Oil Sampling Robot for Substations

Abstract

The present invention relates to an oil sampling robot for a substation, the robot includes an intelligent moving assembly, a manipulator gripping assembly, an oil sampling auxiliary assembly, and an oil sampling auxiliary platform assembly, the manipulator gripping assembly includes a manipulator body and a manipulator claw unit, the manipulator body is attached and fixed to the intelligent moving assembly, the oil sampling auxiliary assembly includes an oil sample bottle and a valve opening and closing tool, the manipulator claw unit is provided with a first gripping part that fits the oil sample bottle and a second gripping part that fits the valve opening and closing tool, the oil sampling auxiliary platform assembly includes an oil sampling bottle and a valve opening and closing tool, the manipulator claw unit is provided with a first gripping part that fits the oil sample bottle and a second gripping part that fits the valve opening and closing tool, the oil sampling auxiliary platform assembly includes an oil sampling bottle and a valve opening and closing tool, the manipulator gripping assembly includes a manipulator body and a manipulator claw unit, the manipulator body is attached and fixed to the intelligent moving assembly ... manipulator gripping assembly includes a manipulator body and a manipulator claw unit, the manipulator body is attached and fixed to the intelligent moving assembly, the manipulator gripping assembly includes a manipulator body and a manipulator claw unit, the manipulator body is attached and fixed to the intelligent moving assembly, the manipulator gripping assembly includes a manipulator body and a manipulator claw unit, the manipulator body is attached and fixed to the intelligent moving assembly, the manipulator gripping assembly includes a manipulator body and a manipulator claw unit, the manipulator body is attached and fixed to the intelligent moving assembly, the manipulator gripping auxiliary The platform assembly includes an oil sampling auxiliary tool connected to an oil pipe, the oil pipe is provided with an oil pipe opening and closing valve, the oil sampling auxiliary tool includes an auxiliary valve, an oil sampling auxiliary pipe member and an oil sampling auxiliary pipe member base, and the outlet of the oil pipe opening and closing valve is connected to the oil sampling auxiliary pipe member. Compared with the prior art, the present invention has the advantages of high work quality, high versatility, high automation level, etc.

Description

[Technical field]

[0001] The present invention relates to the technical field of oil sampling in electrical substations, and in particular to an oil sampling robot for electrical substations. [Background technology]

[0002] In the past, transformer oil samples were collected and detected manually in the transformer, and most of the sampling environments are in high-risk manufacturing work areas, and workers need to take multiple protective measures to ensure that they can work normally, which leads to the problems of complicated safety procedures, inconvenient detection, and low frequency.In addition, manual sampling has the disadvantages of unstandardized operation, heavy workload, low work efficiency, and rough sampling methods.

[0003] A conventional solution is to collect oil samples by an oil sampling robot. For example, the invention of Publication No. CN112229683A is a transformer oil sampling robot including a traveling mechanism, an oil sampling device installed on the traveling mechanism, a navigation device, a guide mechanism, a communication device and a control device, the control device being electrically connected to the navigation device and controlling the navigation device so that the traveling mechanism is guided by the navigation device to proceed to the transformer oil sampling position along a predetermined route, realizing rough positioning between the traveling mechanism and the oil sampling position, the guide mechanism being arranged to guide the traveling mechanism to the oil sampling position, and the control device being arranged to guide the traveling mechanism to the oil sampling position. The control device is installed above and electrically connected to the control device, and guides the oil sampling device to align it with the oil sampling position of the transformer under the control of the control device, thereby realizing precise positioning between the oil sampling device and the oil sampling position. The control device is further electrically connected to the communication device and the oil sampling device, and controls the communication device to exchange information with the electric valve at the oil sampling position of the transformer when the traveling mechanism proceeds to the oil sampling position of the transformer, thereby controlling the operation of the electric valve installed at the oil sampling position of the transformer, and causing the oil sampling device to collect an oil sample from the oil sampling position of the transformer.

[0004] The above-mentioned solution requires the installation of a solenoid valve at the oil sampling position of the transformer, which makes it less versatile and increases the installation and maintenance costs. Summary of the Invention [Problem to be solved by the invention]

[0005] SUMMARY OF THE PRESENT EMBODIMENT In order to overcome the drawbacks of the conventional techniques, the present invention aims to provide a safe oil sampling robot for use in substations that can improve work efficiency. [Means for solving the problem]

[0006] The object of the present invention can be achieved by the following technical solutions.

[0007] The present invention provides an oil sampling robot for a substation, comprising an intelligent mobile assembly, the robot including a manipulator gripping assembly, an oil sampling assistant assembly, and an oil sampling assistant platform assembly; the manipulator gripping assembly includes a manipulator body unit and a manipulator jaw unit, the manipulator jaw unit being attached to one end of the manipulator body unit, and the other end of the manipulator body being attached and fixed to an intelligent movement assembly; The oil sampling auxiliary assembly includes an oil sample bottle and a valve opening and closing tool, and the manipulator jaw unit is provided with a first gripping portion that fits the oil sample bottle and a second gripping portion that fits the valve opening and closing tool; 6. Oil Sampling auxiliaryThe platform assembly includes an oil sampling auxiliary tool connected to an oil pipe, the oil pipe being provided with an oil pipe opening / closing valve, the oil sampling auxiliary tool including an auxiliary valve, an oil sampling auxiliary pipe member, and an oil sampling auxiliary pipe member base, the oil sampling auxiliary pipe member being fixed to the oil sampling auxiliary pipe member base and connected to the auxiliary valve, and the outlet of the oil pipe opening / closing valve being connected to the oil sampling auxiliary pipe member.

[0008] Preferably, the manipulator jaw unit includes a jaw base and a first mechanical jaw and a second mechanical jaw installed on both sides of the jaw base, the gripping portions of the first mechanical jaw and the second mechanical jaw both match the shape of the oil sample bottle, and an electromagnet and a valve tool fixing pole are provided at one end of the jaw base.

[0009] Preferably, the first mechanical claw and the second mechanical claw both have a mechanical claw structure, the mechanical claw structure including a push rod mounting base, an electric push rod, a claw swing arm and a claw, the push rod mounting base is fixedly mounted to the claw base, one end of the claw swing arm is rotatably mounted to the claw base, one end of the electric push rod is rotatably connected to the push rod mounting base and the other end is rotatably connected to the claw swing arm, and the claw is fixed to one end of the claw swing arm opposite to the electric push rod.

[0010] Preferably, said manipulator claw unit further includes a vision camera, said vision camera being mounted to the claw base.

[0011] Preferably, the valve opening and closing tool includes a valve opening and closing tool substrate and a valve fixing post, the valve opening and closing tool substrate is provided with a magnetic attraction material corresponding to an electromagnet, the valve opening and closing tool substrate is provided with mounting holes corresponding to the valve tool fixing posts, and the valve fixing posts are attached to the valve opening and closing tool substrate to correspond to the layout of holes in the valve.

[0012] Preferably, the oil sampling auxiliary assembly further includes a tool stand and a valve opening and closing tool stand, the tool stand being fixed to the intelligent moving assembly, and the valve opening and closing tool stand being fixed to the tool stand.

[0013] Preferably, the oil sample bottles include a wash oil sample bottle and a collection oil sample bottle.

[0014] Preferably, the valve opening and closing tool mounting stand includes a permanent magnet and a mounting base.

[0015] Preferably, the oil sampling auxiliary platform assembly further includes a collecting oil sample bottle mounting base, an oil sampling auxiliary tool base, and a third permanent magnet, wherein the oil sampling auxiliary pipe member base is fixed to one side of the oil sampling auxiliary tool base, and the third permanent magnet is fixed to the opposite side of the oil sampling auxiliary tool base to the oil sampling auxiliary pipe member base.

[0016] Preferably, the mounting position of the oil sampling auxiliary pipe member base is designed to ensure that the oil outlet of the auxiliary oil sampling pipe member is located directly above the opening of the collection oil sample bottle placed on the collection oil sample bottle mounting base.

[0017] Preferably, the oil sampling auxiliary tool has a plurality of third permanent magnets fixed to the base plate. Effect of the Invention

[0018] Compared with the prior art, the present invention has the following advantages: (1) The present invention uses a valve opening and closing tool and an oil sampling auxiliary tool to open and close the valve of the oil pipe of a transformer and collect oil samples. The oil sampling auxiliary tool has a simple structure, is easy to maintain, and is flexible in operation, which realizes the versatility of the oil sampling work and has higher economic benefits. (2) With the oil sampling assistant platform assembly designed in this invention, the oil sampling robot can be applied to collect oil samples in various occasions and has higher economic benefits. (3) The oil sampling robot designed in this invention can enter dangerous areas to sample oil instead of workers, ensuring the safety of human life. [Brief description of the drawings]

[0019] [Figure 1] FIG. 2 is a structural schematic diagram of the present invention. [Diagram 2] FIG. 2 is a structural schematic diagram of the oil sampling auxiliary assembly of the present invention. [Diagram 3] FIG. 2 is a schematic diagram showing the structure of the large valve opening and closing tool of the present invention. [Figure 4] FIG. 2 is a schematic structural diagram of the large valve opening / closing tool mounting stand of the present invention. [Diagram 5] FIG. 2 is a schematic diagram showing the structure of the small valve opening and closing tool of the present invention. [Figure 6] FIG. 2 is a schematic structural diagram of the small valve opening / closing tool mounting stand of the present invention. [Figure 7] FIG. 2 is a front view of the manipulator of the present invention. [Figure 8] FIG. 2 is a plan view of the manipulator of the present invention. [Figure 9] FIG. 2 is a front view of the manipulator jaw unit of the present invention. [Figure 10] FIG. 13 is a right side view of the manipulator jaw unit of the present invention. [Figure 11] FIG. 2 is a plan view of the manipulator jaw unit of the present invention. [Figure 12] FIG. 2 is a structural schematic diagram of the oil sampling assist platform assembly of the present invention. [Figure 13] FIG. 2 is a front view of the oil sampling aid tool of the present invention. [Figure 14] FIG. 2 is a left side view of the oil sampling assist tool of the present invention. [Figure 15] FIG. 2 is a schematic diagram showing the state when the manipulator jaws of the present invention grip an oil sample bottle. [Figure 16] FIG. 2 is a schematic diagram of the vision camera of the present invention identifying the state of the large valve; [Figure 17] 1 is a schematic diagram of the vision camera of the present invention identifying the state of a small valve; [Figure 18] FIG. 2 is a schematic diagram of the substation oil sampling robot of the present invention placing the oil sample bottle on the oil sample bottle placement stand. [Figure 19] FIG. 2 is a schematic diagram showing the state in which the substation oil sampling robot of the present invention places an oil sample bottle for collection. [Figure 20] FIG. 2 is a schematic diagram showing a state in which the substation oil sampling robot of the present invention grasps a large valve opening and closing tool. [Figure 21] 1 is a schematic diagram showing a state when the manipulator of the present invention drives the manipulator claws to open the oil pipe opening / closing valve. FIG. [Figure 22] FIG. 2 is a schematic diagram showing the state when the manipulator of the present invention grasps the collection oil sample bottle after the collection of the oil sample is completed. [Figure 23] 1 is a schematic diagram showing the state in which the oil sample collected in the collecting oil sample bottle of the present invention is poured into the cleaning oil sample bottle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be described clearly and completely below with reference to the drawings in the embodiments of the present invention, and of course, the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. Typically, the assemblies of the embodiments of the present invention described and illustrated in the drawings may be arranged and designed in various configurations.

[0021] Therefore, the detailed description of the embodiments of the present invention shown in the following drawings is not intended to limit the scope of the claims of the present invention, but only represents specific embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments that can be obtained by those skilled in the art without creative labor fall within the scope of protection of the present invention.

[0022] It should be noted that in the following drawings, like reference numerals and letters represent like elements, so that once an element is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0023] In the description of the present invention, the orientations or positional relationships indicated by terms such as "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" are based on the orientations or positional relationships shown in the drawings, or are the orientations or positional relationships in which the inventive product is always disposed when used, and are merely intended to facilitate and simplify the description of the present invention, and do not indicate or imply that the devices or elements shown necessarily have a specific orientation or are constructed or operated in a specific orientation, and therefore should not be understood as limiting the present application.

[0024] It should be noted that the terms "first" and "second" are merely for explanatory purposes and should not be understood as indicating or implying the relative importance or number of the technical features depicted. Thus, the qualification of a feature as "first" or "second" is meant to explicitly or implicitly indicate that one or more of the feature is included. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0025] Additionally, terms such as "horizontal", "vertical", etc. do not mean that a member is absolutely horizontal or suspended, but may be slightly tilted. For example, "horizontal" simply means that the orientation is more horizontal than "vertical", and the structure may be slightly tilted rather than perfectly horizontal.

[0026] Example 1 As shown in FIGS. 1, 12 and 13, the oil sampling robot for substation according to the present embodiment includes an intelligent moving assembly 2, a manipulator gripping assembly, an oil sampling assistant assembly 1 and an oil sampling assistant platform assembly 5; The manipulator gripping assembly includes a manipulator body 3 and a manipulator jaw unit 4, the manipulator jaw unit 4 is attached to one end of the manipulator body 3, and the other end of the manipulator body is attached and fixed to the intelligent movement assembly 2; The oil sampling auxiliary assembly 1 includes an oil sample bottle and a valve opening and closing tool, and the manipulator jaw unit 4 is provided with a first gripping portion that fits the oil sample bottle and a second gripping portion that fits the valve opening and closing tool; 6. Oil Sampling auxiliary The platform assembly 5 includes an oil sampling auxiliary tool connected to an oil pipe 52, and an oil pipe opening / closing valve 53 is provided in the oil pipe. The oil sampling auxiliary tool includes an auxiliary valve 501, an oil sampling auxiliary pipe member 502, and an oil sampling auxiliary pipe member base 503. The oil sampling auxiliary pipe member 502 is fixed to the oil sampling auxiliary pipe member base 503 and connected to the auxiliary valve 501. The outlet of the oil pipe opening / closing valve 53 is connected to the oil sampling auxiliary pipe member 502.

[0027] The working principle is as follows: when it is necessary to collect an oil sample, the intelligent moving assembly 2 is moved to a predetermined position or area by remote control, then the manipulator body 3 is driven to move to the position of the oil sample bottle, the manipulator claw unit 4 grips the oil sample bottle, and the manipulator body 3 is driven to move under the oil drainage port of the oil sampling auxiliary pipe member 502 to place the oil sample bottle; The manipulator body 3 is driven to move to the position of the valve opening and closing tool, the manipulator claw unit 4 grasps and fixes the valve opening and closing tool, the positions of the oil pipe opening and closing valve 53 and the auxiliary valve 501 are determined by the visual camera in the manipulator claw unit 4, the manipulator body 3 drives the manipulator claw unit 4 to rotate the valve via the valve opening and closing tool, the oil pipe opening and closing valve 53 and the auxiliary valve 501 are opened in sequence, and an oil sample is collected with an oil sample bottle; After the oil sample collection is completed, the manipulator body 3 drives the manipulator claw unit 4 to reverse the valve through the valve opening and closing tool, closes the auxiliary valve 501 and the oil pipe opening and closing valve 53 in sequence, places the valve opening and closing tool in a designated position by the manipulator claw unit 4, and then grasps the oil sample bottle with the oil sample collection completed by the manipulator claw unit 4 and places the oil sample bottle in a designated position, thus completing the oil sampling work this time.

[0028] The oil sampling robot for substations according to the present invention utilizes a manipulator, an oil sampling auxiliary assembly and an oil sampling auxiliary tool, which is advantageous to the efficiency and automation of oil sampling, and the oil sampling auxiliary tool is cleverly constructed and convenient to maintain, which greatly improves the economic benefits of oil sampling.

[0029] As an optional embodiment, as shown in Figures 2 to 14, the manipulator claw unit 4 includes a claw base 302, and a first mechanical claw and a second mechanical claw installed on both sides of the claw base, and the gripping portion of the first mechanical claw and the gripping portion of the second mechanical claw both fit the shape of the oil sample bottle, and an electromagnet 305 and a valve tool fixing column 306 are provided on one end of the claw base 302, and a claw adapter plate 303 for connecting to the manipulator body 3 is provided on the opposite side of the claw base 302 from the electromagnet 305.

[0030] The first mechanical claw and the second mechanical claw both have a mechanical claw structure, which includes a push rod mounting base 307, an electric push rod 308, a claw swing arm 310 and a claw 311. The push rod mounting base is fixedly mounted to the claw base 302, one end of the claw swing arm 310 is rotatably mounted to the claw base 302, one end of the electric push rod 308 is rotatably connected to the push rod mounting base 307 and the other end is rotatably connected to the claw swing arm 310, and the claw 311 is fixed to one end of the claw swing arm 310 opposite the electric push rod 308.

[0031] For the above-mentioned rotatable connection, any conventional rotatable connection structure may be used, and in this embodiment, both are realized by rotating pins. For example, the claw swing arm 310 may be attached to the claw base 302 via a second rotating pin 309, and one end of the electric push rod 308 is connected to the push rod mounting base 307 via a first rotating pin 304.

[0032] The visual camera 301 in the manipulator claw unit 4 is mounted on one side of the claw base 302 to identify and determine the positions of the auxiliary valve 501 and the oil pipe opening and closing valve 53 .

[0033] The oil sampling auxiliary assembly 1 further includes a tool stand 107 and a valve opening and closing tool stand, the tool stand 107 being fixed to the intelligent moving assembly 2, and the valve opening and closing tool stand being fixed to the tool stand 107.

[0034] A cleaning oil sample bottle 101 and a collection oil sample bottle 102 are placed on the tool mounting table 107, and in order to ensure the purity of the collected oil sample, the first collected oil sample is poured into the cleaning oil sample bottle 101, and the second oil sample is collected in the collection oil sample bottle 102.

[0035] The valve opening / closing tool stand includes a large valve opening / closing tool stand 106 and a small valve opening / closing tool stand 104. The large valve opening / closing tool stand 106 includes a first permanent magnet 602 and a large valve opening / closing tool stand base 601. The first permanent magnet 602 is fixed to the bottom of the large valve opening / closing tool stand base 601. The small valve opening / closing tool stand 104 includes a second permanent magnet 402 and a small valve opening / closing tool stand base 401. The second permanent magnet 402 is fixed to the bottom of the large valve opening / closing tool stand base 601. Small valve It is fixed to the bottom of the opening / closing tool mounting base 401 .

[0036] Since a magnetic attraction material is fixed to the valve opening and closing tool, a permanent magnet is fixed to the tool stand 107 so that the valve opening and closing tool can be stably fixed to the tool stand.

[0037] The valve opening and closing tool includes a valve opening and closing tool substrate 703 and a valve fixing post 702, the valve opening and closing tool substrate 703 is provided with a magnetic attraction material corresponding to the electromagnet 305, the valve opening and closing tool substrate 703 is provided with a mounting hole 701 corresponding to the valve tool fixing post 306, and the valve fixing post 702 is attached to the valve opening and closing tool substrate 703 to correspond to the layout of the holes in the valve.

[0038] In the prior art, a valve is generally provided with three through holes; therefore, the number of valve fixing columns in this embodiment is three, and the number of valve fixing columns can be set according to the number of through holes in the valve, and the layout and pitch of the three valve fixing columns fit the size of the valve. In this embodiment, a large valve opening and closing tool 105 and a small valve opening and closing tool 103 are installed.

[0039] The oil sampling auxiliary platform assembly 5 further includes a collection oil sample bottle supporting base 505, an oil sampling auxiliary tool base plate 504, and a third permanent magnet 506, wherein the oil sampling auxiliary pipe member base 503 is fixed to one side of the oil sampling auxiliary tool base plate 504, and the third permanent magnet is fixed to the opposite side of the oil sampling auxiliary tool base plate 504 from the oil sampling auxiliary pipe member base 503.

[0040] There are multiple third permanent magnets fixed to the oil sampling auxiliary tool base plate.

[0041] The work steps are as follows: Step 1: As shown in Figures 15, 18 and 19, the oil sampling robot is remotely controlled to move to the oil sampling position, and then the manipulator claw unit 4 grasps the collection oil sample bottle 102 and places it on the collection oil sample bottle placement platform 505. Step 2: As shown in Figures 16, 17, 20 and 21, after placing the oil sample bottle 102 for collection, the manipulator claw unit 4 grasps the large valve opening and closing tool 106, and the visual camera on the manipulator claw unit 4 identifies and confirms the position and state of the oil pipe opening and closing valve 53. The manipulator body 3 moves to the position of the oil pipe opening and closing valve 53, inserts the fixed column 702 of the large valve opening and closing tool 106 into the hole of the oil pipe opening and closing valve 53, and drives the manipulator claw unit 4 to rotate the oil pipe opening and closing valve 53, thereby opening the oil pipe opening and closing valve 53. Similarly to the method of opening the oil pipe opening and closing valve 53, the small valve opening and closing tool 103 is used to open the auxiliary valve 501, and the oil sample bottle 102 for collection begins to collect oil samples. Step 3: Figure 22 is a schematic diagram showing the state in which the manipulator of the present invention grasps the collecting oil sample bottle after the collection of the oil sample is completed, and Figure 23 is a schematic diagram showing the state in which the oil sample collected in the collecting oil sample bottle of the present invention is poured into the cleaning oil sample bottle. As shown in the figure, after the collection of the oil sample is completed, the small valve opening and closing tool 103 is driven to close the auxiliary valve 501, the oil sample collected in the collecting oil sample bottle 102 is poured into the cleaning oil sample bottle 101, and then the collecting oil sample bottle 102 is placed on the collecting oil sample bottle mounting table 505, and the process returns to step 2. Step 4: After the collection by the oil sample bottle 102 is completed, the small valve opening / closing tool 103 is driven to close the auxiliary valve 501, and after the auxiliary valve 501 is closed, the small valve opening / closing tool 103 is placed on the small valve opening / closing tool mounting base 104, the manipulator claw unit 4 grasps the oil sample bottle 102 for collection and places it in a designated position on the tool mounting base 107, the manipulator returns to its initial state, and the oil sampling robot is remotely controlled to return, and the entire oil sampling operation is completed.

[0042] The above is a detailed description of the preferred specific embodiments of the present invention. It should be understood that those skilled in the art can make various modifications and variations based on the concept of the present invention without any creative effort. Therefore, any technical solution obtained by those skilled in the art based on the concept of the present invention and the prior art through logical analysis, reasoning or limited experiments falls within the scope of protection defined by the claims. [Explanation of symbols]

[0043] 1 Oil Sampling Auxiliary Tool Platform 2. Intelligent Moving Assembly 3 Manipulator body 4 Manipulator jaw unit 5. Oil Sampling Auxiliary Tool Assembly 101 Cleaning oil sample bottle 102 Oil sample bottle for collection 103 Small valve opening and closing tool 104 Small valve opening and closing tool placement stand 105 Large valve opening and closing tool 106 Large valve opening and closing tool placement stand 107 Tool stand 702 Fixed column 703 Valve opening and closing tool board 601 Large valve opening and closing tool mounting base 602 First permanent magnet 401 Small valve opening and closing tool mounting base 402 Second permanent magnet 51 Oil Sampling Auxiliary Tools 52 Oil Pipe 53 Oil pipe opening and closing valve 501 Small valve 502 Oil Sampling Auxiliary Pipe Component 503 Oil Sampling Auxiliary Pipe Component Base 504 Oil Sampling Auxiliary Tool Board 505 Oil sample bottle stand 506 3rd permanent magnet 301 Visual Camera 302 Nail Base 303 Claw adapter plate 304 1st Rotating Pin 305 Electromagnet 306 Valve tool fixing column 307 Push rod mounting base 308 Electric Push Rod 309 2nd Rotating Pin 310 Claw swing arm 311 Nails

Claims

1. An oil sampling robot for a substation comprising an intelligent mobile assembly (2), The robot further includes a manipulator gripping assembly, an oil sampling assist assembly (1), and an oil sampling assist platform assembly (5); The manipulator gripping assembly includes a manipulator body (3) and a manipulator jaw unit (4), the manipulator jaw unit (4) being attached to one end of the manipulator body (3), and the other end of the manipulator body being attached and fixed to an intelligent movement assembly (2); The oil sampling auxiliary assembly (1) includes an oil sample bottle and a valve opening and closing tool, and the manipulator jaw unit (4) is provided with a first gripping portion that fits the oil sample bottle and a second gripping portion that fits the valve opening and closing tool; The oil sampling auxiliary platform assembly (5) includes an oil sampling auxiliary tool connected to an oil pipe (52), and the oil pipe is provided with an oil pipe opening / closing valve (53). The oil sampling auxiliary tool includes an auxiliary valve (501), an oil sampling auxiliary pipe member (502), and an oil sampling auxiliary pipe member base (503). The oil sampling auxiliary pipe member (502) is fixed to the oil sampling auxiliary pipe member base (503) and connected to the auxiliary valve (501). The outlet of the oil pipe opening / closing valve (53) is connected to the oil sampling auxiliary pipe member (502); The manipulator jaw unit (4) includes a jaw base (302) and a first mechanical jaw and a second mechanical jaw installed on both sides of the jaw base (302), the gripping parts of the first mechanical jaw and the second mechanical jaw are both adapted to the shape of the oil sample bottle, and an electromagnet (305) and a valve tool fixing pole (306) are provided at one end of the jaw base (302). The oil sampling robot for a substation is characterized by:

2. 2. The oil sampling robot for substation according to claim 1, wherein the first mechanical claw and the second mechanical claw both have a mechanical claw structure, the mechanical claw structure including a push rod mounting base (307), an electric push rod (308), a claw swing arm (310) and a claw (311), the push rod mounting base (307) is fixedly mounted to the claw base (302), one end of the claw swing arm (310) is rotatably mounted to the claw base (302), one end of the electric push rod (308) is rotatably connected to the push rod mounting base (307) and the other end is rotatably connected to the claw swing arm (310), and the claw (311) is fixed to one end of the claw swing arm (310) opposite to the electric push rod (308).

3. The substation oil sampling robot of claim 1, characterized in that the manipulator claw unit (4) further comprises a visual camera (301), the visual camera (301) being mounted on a claw base (302).

4. 2. The oil sampling robot for substations according to claim 1, wherein the valve opening and closing tool includes a valve opening and closing tool substrate (703) and a valve fixing post (702), the valve opening and closing tool substrate (703) is provided with a magnetic attraction material corresponding to an electromagnet (305), the valve opening and closing tool substrate (703) is provided with mounting holes (701) corresponding to the valve tool fixing posts (306), and the valve fixing posts (702) are attached to the valve opening and closing tool substrate (703) to correspond to the layout of holes in the valve.

5. The oil sampling robot for substations according to claim 1, characterized in that the oil sampling auxiliary assembly (1) further includes a tool mounting base (107) and a valve opening and closing tool mounting base, the tool mounting base (107) is fixed to the intelligent mobile assembly (2), and the valve opening and closing tool mounting base is fixed to the tool mounting base (107).

6. 2. The oil sampling robot for substations according to claim 1, characterized in that the oil sample bottles include a cleaning oil sample bottle (101) and a collection oil sample bottle (102).

7. 6. The oil sampling robot for a substation according to claim 5, wherein the valve opening and closing tool mounting base includes a permanent magnet and a mounting base.

8. The oil sampling robot for substations according to claim 1, characterized in that the oil sampling auxiliary platform assembly (5) further includes a collecting oil sample bottle mounting base (505), an oil sampling auxiliary tool base (504), and a third permanent magnet (506), the oil sampling auxiliary pipe member base (503) is fixed to one side of the oil sampling auxiliary tool base (504), and the third permanent magnet is fixed to the opposite side of the oil sampling auxiliary tool base (504) to the oil sampling auxiliary pipe member base (503).

9. 2. The oil sampling robot for substations according to claim 1, wherein the third permanent magnet fixed to the oil sampling auxiliary tool base is plural.

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