side of the vertical side of the L-shaped connector 272b, 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 272b; the oil receiving pipe 24 is installed on the connecting member 372c.

[0052] For example, the first proximity switch 273 and the second proximity switch 274 are both installed on the inner side of the vertical side of the type 7 connecting plate 272a and are opposite to the floating mechanism 271. That is, the position of the first proximity switch 273 and the second proximity switch 274 can be controlled by the floating mechanism 271.

[0053] For example, the type 7 connecting plate 272a and the type L connecting plate 272B, the type 7 connecting plate 272a and the floating mechanism 271, the floating mechanism 271 and the housing 21, and the type L connecting plate 272B and the oil receiving pipe 24 are all fixed by screws.

[0054] See him Figure 2 , Figure 3 Furthermore, the oil receiving fitting 24 includes a floating guide sleeve 241 and an oil pipe connector 242; the floating guide sleeve 241 and the oil pipe connector 242 are respectively installed at both ends of the connecting member 372c, and the floating guide sleeve 241 and the connecting member 372c are coaxially arranged, and the oil at the oil outlet end of the oil sampling point is sequentially introduced into the connecting member 372c and the oil pipe connector 242 through the floating guide sleeve 241.

[0055] It should be noted that the oil outlet of the oil pipe joint 242 is connected to the oil inlet of the outer oil storage container through a pipe.

[0056] This utility model is implemented as follows:

[0057] 1. Activate the robotic arm 1 and move it to the photography location (i.e., the oil outlet of the transformer station). Use the machine vision device 23 to perform 3D visual positioning of the insertion point of the oil receiving pipe 24.

[0058] 2. The floating guide sleeve 241 is inserted into the valve at the oil outlet end, and the floating mechanism 271 is used to supplement and correct the positional deviation to achieve precise docking between the floating guide sleeve 241 and the oil outlet end; at this time, the first proximity switch 273 determines that the floating guide sleeve 241 is fully connected to the oil outlet end; if the docking is completed, the robotic arm 1 stops working.

[0059] 3. Turn on the drive unit 25, and drive the valve at the oil outlet to open through the coupling 26. At the same time, the valve is fully opened through the second proximity switch 274, that is, the oil circuit connection is established. At this time, oil can be drawn from the oil outlet to the oil storage unit of this utility model.

[0060] 4. After the oil extraction is completed, the coupling 26 rotates in the opposite direction to close the valve at the oil extraction port. The second proximity switch 274 detects that the valve is completely closed. Then, the robotic arm 1 guides the oil extraction component 2 to exit and return to the photo taking point before retracting the robotic arm 1.

[0061] This utility model of a robotic oil-collecting device can automatically collect oil, is simple to operate, and avoids problems such as oil sample contamination and easy mixing of air bubbles caused by manual tube-pulling oil collection. It facilitates subsequent oil sample testing and improves the accuracy of oil sample testing. In addition, the device also improves work efficiency and reduces the labor intensity of workers.

[0062] 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.

[0063] 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.

[0064] 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 robotic oil-collecting device, characterized in that, Includes a robotic arm (1) and an oil extraction assembly (2); The end of the robotic arm (1) is connected to the oil collection component (2) to control the oil collection component (2) to connect to the oil outlet at the oil collection point; The oil extraction assembly (2) includes a housing (21), a robotic arm connector (22), a machine vision device (23), and an oil receiving pipe (24). The robotic arm connector (22) is installed outside the housing (21), and the machine vision device (23) and the oil inlet pipe (24) are installed inside the housing (21). The oil outlet at the oil inlet point is located by the machine vision device (23). The inlet end of the oil inlet fitting (24) extends out of the housing (21) to connect to the oil outlet end at the oil intake point.

2. The robotic oil extraction device according to claim 1, characterized in that, The oil extraction assembly (2) also includes a drive unit (25), which is installed inside the housing (21) and controls the opening and closing of the oil outlet at the oil extraction point.

3. The robotic oil extraction device according to claim 2, characterized in that, The output end of the drive unit (25) is connected to a coupling (26).

4. The robotic oil extraction device according to claim 2, characterized in that, The oil extraction assembly (2) also includes a calibration device (27), which is installed inside the housing (21); The oil receiving pipe (24) is installed on the calibration device (27), and the position of the oil receiving pipe (24) is calibrated by the calibration device (27).

5. The robotic oil extraction device according to claim 4, characterized in that, The calibration device (27) includes a floating mechanism (271) and a calibration connector (272); One end of the floating mechanism (271) is fixed to the inner wall of the housing (21), and the other end of the floating mechanism (271) is connected to the oil receiving pipe (24) through the calibration connector (272). The position of the oil receiving pipe (24) is calibrated through the floating mechanism (271). The machine vision device (23), the oil receiving pipe (24), and the floating mechanism (271) are arranged from top to bottom inside the housing (21).

6. The robotic oil extraction device according to claim 5, characterized in that, The calibration device (27) also includes a first proximity switch (273) and a second proximity switch (274). The first proximity switch (273) and the second proximity switch (274) are installed on the same end of the calibration connector (272), and the first proximity switch (273) is located on the side near the oil outlet end at the oil sampling point.

7. The robotic oil extraction device according to claim 6, characterized in that, The calibration device (27) also includes a mounting plate (275), and the first proximity switch (273) and the second proximity switch (274) are both fixed to the calibration connector (272) via the mounting plate (275).

8. The robotic oil extraction device according to claim 5, characterized in that, The calibration connector (272) includes a type 7 connector (272a) and an L-type connector (272b); The vertical edge of the type 7 connecting plate (272a) is connected to the floating mechanism (271), and the horizontal edge of the type 7 connecting plate (272a) is connected to the horizontal edge of the type L connecting plate (272b). The inner side of the vertical side of the L-shaped connecting plate (272b) is provided with a connecting member (272c), the connecting member (272c) 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 (272b); The oil inlet fitting (24) is installed on the connecting member (272c).

9. The robotic oil extraction device according to claim 8, characterized in that, The oil connection fitting (24) includes a floating guide sleeve (241) and an oil pipe joint (242). The floating guide sleeve (241) and the oil pipe joint (242) are respectively installed at both ends of the connecting member (272c), and the floating guide sleeve (241) and the connecting member (272c) are coaxially arranged. The oil at the oil outlet of the oil sampling point is sequentially introduced into the connecting member (272c) and the oil pipe joint (242) through the floating guide sleeve (241).

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