CN106771741A - A kind of oil-filled transformer inside detection robot - Google Patents
A kind of oil-filled transformer inside detection robot Download PDFInfo
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- CN106771741A CN106771741A CN201611159581.9A CN201611159581A CN106771741A CN 106771741 A CN106771741 A CN 106771741A CN 201611159581 A CN201611159581 A CN 201611159581A CN 106771741 A CN106771741 A CN 106771741A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/003—Environmental or reliability tests
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Abstract
The invention discloses a kind of oil-filled transformer inside detection robot, vertical thrust component includes：Conduit and setting vertical pusher in the channel；Horizontal propulsion assembly includes：Horizontal-jet pump, jet pump connector and the jet and inlet of middle hull outside are separately positioned on, horizontal-jet pump connects jet and inlet respectively by jet pump connector, wherein：Vertical spin oar propeller produces thrust up or down, makes robot realize floating or dive campaign, and horizontal-jet pump produces thrust at least one direction, robot forward and backward, left or right direction in the horizontal plane is realized mobile or is rotated.Oil-filled transformer inside detection robot of the invention, ensure that reliability of the robot in the multifreedom motion of inside transformer, be prevented effectively from the situation blocked or wind in inside transformer space；Structure is simplified rationally, further reduces the volume and weight of robot, makes integrated more multi-functional, is easy to repair and is safeguarded.
Description
Technical field
The present invention relates to appliances field, more particularly to a kind of oil-filled transformer inside detection robot.
Background technology
With intelligent grid and the high speed development of extra-high voltage electric power transmission technology, the operational reliability to grid equipment is all carried
Requirement higher is gone out, transformer is used as one of power network nucleus equipment, and it is steady that its reliability of operation directly affects power grid security
It is fixed.
Tradition for the detection method of oil-filled transformer is had a power failure after empty transformer oil side by side, and testing staff enters transformation
Overhauled inside device, not only maintenance cost is higher, while easily bringing pollution into.Therefore, a kind of new transformer detection is sought
Equipment improves operational reliability significant for reducing its maintenance cost.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of oil-filled transformer inside detection robot, can
Ensure that robot, in the reliability of the multifreedom motion of inside transformer, is prevented effectively from and is blocked in inside transformer space
Or the situation of winding；Structure is simplified rationally, further reduce robot volume and weight, make it is integrated more multi-functional, be easy to dimension
Repair and safeguard.
In order to solve the above-mentioned technical problem, The embodiment provides a kind of oil-filled transformer inside detection machine
People, the inside for being used to insert transformer detected and fault diagnosis to it, including：Oil resistant housing, oil resistant housing includes：Middle shell
Body and it is arranged on the ends and the cover body that is connected as a single entity with middle housing of middle housing；The injection being arranged in oil resistant housing is pushed away
Enter device, jet propulsion unit includes：Vertical thrust component and horizontal propulsion assembly, wherein：Vertical thrust component includes：Set
The conduit and setting being connected as a single entity in cover body and with cover body vertical pusher in the channel；Horizontal propulsion assembly includes：Water
Flat jet pump, the jet pump connector for being arranged on middle enclosure interior and the jet and feed liquor that are separately positioned on middle hull outside
Mouthful, horizontal-jet pump connects jet and inlet respectively by jet pump connector.
Wherein, middle housing is circular ring, and its surface is sphere, and inner surface is the face of cylinder, and middle housing is hemispherical thin
Wall nonmetal structure；The inner surface of middle housing is provided with and is used to boss that is fixed and connecting horizontal-jet pump.
Wherein, horizontal-jet pump is set to multiple, multiple horizontal-jet pumps vector arrangement on the horizontal plane of middle housing.
Wherein, relative to the center of middle housing there is certain eccentric throw in jet, to allow the robot to carry out steadily
Linear motion and flexibly controllable rotational motion.
Wherein, horizontal-jet pump is fixed on the boss of middle housing by flange arrangement, and horizontal-jet pump level bias is put
In on middle housing.
Wherein, oil resistant housing is in spherical, and cover body includes：The upper cover and lower cover of middle housing opposite sides are separately mounted to, on
Cover and lower cover are respectively hemispherical thin-walled nonmetal structure；Upper cover and the hemispheroidal top of lower cover are respectively equipped with and are adapted with conduit
Through hole, the counter sink being circumferentially with to connecting channel of through hole.
Wherein, conduit is cylindrical, and the end that conduit connects with cover body is set to flange arrangement；Vertical pusher is electronic spiral shell
Rotary propeller type propeller, is installed vertically in conduit.
Wherein, also include：The electric control gear in oil resistant housing is arranged on, electric control gear includes：It is arranged in oil resistant housing
Battery pack, the control panel being connected with battery pack and the multiple sensors being connected with battery pack and control panel respectively；Battery pack
Including：The upper electrical component that power port is provided with middle housing and the charging assembly that charge port is provided with middle housing, sensor is extremely
Include Position and attitude sensor and barrier detecting sensor less.
Wherein, battery pack is the polymer Li-ion battery of loop configuration, is provided with the middle part of control panel with so that conduit is worn
The through hole crossed.
Wherein, also include：The detection means in oil resistant housing is arranged on, detection means includes：Photograph is provided with middle housing
The illuminating lamp in bright hole, the camera and the data to be collected according to camera for being provided with middle housing mounting hole carry out figure
The image processor of shape treatment, wherein：Illuminating lamp, camera and image processor are connected with control panel respectively.
Implement oil-filled transformer inside detection robot of the invention, with following beneficial effect：
Firstth, vertical thrust component includes conduit and setting vertical pusher in the channel；Horizontal propulsion assembly includes level
Jet pump, jet pump connector and jet and inlet, horizontal-jet pump connect injection respectively by jet pump connector
Mouth and inlet, wherein：Vertical spin oar propeller produces thrust up or down, makes robot realize floating or dive fortune
Dynamic, horizontal-jet pump produces thrust at least one direction, makes robot forward and backward, left or right direction reality in the horizontal plane
Now move or rotate, on the basis of linear motion stationarity is ensured, realize the flexible controllable of rotary motion, ensure that machine
People is prevented effectively from and blocks or wind in inside transformer space in the reliability of the multifreedom motion of inside transformer
Situation.
Secondth, set electric control gear can Real-time Feedback robot working condition, detection means being capable of Real-time Feedback
Inside transformer work sheet picture, to understand the working condition of transformer, makes integrated more multi-functional.
3rd, structure is simplified rationally, it is to avoid the situation for being tangled or being blocked by inside transformer equipment in the course of work occurs；
Further reduce the volume and weight of robot, more loads are carried in limited volume, be easy to repair and safeguard.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the blasting arrangement schematic diagram of embodiment of the present invention oil-filled transformer inside detection robot.
Fig. 2 is the internal structure schematic diagram of embodiment of the present invention oil-filled transformer inside detection robot.
Fig. 3 is the first side structure schematic view of embodiment of the present invention oil-filled transformer inside detection robot.
Fig. 4 is the second side structure schematic view of embodiment of the present invention oil-filled transformer inside detection robot.
Fig. 5 is the 3rd side structure schematic view of embodiment of the present invention oil-filled transformer inside detection robot.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As Figure 1-Figure 5, it is the embodiment one of oil-filled transformer inside detection robot of the present invention.
Oil-filled transformer inside detection robot in the present embodiment, is the oil immersed type detection machine based on jet propulsion
People, the respective aperture that transformer is passed through during work is positioned over the inside of transformer and it is detected and fault diagnosis.Its bag
Include：Oil resistant housing 1, is respectively installed in jet propulsion unit in oil resistant housing 1, electric control gear and detection means.
The entirety of oil resistant housing 1 makes it in shape without any bulge-structure in spherical, can be prevented effectively from robot and exist
Tangle or wind in inside transformer in the course of work.In the present embodiment, oil resistant housing is hemispherical shell nonmetal structure, its
Including：Middle housing 11 and it is arranged on the ends and the cover body 12 that is connected as a single entity with middle housing 11 of middle housing 11.
Middle housing 11 is circular ring, and its surface is sphere, and inner surface is the face of cylinder, and middle housing 11 is hemispherical thin-walled
Nonmetal structure, the inner surface of middle housing is provided with and is used to boss 111 that is fixed and connecting horizontal-jet pump 31.Cover body 12 includes：
The upper cover 121 and lower cover 122 of the opposite sides of middle housing 11 are separately mounted to, upper cover 121 and lower cover 122 are respectively hemispherical thin-walled
Nonmetal structure, is made using transparent oil resistant engineering plastics, upper cover 121 and the hemispheroidal top of lower cover 122 be respectively equipped with
The counter sink T being circumferentially with to connecting channel 21 of through hole 121a, 122a, through hole 121a, 122a that conduit 21 is adapted.
Further, the effect of jet propulsion unit is to make robot realize floating or dive campaign, and makes robot
Forward and backward, left or right direction in the horizontal plane realizes or rotates that it is mainly by vertical thrust component and horizontal propulsion assembly mobile
Composition.
Vertical thrust component includes：The conduit 21 that is arranged in cover body 12 and is connected as a single entity with cover body 12 and it is arranged on conduit
Vertical pusher 22 in 21.Conduit 21 is in the present embodiment propeller conduit, and cylindrical, conduit 21 connects with cover body 12
End be set to flange arrangement；Vertical pusher 22 is electric screw paddle propeller, is installed vertically in conduit 21.It is specific real
Shi Shi, the two ends of conduit 21 are machined with mounting flange, and the flange has been arranged circumferentially 4 bolts hole, and can be with upper cover 121
Bolt hole with the top of lower cover 122 is corresponding, and conduit 21 is fixed between upper cover 121 and lower cover 122 by screw.Vertically push away
Enter device 22 for electric screw paddle push structure, it uses miniature brushless direct-current motor as driver element, and integral installation is in spiral shell
In rotation oar conduit 21.During specific implementation, vertical spin oar propeller 22 produces thrust up or down, realizes robot
Floating or dive campaign.
It is appreciated that：Use a vertical spin oar propeller 22, while high thrust technical problem is solved, energy
It is enough to simplify overall structure.
Horizontal propulsion assembly includes：Horizontal-jet pump 31, the jet pump connector 32 being arranged on inside middle housing 11 and
Jet 33 and inlet 34 outside middle housing 11 are separately positioned on, horizontal-jet pump 31 is distinguished by jet pump connector 32
Connection jet 33 and inlet 34.Horizontal-jet pump 31 uses miniature normal fluid pump, mounting structure to adopt in the present embodiment
Installed with flange arrangement, horizontal-jet pump 31 is connected with the boss 111 of the inner surface of middle housing 11 by screw.The present embodiment
In, horizontal-jet pump 31 is set to 4,4 horizontal-jet pumps 31 vector arrangements, horizontal-jet pump on the horizontal plane of middle housing 11
31 are connected with jet 33 and inlet 34 on middle housing 11 respectively by jet pump connector 32.In this way, multiple level sprays
Penetrate pump 31 and produce thrust at least one direction, make robot forward and backward, left or right direction in the horizontal plane realize it is mobile or
Rotate.
Preferably, relative to the center of middle housing 11 there is certain eccentric throw in the jet 33 of horizontal-jet pump 31, its
Effect is：Allow the robot to smoothly be moved along a straight line and flexibly controllable rotational motion.By rationally setting jet
33 relative to the center of middle housing 11 eccentric throw, ensure linear motion stationarity while, it is ensured that the flexible of rotary motion can
Control, saves the time.
Further, electric control gear includes：It is arranged on the battery pack 41 in oil resistant housing 1, the control being connected with battery pack 41
Making sheet 42 and the multiple sensors being connected with battery pack 41 and control panel 42 respectively；Battery pack 41 includes：On middle housing 11
The upper electrical component for being provided with power port 43 and the charging assembly that charge port 44 is provided with middle housing 11.
During specific implementation, battery pack 41 is the polymer Li-ion battery of loop configuration, and battery pack 41 uses loop configuration
Polymer Li-ion battery, charge port 44, the upper power port having on the charging assembly, the port of upper electrical component and middle housing 11
43 are connected.From polymer Li-ion battery as power supply, not only with energy density high, while abnormity can be carried out setting
Meter, largely alleviates robot weight, saves inner space.The middle part of control panel 42 is provided with so that conduit 21 is passed through
Through hole, control panel 42 is circular panel construction, is installed on the disk like mounting disc A at the middle part of propeller conduit 21.This implementation
Sensor in example includes：Position and attitude sensor and barrier detecting sensor, the Position and attitude sensor use miniature navigation attitude referential
System, is made up of the sensor of the types such as 3 axis MEMS gyro, 3 axis MEMS accelerometer, three axle magnetic resistance type magnetometers；Barrier
Transformation of the way sensor uses OD laser sensors, and with intuitively setting up procedure, convenient operation, CMOS technology ensures the high-precision of measurement
Degree and reliability, the advantages of be suitable for short-range accurate measurement.
Further, detection means includes：Be provided with middle housing 11 illumination hole 511 illuminating lamp 51, in middle housing 11
Being provided with the camera 52 and the data to be collected according to camera of mounting hole 521 carries out the image procossing of graphics process
Device, wherein：Illuminating lamp 51, camera 52 and image processor are connected with control panel 42 respectively.
During specific implementation, illuminating lamp 51 uses compact LED underwater luminaire, and quantity is 2, and the lighting device profile is circle
Column, is respectively arranged in two illumination holes 511 on middle housing 11.Camera 52 uses CCD camera, resolution ratio of camera head
It is 700TVL, CCD type is 1/3 " SONY 960H Exview HAD CCD II, from 3.6mm camera lenses；The camera profile
Size is 25mm（It is long）*25mm（It is wide）, the corresponding camera mounting hole of housing 11 during the head of camera 52 is fitted into during installation
In 521, camera lens outside is provided with camera lens waterproof cover 225, is used to seal camera, prevents transformer oil from entering in body.Figure
As processing unit is mainly image processor, the data for being collected to camera 52 carry out image procossing.
Robot is detected in the specific implementation in oil-filled transformer inside of the invention, in oil-filled transformer not oil extraction shape
During being monitored on-line to its inside under state, vertical spin oar propeller produces thrust up or down, makes robot
Realize floating or dive campaign, horizontal-jet pump produces thrust at least one direction, before making robot in the horizontal plane,
Afterwards, left or right direction is realized mobile or is rotated.Wherein, there is robot electric control gear pose to perceive and obstacle recognition function,
Can Real-time Feedback robot working condition, realize that outworker is rebuffed operation to the nothing of robot；Detection means can
Real-time Feedback inside transformer work sheet picture, it is online to understand transformer working condition.
Implement oil-filled transformer inside detection robot of the invention, with following beneficial effect：
Firstth, vertical thrust component includes conduit and setting vertical pusher in the channel；Horizontal propulsion assembly includes level
Jet pump, jet pump connector and jet and inlet, horizontal-jet pump connect injection respectively by jet pump connector
Mouth and inlet, wherein：Vertical spin oar propeller produces thrust up or down, makes robot realize floating or dive fortune
Dynamic, horizontal-jet pump produces thrust at least one direction, makes robot forward and backward, left or right direction reality in the horizontal plane
Now move or rotate, on the basis of linear motion stationarity is ensured, realize the flexible controllable of rotary motion, ensure that machine
People is prevented effectively from and blocks or wind in inside transformer space in the reliability of the multifreedom motion of inside transformer
Situation.
Secondth, set electric control gear can Real-time Feedback robot working condition, detection means being capable of Real-time Feedback
Inside transformer work sheet picture, to understand the working condition of transformer, makes integrated more multi-functional.
3rd, structure is simplified rationally, it is to avoid the situation for being tangled or being blocked by inside transformer equipment in the course of work occurs；
Further reduce the volume and weight of robot, more loads are carried in limited volume, be easy to repair and safeguard.
Claims (10)
1. it is detected and failure is examined a kind of oil-filled transformer inside detection robot, the inside for being used to insert transformer
It is disconnected, it is characterised in that including：
Oil resistant housing, the oil resistant housing include middle housing and be arranged on the middle housing ends and with the middle shell
The cover body that body is connected as a single entity；
The jet propulsion unit in the oil resistant housing is arranged on, the jet propulsion unit includes：Vertical thrust component and water
Flat propulsion assembly, wherein：The vertical thrust component includes：The groove for being arranged in the cover body and being connected as a single entity with the cover body
Road and the vertical pusher being arranged in the conduit；The horizontal propulsion assembly includes：Horizontal-jet pump, be arranged on it is described in
The jet pump connector of enclosure interior and the jet and inlet of the middle hull outside are separately positioned on, the level spray
Penetrate pump and the jet and the inlet are connected by the jet pump connector respectively.
2. robot is detected in oil-filled transformer inside as claimed in claim 1, it is characterised in that the middle housing is annulus
Shape structure, its surface is sphere, and inner surface is the face of cylinder, and the middle housing is hemispherical thin-walled nonmetal structure；The middle shell
The inner surface of body is provided with to fix and connect the boss of the horizontal-jet pump.
3. robot is detected in oil-filled transformer inside as claimed in claim 2, it is characterised in that the horizontal-jet pump sets
It is multiple, the multiple horizontal-jet pump vector arrangement on the horizontal plane of the middle housing.
4. robot is detected in oil-filled transformer inside as claimed in claim 2 or claim 3, it is characterised in that the jet phase
There is certain eccentric throw for the center of the middle housing, smoothly moved along a straight line with allowing the robot to and flexibly may be used
The rotational motion of control.
5. robot is detected in oil-filled transformer inside as claimed in claim 4, it is characterised in that the horizontal-jet pump leads to
Cross flange arrangement to be fixed on the boss of the middle housing, the horizontal-jet pump level bias is placed in the middle housing
On.
6. robot is detected in oil-filled transformer inside as claimed in claim 1, it is characterised in that the oil resistant housing is in ball
Shape, the cover body includes：It is separately mounted to the upper cover and lower cover of the middle housing opposite sides, the upper cover and the lower cover point
Wei not hemispherical thin-walled nonmetal structure；
The upper cover and the hemispheroidal top of the lower cover are respectively equipped with the through hole being adapted with the conduit, the week of the through hole
To the counter sink for being provided with to connect the conduit.
7. robot is detected in oil-filled transformer inside as claimed in claim 6, it is characterised in that the conduit is in cylinder
Shape, the end that the conduit connects with cover body is set to flange arrangement；
The vertical pusher is electric screw paddle propeller, is installed vertically in the conduit.
8. robot is detected in oil-filled transformer inside as claimed in claim 1, it is characterised in that also include：It is arranged on institute
The electric control gear in oil resistant housing is stated, the electric control gear includes：The battery pack in the oil resistant housing is arranged on, with the electricity
The connected control panel of pond group and the multiple sensors being connected with the battery pack and the control panel respectively；
The battery pack includes：The upper electrical component of power port is provided with the middle housing and charging is provided with the middle housing
The charging assembly of mouth, the sensor at least includes Position and attitude sensor and barrier detecting sensor.
9. robot is detected in oil-filled transformer inside as claimed in claim 8, it is characterised in that the battery pack is annular
The polymer Li-ion battery of structure, is provided with the through hole passed through for the conduit in the middle part of the control panel.
10. robot is detected in oil-filled transformer inside as claimed in claim 8, it is characterised in that also include：It is arranged on institute
The detection means in oil resistant housing is stated, the detection means includes：Be provided with the middle housing illumination hole illuminating lamp, in institute
Stating housing and being provided with the camera and the data to be collected according to the camera of mounting hole carries out graphics process
Image processor, wherein：The illuminating lamp, the camera and described image processor are connected with the control panel respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611159581.9A CN106771741A (en) | 2016-12-15 | 2016-12-15 | A kind of oil-filled transformer inside detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611159581.9A CN106771741A (en) | 2016-12-15 | 2016-12-15 | A kind of oil-filled transformer inside detection robot |
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| CN201611159581.9A Pending CN106771741A (en) | 2016-12-15 | 2016-12-15 | A kind of oil-filled transformer inside detection robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108926426A (en) * | 2018-07-11 | 2018-12-04 | 温州市人民医院 | A kind of BBPV real-time three-dimensional navigation system |
| CN109283363A (en) * | 2018-08-08 | 2019-01-29 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer detection robot exempts to tear lossless injection device open |
| CN109405870A (en) * | 2018-08-21 | 2019-03-01 | 深圳供电局有限公司 | Detect robot |
| CN109870637A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot is detected inside oil-immersed transformer |
| CN109870636A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot is detected inside oil-immersed transformer |
| CN109870480A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot is detected inside oil filled transformer |
| CN109991892A (en) * | 2017-12-29 | 2019-07-09 | 中国科学院沈阳自动化研究所 | A kind of inside transformer detection robot control system and control method |
| CN110161336A (en) * | 2019-05-30 | 2019-08-23 | 深圳供电局有限公司 | Detect robot |
| CN110161335A (en) * | 2019-05-28 | 2019-08-23 | 深圳供电局有限公司 | Detect robot |
| CN110161339A (en) * | 2019-06-03 | 2019-08-23 | 深圳供电局有限公司 | Inside transformer detects robot |
| CN110187207A (en) * | 2019-05-24 | 2019-08-30 | 深圳供电局有限公司 | Inside transformer detects robot |
| CN110308181A (en) * | 2019-06-20 | 2019-10-08 | 深圳供电局有限公司 | Detect robot |
| CN110340899A (en) * | 2019-06-19 | 2019-10-18 | 深圳供电局有限公司 | Robot for overhauling for oil-immersed transformer |
| CN110340889A (en) * | 2019-06-25 | 2019-10-18 | 深圳供电局有限公司 | The detection device of transformer |
| CN112345531A (en) * | 2020-10-19 | 2021-02-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109991892A (en) * | 2017-12-29 | 2019-07-09 | 中国科学院沈阳自动化研究所 | A kind of inside transformer detection robot control system and control method |
| CN108926426A (en) * | 2018-07-11 | 2018-12-04 | 温州市人民医院 | A kind of BBPV real-time three-dimensional navigation system |
| CN109283363A (en) * | 2018-08-08 | 2019-01-29 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer detection robot exempts to tear lossless injection device open |
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| CN109870637A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot is detected inside oil-immersed transformer |
| CN109870636A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot is detected inside oil-immersed transformer |
| CN109870480A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot is detected inside oil filled transformer |
| CN110187207A (en) * | 2019-05-24 | 2019-08-30 | 深圳供电局有限公司 | Inside transformer detects robot |
| CN110161335A (en) * | 2019-05-28 | 2019-08-23 | 深圳供电局有限公司 | Detect robot |
| CN110161336A (en) * | 2019-05-30 | 2019-08-23 | 深圳供电局有限公司 | Detect robot |
| CN110161339A (en) * | 2019-06-03 | 2019-08-23 | 深圳供电局有限公司 | Inside transformer detects robot |
| CN110340899A (en) * | 2019-06-19 | 2019-10-18 | 深圳供电局有限公司 | Robot for overhauling for oil-immersed transformer |
| CN110308181A (en) * | 2019-06-20 | 2019-10-08 | 深圳供电局有限公司 | Detect robot |
| CN110340889A (en) * | 2019-06-25 | 2019-10-18 | 深圳供电局有限公司 | The detection device of transformer |
| CN112345531A (en) * | 2020-10-19 | 2021-02-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
| CN112345531B (en) * | 2020-10-19 | 2024-04-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
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