CN118130167B - Oil sample collection robot and oil extraction method thereof - Google Patents
Oil sample collection robot and oil extraction method thereof Download PDFInfo
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- CN118130167B CN118130167B CN202410551830.7A CN202410551830A CN118130167B CN 118130167 B CN118130167 B CN 118130167B CN 202410551830 A CN202410551830 A CN 202410551830A CN 118130167 B CN118130167 B CN 118130167B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
- G01M3/28—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds
- G01M3/2807—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds for pipes
- G01M3/2815—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds for pipes using pressure measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- Pathology (AREA)
- Robotics (AREA)
- Sampling And Sample Adjustment (AREA)
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Abstract
The application relates to an oil sample collection robot, which can solve the problems of low oil sample collection efficiency, hidden danger of sampling personnel, nonstandard sampling method and easy pollution in the air of oil samples in the prior art, and comprises the following components: the oil sampling device comprises an oil sampling pile and an oil sampling robot, wherein the oil sampling pile is provided with an oil sample storage container, the oil sample storage container comprises a dead oil area, a live oil area and a first waste oil collector, and the oil sampling robot comprises a needle cylinder; when the oil extraction pile extracts oil from the transformer, residual oil samples in the oil extraction pile firstly enter a first waste oil collector, oil in a live oil area and oil in a dead oil area are emptied, then the oil extraction pile and a transformer pipeline are subjected to tightness detection, oil extraction pile pipeline rinse, and finally the oil is extracted from the transformer to the live oil area, when the oil extraction robot extracts oil from the oil extraction pile, the oil extraction robot and the oil extraction pile are automatically in pressure butt joint, then the pipeline tightness detection of the oil extraction pile to the oil extraction robot is firstly carried out, the pipeline of the oil extraction pile and the pipeline of the oil extraction robot are cleaned, and the needle cylinder on the oil extraction robot is subjected to needle cylinder oil extraction after the needle cylinder rinse.
Description
Technical Field
The application relates to the technical field of oil extraction robots, in particular to an oil sample collection robot and an oil extraction method thereof.
Background
The insulating oil chromatographic detection technology can effectively find and diagnose whether abnormal faults such as discharge, overheat and the like occur in the oil-filled equipment. The transformer and the oil immersed reactor are used as large oil filling equipment, and if faults occur in the transformer and the oil immersed reactor, a certain explosion risk exists. If the manual off-line oil sample collection work is carried out on site at this time, high-risk operation risks exist, and personal safety of operators is seriously endangered.
In recent years, along with the continuous improvement of the safety requirements of transformer products, intelligent automatic oil chromatographic products are also continuously popularized, but the oil extraction operation on the market at present generally requires manual oil extraction on the transformer, and when the fault transformer is required to be subjected to oil chromatographic anomaly diagnostic analysis, manual oil tightening whip is still required, so that great potential safety hazards are caused to oil extraction personnel.
The existing collection mode in the market is manual oil taking or oil taking by taking a sampling bottle through a robot, for example, the robot disclosed in patent application number 202210955404.0 is used for taking the sampling bottle through a mechanical arm, after collecting an oil sample, the oil sample collecting bottle is placed on a collecting oil sample bottle placing table, so that the oil sample is completely exposed in the air, oil sample pollution is caused, and the testing effect is not ideal.
Disclosure of Invention
The application provides an oil sample collection robot, which aims to solve the problems that the existing transformer oil sample collection efficiency is low, potential hazards exist for sampling personnel, sampling methods are not standardized, and the oil sample is easy to pollute in the air.
Another object of the application is to provide an oil extraction method of the oil sample collection robot.
In order to achieve the above object, the present application provides an oil sample collection robot comprising:
the oil extraction pile and the oil extraction robot,
The oil extraction pile is provided with an oil sample storage container, the oil sample storage container comprises a dead oil area for storing oil remained in a pipeline, a live oil area for storing an oil sample extracted by a transformer and a first waste oil collector,
An oil extraction robot comprising an oil sample collector for collecting oil samples from a living oil area;
when the oil extraction pile extracts oil from the transformer, firstly, residual oil samples in the oil extraction pile enter a first waste oil collector, oil in a live oil area and a dead oil area is emptied, then, tightness detection is carried out on the oil extraction pile and a transformer pipeline, the oil extraction pile pipeline is rinsed, finally, oil is extracted from the transformer to the live oil area,
When the oil extractor robot extracts oil from the oil extraction pile, after the oil extractor robot is automatically in pressure butt joint with the oil extraction pile, pipeline tightness detection from the oil extraction pile to the oil extractor robot is firstly carried out, the pipeline of the oil extraction pile is cleaned, and oil sample collector on the oil extractor robot is moistened and then oil extraction is carried out by the oil sample collector.
Preferably, the oil extraction robot is further arranged to return the oil in the dead oil area and the oil in the active oil area to the transformer after the oil extraction from the oil extraction pile is completed.
Preferably, the oil extraction pile comprises a first oil circuit system, a first oil circuit control module and a first air circuit monitoring module,
The first oil circuit control module is used for controlling the first oil circuit system to work,
The first air path monitoring module is in communication connection with the first oil path control module and is used for judging that the air tightness detection passes and feeding back to the first oil path control module;
the oil extraction robot comprises a second oil circuit system, a second oil circuit control module, an oil sample sampling module and a second gas circuit monitoring module,
The second oil circuit control module is used for controlling the second oil circuit system to work,
The second gas circuit monitoring module is in communication connection with the second oil circuit control module and is used for judging that the air tightness detection passes and feeding back to the second oil circuit control module.
Preferably, the first oil path system comprises a first main pipeline, the oil activation area comprises a first oil cylinder, the dead oil area comprises a second oil cylinder, the first main pipeline is connected with the first oil cylinder through a first branch pipeline, the first main pipeline is connected with the second oil cylinder through a second branch pipeline, the first oil path control module comprises a second electromagnetic valve arranged on the first main pipeline, a third electromagnetic valve arranged on the first branch pipeline, a fifth electromagnetic valve arranged on the second branch pipeline, a first motor and a second motor, the first oil cylinder works under the control of the first motor, and the second oil cylinder works under the control of the second motor.
Preferably, the first waste oil collector is connected with the first main pipeline through a third branch, and the first oil circuit control module comprises a seventh electromagnetic valve arranged on the third branch.
Preferably, the waste oil collector is provided with a second liquid level sensor.
Preferably, the first main pipeline is connected with a first oil chamber through a fourth branch, the first oil circuit control module comprises a fourth electromagnetic valve arranged on the fourth branch, and the first air circuit monitoring module comprises a vacuum pump connected with the first oil chamber through an oil mist filter, a second pressure sensor arranged at the front end of the first main pipeline and a third pressure sensor arranged at the rear end of the first main pipeline.
Preferably, the oil extraction pile further comprises a filter module arranged on the first main pipeline, the first air path monitoring module further comprises a first pressure sensor arranged on the first main pipeline, and the filter module is located between the first pressure sensor and the second pressure sensor.
Preferably, the second oil circuit system comprises a second main pipeline, an oil sample collector and a third oil cylinder, the second oil circuit control module comprises a tenth electromagnetic valve, a thirteenth electromagnetic valve, a fourth motor and a seventh motor, the tenth electromagnetic valve is arranged between the second main pipeline and the oil sample collector, the thirteenth electromagnetic valve is arranged between the second main pipeline and the third oil cylinder, the oil sample collector is controlled to work through the fourth motor, and the third oil cylinder is controlled to work through the seventh motor.
Preferably, the second oil path control module includes an eighth solenoid valve provided at a front portion of the second main line.
Preferably, the second oil path system comprises a third oil chamber, the second oil path control module comprises a ninth electromagnetic valve arranged between the third oil chamber and the second main pipeline, and the second gas path monitoring module comprises a fourth pressure sensor arranged between the third oil chamber and the second main pipeline.
Preferably, the hydraulic control system further comprises a second waste oil collector connected with the third oil cylinder, and the second oil circuit control module comprises a fourteenth electromagnetic valve arranged between the second waste oil collector and the third oil cylinder.
The invention also provides an oil sampling method of the oil sample collecting robot, wherein the oil sample collecting robot adopts the oil sample collecting robot, and the oil sample collecting method comprises the following steps:
Discharging a residual oil sample in the oil taking pile into a first waste oil collector, and evacuating oil in a live oil area and a dead oil area;
detecting the tightness of the oil extraction pile and the transformer pipeline;
Pumping oil in the dead oil area, and performing pipeline rinsing of the oil extraction pile;
Pumping oil from the active oil area, extracting an oil sample from the transformer and storing the oil sample;
the oil extraction robot navigates and positions the oil extraction pile to finish automatic pressure butt joint of the oil extraction robot and the oil extraction pile;
Detecting the tightness of a pipeline from the oil extraction pile to the oil extraction robot;
Cleaning the rear end of the oil extraction pile and the pipeline of the oil extraction robot;
And (3) taking oil through the oil sample collector after the oil sample collector on the oil taking robot is rinsed.
According to the above, the application has the following beneficial effects:
Through setting up oil extraction stake and oil extraction robot, oil extraction stake can accomplish dead oil (remaining oil in the pipeline) isolation and oil appearance (oil in the transformer) collection work voluntarily, oil extraction robot and oil extraction stake can accomplish automatic area pressure seal butt joint, in gathering the container on the oil extraction robot with the oil appearance, the robot sends the oil appearance to safe region for personnel's safety is got and is taken, accomplishes the sample. In the whole sampling process, the pressure stability in the oil pipe is ensured, and the oil way is sealed. The problems that the existing transformer oil sample collection efficiency is low, potential hazards exist for sampling personnel, sampling methods are not standardized, and the oil sample is easy to pollute in the air are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic view of an oil passage according to an embodiment of the present application.
Fig. 2 is a schematic structural view of the present application.
Fig. 3 is a schematic diagram of an automated oil sample collection robot.
Fig. 4 is a schematic diagram of a robotic arm docking module.
Fig. 5 is a schematic diagram of an oil extraction temporary storage device or transformer station/transformer docking module.
Fig. 6 is a schematic diagram of a docking module completion.
Fig. 7 is a schematic diagram of an oil circuit module.
Fig. 8 is a schematic diagram of a second oil circuit module.
Fig. 9 is a schematic view of an automatic syringe sampling mechanism.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person of ordinary skill in the art based on the embodiments provided by the present application without making any inventive effort, are intended to fall within the scope of the present application. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by those of ordinary skill in the art that the described embodiments of the application can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," and similar referents in the context of the application are not to be construed as limiting the quantity, but rather as singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in connection with the present application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means greater than or equal to two. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
Referring to fig. 1 and 2, the oil sample collection robot of the present application mainly includes:
Comprises an oil taking temporary storage device and an oil taking robot, wherein in the embodiment, the oil taking temporary storage device adopts an oil taking pile a1,
The oil extraction pile is provided with an oil sample storage container, the oil sample storage container comprises a dead oil area for storing residual oil in a pipeline, a live oil area for storing an oil sample extracted from a transformer and a first waste oil collector,
An oil extraction robot comprising an oil sample collector for collecting oil samples from a living oil area;
the oil sampling method of the oil sample collection robot comprises the following steps:
Step one, self-checking by the oil sample collecting robot, and enabling residual oil samples in the oil sampling pile to enter a first waste oil collector so as to empty oil in a live oil area and a dead oil area;
step two, detecting the tightness of the oil extraction pile and the transformer pipeline;
step three, pumping oil in a dead oil area, and performing oil pile pipe wetting;
Step four, pumping oil in the active oil area to store an oil sample of the transformer;
step five, the oil extraction robot navigates and positions to an oil extraction pile, and the oil extraction robot and the oil extraction pile are automatically butted under pressure through a mechanical arm butting module a2, wherein the oil extraction robot is provided with an automatic online charging module 3, a walking chassis module 4, an oil circuit module 5, an automatic navigation and voice recognition module 6 and a butting joint mooring module 7;
Step six, detecting the tightness of a pipeline from the oil extraction pile to the oil extraction robot;
Step seven, cleaning the rear end of the oil extraction pile and the pipeline of the oil extraction robot;
Step eight, performing rinsing on an oil sample collector on the oil extraction robot;
step nine, at least one oil sample collector takes oil;
and step ten, returning the oil in the dead oil area and the oil in the active oil area to the transformer.
Wherein, the oil sample collector can adopt a needle cylinder, an oil cylinder and the like.
Specifically, the oil extraction pile comprises a first oil circuit system, a first oil circuit control module, a first signal processing module and a first air circuit monitoring module,
The first oil circuit control module is used for controlling the first oil circuit system to work,
The first signal processing module is in communication connection with the first oil circuit control module and is used for transmitting the received sampling instruction to the first oil circuit control module,
The first air path monitoring module is in communication connection with the first oil path control module and is used for judging that the air tightness detection passes and feeding back to the first oil path control module;
the oil extraction robot is used for collecting oil samples from an oil sample storage container of the oil extraction pile,
The oil extraction robot comprises a second oil circuit system, a second oil circuit control module, a second signal processing module, an oil sample sampling module and a second gas circuit monitoring module,
The second oil circuit control module is used for controlling the second oil circuit system to work,
The second signal processing module is in communication connection with the second oil circuit control module and is used for transmitting the received sampling instruction to the second oil circuit control module;
The second gas circuit monitoring module is in communication connection with the second oil circuit control module and is used for judging that the air tightness detection passes and feeding back to the second oil circuit control module.
Further specifically, the first oil circuit system comprises a first main pipeline 1, the oil sample storage container comprises a first oil cylinder A1, a second oil cylinder A2 and a first waste oil collector F1, wherein the first oil cylinder A1 forms a live oil area, the second oil cylinder A2 forms a dead oil area, the first waste oil collector F1 can be in a waste oil drum or the like, the first main pipeline 1 is connected with the first oil cylinder A1 through a first branch pipeline, the first main pipeline 1 is connected with the second oil cylinder A2 through a second branch pipeline, the first oil circuit control module comprises a second electromagnetic valve YA2 arranged on the first main pipeline 1, a third electromagnetic valve YA3 arranged on the first branch pipeline, a fifth electromagnetic valve YA5 arranged on the second branch pipeline, a first motor M1 and a second motor M2, the first oil cylinder A1 is controlled to work through the first motor M1, and the second oil cylinder A2 is controlled to work through the second motor M2.
The first waste oil collector F1 is a waste oil barrel, the first waste oil collector is connected with the first main pipeline 1 through a third branch, the first oil way control module comprises a seventh electromagnetic valve YA7 arranged on the third branch, and the first waste oil collector F1 is provided with a second liquid level sensor LS2.
The first main pipeline 1 is connected with a first oil chamber #1 through a fourth branch, a first liquid level sensor LS1 is arranged on the first oil chamber #1, the first oil way control module comprises a fourth electromagnetic valve YA4 arranged on the fourth branch, and the first air way monitoring module comprises a vacuum pump connected with the first oil chamber #1 through an oil mist filter, a second pressure sensor PT2 arranged at the front end of the first main pipeline 1 and a third pressure sensor PT3 arranged at the rear end of the first main pipeline 1.
The oil extraction pile further comprises a filter module, namely a filter, arranged on the first main pipeline 1, the first air pipeline monitoring module further comprises a first pressure sensor PT1 arranged at the joint of the front end of the first main pipeline 1 and the transformer, the filter module is positioned between the first pressure sensor PT1 and the second pressure sensor PT2, and a first electromagnetic valve YA1 is further arranged at the joint of the front end of the first main pipeline and the transformer.
The oil extraction pile further comprises a sixth electromagnetic valve YA6 arranged at the rear end of the third pressure sensor at the rear end of the first main pipeline 1, a second oil chamber #2 arranged at the rear end of the first main pipeline 1 and positioned between the third pressure sensor and the sixth electromagnetic valve, and a third liquid level sensor LS3 is arranged on the second oil chamber # 2.
The second oil path system includes a second main pipe 2 (i.e., an oil pipe 507 described below), a needle cylinder (i.e., an oil-sample needle cylinder one 503, an oil-sample needle cylinder two 504, an oil-sample needle cylinder three 505 described below), and a third oil cylinder (i.e., an oil cylinder 512 described below), the second oil path control module includes a tenth electromagnetic valve YA10, a thirteenth electromagnetic valve YA13 (an electromagnetic valve 506 described below), a fourth motor M4 (an oil-sample motor 526 described below), and a seventh motor M7, the tenth electromagnetic valve is disposed between the second main pipe and the needle cylinder, the thirteenth electromagnetic valve is disposed between the second main pipe and the third oil cylinder, the needle cylinder is controlled to operate by the fourth motor, and the third oil cylinder is controlled to operate by the seventh motor. The second main pipeline is provided with an eighth electromagnetic valve YA8 at the front part of the second main pipeline.
The second oil path system includes a third oil chamber #3 (a standard pressure chamber 508 described below), the second oil path control module includes a ninth electromagnetic valve YA9 provided between the third oil chamber #3 and the second main line, and the second gas path monitoring module includes a fourth pressure sensor PT4 (i.e., a differential pressure sensor 511 described below) provided between the third oil chamber #3 and the second main line 2.
Preferably, the second oil path control module further includes a second waste oil collector F2 (i.e., a waste oil collector 502 described below) connected to the third oil cylinder, and the second oil path control module includes a fourteenth electromagnetic valve YA14 provided between the second waste oil collector F2 and the third oil cylinder.
When the oil extraction pile extracts oil from the transformer into the oil sample storage container, in the first step, after receiving a sampling instruction issued by the background, the first signal processing module of the oil extraction pile transmits the instruction to the main control board of the first oil way control module in a linear mode, and the main control board controls the opening of the third electromagnetic valve, the fifth electromagnetic valve and the seventh electromagnetic valve, controls the first motor and the second electric saw to push the screw rod to push the pistons of the first oil cylinder and the second oil cylinder to move, and completely discharges residual oil in the cylinder to the first waste oil collector. And after the first waste oil collector is provided with a sensor for ensuring that waste oil is full, uploading a signal to a background platform for alarming and pouring oil, and when the piston is pushed to move to a zero position, feeding back a signal to a first oil way control module by a travel switch (provided with an electromagnetic sensor), controlling a third electromagnetic valve, a fifth electromagnetic valve and a seventh electromagnetic valve to be closed, and completing the discharge of residual oil.
In the second step, the first oil circuit control module controls to open the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve and the fifth electromagnetic valve, the vacuum pump is opened, when the first air circuit monitoring module obtains that the pressure value of the first pressure sensor PT1, the second pressure sensor PT2 and the third pressure sensor PT3 is smaller than 30KPa, the vacuum pump is controlled to be closed, meanwhile, the feedback is provided to the oil circuit control module to control the fourth electromagnetic valve to be closed for 1-10min, if the pressure values of the first pressure sensor PT1, the second pressure sensor PT2 and the third pressure sensor PT3 are unchanged, the oil circuit air tightness is good, and the first air circuit monitoring module judges that the air tightness detection passes.
In the third step, after the first air path monitoring module judges that the air tightness detection is fed back to the oil path control module, the first electromagnetic valve is controlled to be opened, the third electromagnetic valve is closed, the second motor is controlled to pull the piston of the second oil cylinder to the position with the maximum stroke, the oil sample enters the second oil cylinder to be full of oil, the oil path control module stops the second motor after receiving the signal of the stroke induction sensor of the second oil cylinder, and the fifth electromagnetic valve is closed.
In the fourth step, after the third step is completed, the oil way control module controls the third electromagnetic valve to be opened, drives the first motor to move, pulls the first oil cylinder to the position with the maximum stroke, closes the first motor after receiving a signal of the stroke sensor of the first oil cylinder, closes the third electromagnetic valve and the first electromagnetic valve, and completes the fresh real oil sample sampling to the first oil cylinder in the oil sample storage container of the external system.
In step five, when oil extraction robot gets oil to the oil sample collection module from getting the oil pile, get oil robot and pass through ultrasonic radar sensor, 3D laser sensor, keep away barrier sensor automatic navigation location and get the oil pile, the degree of depth camera on the arm is through the two-dimensional code on the discernment oil pile of getting, accomplish to get oil robot joint and get the automatic area pressure butt joint of oil pile, also have the light filling lamp on the arm, can dock in all weather, docking mechanism has the advantage that does not leak, take oil pressure, not degasification.
In the sixth step, after the oil extraction robot is in butt joint with the oil extraction pile, signals are fed back to a control module of an external guiding system and an acquisition system through a proximity sensor, a sixth electromagnetic valve, an eighth electromagnetic valve, a ninth electromagnetic valve, a thirteenth electromagnetic valve and a seventh motor are respectively controlled to be opened, the third oil cylinder is pulled to the position with the maximum stroke, oil sent from the sixth electromagnetic valve to a pipeline between the third oil cylinders enters the third oil cylinder, negative pressure is formed in the pipeline, a second gas circuit monitoring module of the acquisition system acquires a differential pressure transmitter, namely a fourth pressure sensor PT4, the pressure value is zero (the pressure value is the differential pressure of two sides, when the gas circuits are communicated, the pressure difference is zero), the control system controls to close the ninth electromagnetic valve, close the thirteenth electromagnetic valve, maintain the pressure for 1-10min, the second gas circuit monitoring module observes the pressure value of the differential pressure transmitter PT4, if no leakage exists in the pipeline, and gas circuit air tightness detection is passed.
In the seventh step, the gas path monitoring system feeds back a successful gas tightness detection signal to the control system, drives the seventh motor, pulls the third oil cylinder to a certain position (at this time, vhydro-cylinder 3=2×v oil path), feeds back signals to the control system to control and open the sixth solenoid valve, the eighth solenoid valve and the thirteenth solenoid valve after the hydro-cylinder stroke sensor moves to a preset position, so that a fresh oil sample enters the pipeline, and finishes cleaning after the liquid level signal is detected by the liquid level sensor of the fourth oil chamber # 4.
And then entering a step eight, wherein a feedback control system of the monitoring system controls to open a third electromagnetic valve, a sixth electromagnetic valve, an eighth electromagnetic valve and a tenth electromagnetic valve, drives a fourth motor to move so as to drive a needle cylinder in the oil sample acquisition module to be pulled to a maximum scale position, controls to close the eighth electromagnetic valve after a stroke sensor of the oil sample acquisition module feeds back a in-place signal, opens the sixth electromagnetic valve, the tenth electromagnetic valve, a thirteenth electromagnetic valve and a fourteenth electromagnetic valve, drives a fourth motor to move so as to push the needle cylinder to a scale zeroing position, discharges oil entering the needle cylinder into a waste oil barrel of the oil extraction robot so as to finish needle cylinder washing, discharges impurities in the needle cylinder and last sampling residual oil to a second waste oil collector, and repeats the steps 1-10 times.
And step nine, after the needle cylinder moves to the scale zeroing position, the stroke sensor receives signals, the feedback control system controls the third electromagnetic valve, the sixth electromagnetic valve and the tenth electromagnetic valve to be opened, the fourth motor is driven to be slowly pulled to the needle cylinder, and after the preset quantity is reached, the stroke sensor feeds back information to the control system to control the fourth motor to stop moving, so that oil samples are collected from the first oil cylinder in the oil collecting pile into the needle cylinder in the oil collecting robot, and oil sample collection operation is completed.
In step ten, in order to avoid the loss of transformer oil due to long-term oil extraction and the drop of the transformer oil level, the oil of the first oil cylinder and the second oil cylinder is discharged back to the transformer after the sample extraction is completed. After the control system receives a signal that the needle cylinder moves to a target stroke to finish oil extraction, the control system controls the cleaning oil sample stored in the first oil cylinder and the collected oil sample stored in the second oil cylinder to be sequentially discharged back to the transformer body, at the moment, the control system controls the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve to be opened, the first motor is controlled to slowly push the first oil cylinder to move, after the first oil cylinder moves to a zero position, the electromagnetic sensor feeds back a signal to the control system to control the first electromagnetic valve, the second electromagnetic valve and the fifth electromagnetic valve to be opened, the second motor is controlled to slowly push, and in the process of pushing to zero, the pressure values of the first pressure sensor PT1 and the second pressure sensor PT2 are required to be kept at 120-180Kpa, and the oil of the second oil cylinder is discharged back.
And in addition, the method also comprises the step eleven that the oil of the third oil cylinder is discharged into a waste oil barrel, the thirteenth electromagnetic valve is closed, the fourteenth electromagnetic valve is opened, the seventh motor of the oil cylinder is pushed to the upper limit, and a complete automatic oil sample collection process is completed.
In the invention, the oil sampling robot sends the sampled oil sample to a safety area; the tester directly takes down the oil sample needle cylinder and places a new oil sample needle cylinder. The emergency sampling safety of the robot is guaranteed, the automatic leakage detection and the evacuation of the sampling are realized, the process is strict, the operation is simple, dead zone residual oil is safely returned, and oil discharge is not needed. The oil extractor robot completes the work of pipeline tightness detection, oil way rinsing and oil sample collection from the oil extraction pile to the robot, rinsed oil can enter the waste oil collector, the waste oil collector is provided with a liquid level sensor, the liquid level of the waste oil collector can be identified, and workers are prompted to timely pour out waste oil.
Referring to fig. 3 to 9, the present application further includes a control module, a control panel 10, an emergency stop button 8, a signal indicator lamp 9, an antenna 11, and the like. This oil appearance collection robot passes through automatic navigation module and voice recognition module 6 automatic navigation location to get oily temporary storage equipment, and arm butt joint module a2 is through the identification code on the discernment oil temporary storage equipment, and wherein, this identification code is the two-dimensional code preferably, accomplishes the oil appearance like this and gathers the automatic butt joint of robot and oil temporary storage equipment with getting, and docking mechanism has the advantage that does not leak, take oil pressure, not degasification.
Specifically, the automatic completion of the oil sample collection robot is mainly completed by two modules, namely oil taking temporary storage equipment and a mechanical arm docking module a 2.
The oil extraction temporary storage equipment comprises a two-dimensional code 110, a female connector floating plate 109, a floating fixing piece 101, a primary butt joint photoelectric 102, a rotary in-place photoelectric 103, a butt joint correction ring 104, a female connector approaching photoelectric 105, a female connector 106, a positioning pin 107 and a correction hole 108. The mechanical arm docking module a2 comprises a male connector 201, a positioning pin hole 202, a preliminary positioning pin 203, a male connector approaching photoelectric 204, an in-place positioning bead 205, a correction docking plate 209, a 3D floating structure 208, a depth camera 207, a light supplementing lamp 206, a synchronous pulley 210, an oil pipe 211, a motor 212, a trapezoidal screw one 213, a male connector fixing plate 214 and the like.
The depth camera 207 on the mechanical arm 204 completes preliminary positioning by identifying the two-dimensional code 110 on the oil extraction pile a1, the mechanical arm docking module and the male docking module on the oil extraction temporary storage equipment, 3 preliminary positioning pins 203 are inserted into 3 docking correction rings 104, the primary docking photoelectric 102 senses one of the 3 preliminary positioning pins 203, and the primary docking is completed, so that the parallelism of two parts of the correction docking plate 209 and the docking correction rings 104 is guaranteed, and meanwhile, the two parts are tightly attached, and a 3D floating structure 208 is designed.
After the primary butt joint is finished, the mechanical arm rotates for 30 degrees, the photoelectric 103 in place senses one of the 3 primary positioning pins 203, meanwhile, the primary butt joint level and the rotary self-locking are finished, the motor 212 starts to start, the trapezoidal screw rod 213 starts to horizontally move towards the oil extraction pile or the male butt joint module on the transformer station/device, the positioning pin 107 is inserted into the positioning pin hole 202 to finish high-precision positioning, when the female joint approaches the photoelectric 105 to sense the male joint fixing plate 214, the male joint approaches the photoelectric 204 to sense the female joint floating plate 109, and after two photoelectric are sensed simultaneously, the motor 212 stops, so that the complete butt joint of the male joint 201 and the female joint 106 is ensured, and oil extraction work can be performed.
As shown in fig. 6, in order to ensure the butt joint pressure and tightness, a trapezoidal screw is selected, and the trapezoidal screw has self-locking property, so that the reliability of butt joint after the motor is powered off is ensured. After oil extraction is completed, the motor 212 turns over, and sequentially performs actions in reverse order, thus completing the separation of the automatic docking module.
The control module of the mechanical arm mainly comprises a mechanical control box 413, a regulated power supply module 411 and a mechanical arm fixing seat 410.
The oil circuit module 5 completes oil sample collection work, and the cradle head is arranged on the robot, so that the docking effect can be observed remotely and the situation around the robot can be observed, the oil sample collection robot walks in-process, the docking module on the mechanical arm is stopped on the docking station 7, the robot can be ensured to walk in-process, the mechanical arm and the docking module are protected, and dust and rainwater in the air are prevented from polluting the docking module. The oil sample collecting robot sends the collected oil sample to a safety area; and the tester directly takes down the oil sample needle cylinder, places a new oil sample needle cylinder and finishes automatic oil taking.
Referring to fig. 7, 8 and 9, a specific construction of the oil circuit module 5 is shown, which includes a waste oil collector 502, a waste oil collector level sensor 501, a first oil sample cylinder 503, a second oil sample cylinder 504, a third oil sample cylinder 505, a solenoid valve 506, an oil pipe 507, a standard pressure cavity 508, a waste oil remaining sensing cavity 509, a waste oil control valve 510, a differential pressure sensor 511, an oil cylinder 512, an I/O plate 513, a control board 514, a waste oil remaining sensing cavity level sensor 515, an oil sample floating plate 518, an oil sample push plate 519, an oil sample handle fixing seat 520, a quick-release handle 521, a stopper 522, an oil sample upper fixing plate 523, a maximum stroke sensing photoelectric 524, an origin sensing photoelectric 525, an oil sample motor 526, a coupler 527, a trapezoidal screw second guide rod 528, a guide rod 529, a fixing frame 530 and the like. The working principle of the oil circuit module 5 is as follows:
After the oil sample collection robot is subjected to oil taking butt joint, the differential pressure sensor 511 is used for completing tightness detection of the robot, the pressure marking cavity 508 is used for carrying out differential pressure comparison with a pipeline at a butt joint, the differential pressure sensor 511 is used for determining that the differential pressure sensor is sealed in a reasonable numerical value, a valve is opened, an oil sample enters the robot through an oil pipe, an oil cylinder 512 starts to carry out oil way and oil sample barrel rinsing, the oil sample motor 526 is started to drive the trapezoidal screw rod II 528 to move, a floating mechanism of the oil sample protects the safety of the oil sample barrel and prevents from being pulled out, a magnetic encoder is arranged at the tail of the oil sample motor 526, closed-loop control is carried out on the oil sample, and the reliability and stability of sampling are ensured. The waste oil after rinsing enters the waste oil collector 502, the liquid level sensor 501 on the waste oil collector senses the change of the oil level, when the residual space of the waste oil collector cannot meet the requirement of next rinsing, the liquid level sensor 501 on the waste oil collector starts to give an alarm to remind a worker to discharge the waste oil, after rinsing is finished, an oil sample starts to enter the oil sample needle cylinder I503, and after the collection amount is met, the needle cylinder motor stops descending. The oil sample collection is completed, and meanwhile, according to design requirements, the oil sample collection robot can sample 3 bottles of oil samples at a time, namely, an oil sample needle cylinder I503, an oil sample needle cylinder II 504 and an oil sample needle cylinder III 505.
In this embodiment, the oil sample collection robot is at the in-process of walking, and the arm docking module berths on the butt joint berth module 7, and the butt joint berth module 7 can guarantee the robot to the protection of arm and butt joint in-process of walking, prevents dust and rainwater in the air to the pollution of butt joint.
The complete working steps of the oil sample collection robot are as follows:
1. the tester sends an oil extraction instruction, and the oil sample collection robot automatically navigates and positions the side of the oil extraction pile a1 through the 3D laser sensor, the obstacle avoidance sensor and the 2D laser;
2. The depth camera 203 on the mechanical arm is used for completing preliminary butt joint of the male joint 201 of the oil sample collection robot and the female joint 102 on the oil extraction pile a1 through identifying the two-dimensional code on the oil extraction pile a1, and the accurate butt joint is completed through the rotation of the mechanical arm and the control of the motor 212;
3. the butt joint effect and the surrounding conditions of the robot can be observed remotely through the cradle head on the robot, the light supplementing lamp 206 is arranged on the mechanical arm, illumination can be provided at night, the auxiliary depth camera 207 recognizes the two-dimensional code on the oil extraction pile, the butt joint is completed, the all-weather butt joint is ensured, and the butt joint mechanism has the advantages of no leakage, oil pressure and no degassing;
4. the oil circuit module 5 starts to carry out the preparation work of oil extraction, firstly, the tightness detection of a docking mechanism is carried out, after the oil extraction docking of the movable oil sample collection robot is finished, the tightness detection of the robot is finished by the differential pressure sensor 511, the differential pressure comparison is carried out on the pipelines at the standard pressure cavity 508 and the docking head, the differential pressure sensor 511 is determined to be sealed within a reasonable value, the valve is opened, the oil sample enters the robot through the oil pipe, the oil cylinder 512 starts to carry out the oil circuit and the oil sample barrel washing, after the washing is finished, the oil extraction sample step is started, and after the oil sample collection is finished, the docking head is separated;
5. The oil sample collecting robot sends the collected oil sample to a safety area; the tester takes down the oil sample by rotating the quick-release handle 521 and places a new oil sample cylinder, and the automatic oil sample collection step is completed.
According to the invention, by arranging the oil extraction pile and the oil extraction robot, the oil extraction pile can automatically complete the isolation of dead oil (oil remained in a pipeline) and the collection of oil samples (oil in a transformer), the oil extraction robot positions and navigates to the oil extraction pile, the oil extraction robot and the oil extraction pile complete automatic sealing and butt joint with pressure through a depth camera identification two-dimensional code, the oil samples are collected in a container on the oil extraction robot, and the robot sends the oil samples to a safe area so as to facilitate safe taking by personnel and complete sampling. In the whole sampling process, the pressure stability in the oil pipe is ensured, and the oil way is sealed. The problems that the existing transformer oil sample collection efficiency is low, potential hazards exist for sampling personnel, sampling methods are not standard, and the oil sample is easy to pollute in the air are solved.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (3)
1. An oil sample collection robot, comprising:
the oil extraction pile and the oil extraction robot,
The oil extraction pile is provided with an oil sample storage container, the oil sample storage container comprises a dead oil area for storing oil remained in a pipeline, a live oil area for storing oil samples extracted by a transformer and a first waste oil collector, and the oil extraction robot comprises an oil sample collector for collecting the oil samples from the live oil area;
When the oil extraction pile extracts oil from the transformer, residual oil samples in the oil extraction pile firstly enter a first waste oil collector, oil in a live oil area and oil in a dead oil area are emptied, then the oil extraction pile and a transformer pipeline are subjected to tightness detection, the oil extraction pile pipeline is rinsed, finally the oil is extracted from the transformer to the live oil area, when the oil extraction robot extracts oil from the oil extraction pile, the oil extraction robot and the oil extraction pile are automatically butted under pressure, pipeline tightness detection of the oil extraction pile to the oil extraction robot is firstly carried out, the rear end of the oil extraction pile and the oil extraction robot pipeline are rinsed, and oil sample extraction is carried out by the oil sample collector on the oil extraction robot after the oil sample collector on the oil extraction robot is rinsed,
The oil extraction pile comprises a first oil circuit system, a first oil circuit control module and a first air circuit monitoring module, wherein the first oil circuit control module is used for controlling the first oil circuit system to work,
The first air path monitoring module is in communication connection with the first oil path control module and is used for judging that the air tightness detection passes and feeding back to the first oil path control module,
The first oil way system comprises a first main pipeline, the active oil area comprises a first oil cylinder, the dead oil area comprises a second oil cylinder, the first main pipeline is connected with the first oil cylinder through a first branch pipeline, the first main pipeline is connected with the second oil cylinder through a second branch pipeline,
The first oil way control module comprises a second electromagnetic valve arranged on the first main pipeline, a third electromagnetic valve arranged on the first branch pipeline, a fifth electromagnetic valve arranged on the second branch pipeline, a first motor and a second motor, the first oil cylinder is controlled to work through the first motor, and the second oil cylinder is controlled to work through the second motor;
the first waste oil collector is connected with the first main pipeline through a third branch, and the first oil way control module comprises a seventh electromagnetic valve arranged on the third branch;
The first main pipeline is connected with a first oil chamber through a fourth branch, and the first oil way control module comprises a fourth electromagnetic valve arranged on the fourth branch;
The first air path monitoring module comprises a vacuum pump connected with the first oil chamber through an oil mist filter, a second pressure sensor arranged at the front end of the first main pipeline, and a third pressure sensor arranged at the rear end of the first main pipeline;
The oil extraction robot comprises a second oil circuit system, a second oil circuit control module, an oil sample sampling module and a second gas circuit monitoring module, wherein the second oil circuit control module is used for controlling the second oil circuit system to work, and the second gas circuit monitoring module is in communication connection with the second oil circuit control module and is used for judging that the air tightness detection passes and is fed back to the second oil circuit control module;
The second oil way system comprises a second main pipeline, an oil sample collector and a third oil cylinder, the second oil way control module comprises a tenth electromagnetic valve, a thirteenth electromagnetic valve, a fourth motor and a seventh motor, the tenth electromagnetic valve is arranged between the second main pipeline and the oil sample collector, the thirteenth electromagnetic valve is arranged between the second main pipeline and the third oil cylinder, the oil sample collector is controlled to work through the fourth motor, and the third oil cylinder is controlled to work through the seventh motor;
The second oil circuit system comprises a third oil chamber, the second oil circuit control module comprises a ninth electromagnetic valve arranged between the third oil chamber and a second main pipeline, and the second gas circuit monitoring module comprises a fourth pressure sensor arranged between the third oil chamber and the second main pipeline;
The second oil circuit control module comprises a fourteenth electromagnetic valve arranged between the second waste oil collector and the third oil cylinder.
2. The oil sample collection robot of claim 1, wherein: the second oil circuit control module comprises an eighth electromagnetic valve arranged at the front part of the second main pipeline.
3. An oil extraction method of an oil sample collection robot, wherein the oil sample collection robot adopts the oil sample collection robot according to claim 1 or 2, and the method comprises the following steps: discharging a residual oil sample in the oil taking pile into a first waste oil collector, and evacuating oil in a live oil area and a dead oil area;
detecting the tightness of the oil extraction pile and the transformer pipeline;
Pumping oil in the dead oil area, and performing pipeline rinsing of the oil extraction pile;
Pumping oil from the active oil area, extracting an oil sample from the transformer and storing the oil sample;
the oil extraction robot navigates and positions the oil extraction pile to finish automatic pressure butt joint of the oil extraction robot and the oil extraction pile;
Detecting the tightness of a pipeline from the oil extraction pile to the oil extraction robot;
Cleaning the rear end of the oil extraction pile and the pipeline of the oil extraction robot;
And (3) taking oil through the oil sample collector after the oil sample collector on the oil taking robot is rinsed.
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| CN120172338A (en) * | 2025-05-19 | 2025-06-20 | 国网江苏省电力有限公司电力科学研究院 | A docking device and docking method for an oil extraction detection robot |
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| CN111766108A (en) * | 2020-07-02 | 2020-10-13 | 国家电网有限公司 | A safe and efficient oil sample collection device |
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