CN106908259A - A kind of propulsion method for arranging of oil-filled transformer inside detection robot - Google Patents
A kind of propulsion method for arranging of oil-filled transformer inside detection robot Download PDFInfo
- Publication number
- CN106908259A CN106908259A CN201710022059.4A CN201710022059A CN106908259A CN 106908259 A CN106908259 A CN 106908259A CN 201710022059 A CN201710022059 A CN 201710022059A CN 106908259 A CN106908259 A CN 106908259A
- Authority
- CN
- China
- Prior art keywords
- robot
- horizontal
- jet pump
- oil
- arranging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of propulsion method for arranging of oil-filled transformer inside detection robot, it is used to the vertical thrust device for making robot realize floating or dive campaign in the inside arrangement of robot, single screw vertical pusher realizes floating or the dive campaign of robot in the way of propeller rotating；It is used to robot forward and backward, left or right direction in the horizontal plane is realized horizontal propulsion device that is mobile or rotating in the inside arrangement of robot, at least one horizontal-jet pump produces thrust, robot forward and backward, left or right direction in the horizontal plane is realized mobile or is rotated.The propulsion method for arranging of oil-filled transformer inside detection robot of the invention, ensure that reliability and flexibility 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, is easy to repair and is safeguarded, allows to meet the need for Detection task inside oil-filled transformer.
Description
Technical field
The propulsion cloth of robot is detected the present invention relates to appliances field, more particularly to a kind of oil-filled transformer inside
Put method.
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
Gone out requirement higher, transformer as power network one of nucleus equipment, its reliability of operation directly affects the peace of power network
Full stabilization.
Robot technology is intelligent better than its height, automation and it is applied widely the advantages of, be the development of the national economy and
It is many convenient that life each side brings, and it is also increasingly extensive in the application of power system, therefore robot technology is introduced into oil
It is the effective means for solving current oil-filled transformer detection and fault diagnosis in the detection of immersion inside transformer.But oil immersion
Formula inside transformer environment is very special, and its inner space is narrow and small, is simultaneously filled with transformer oil, traditional robot and underwater hiding-machine
Drive scheme, either wheeled, crawler type or propeller drive, and is poorly suited for use in narrow such as inside transformer
The driving of small space detection motion.Therefore the new latent oil robot suitable for oil-filled transformer internal measuring ability is sought
Thrust arrangement has important practical meaning in engineering.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of propulsion of oil-filled transformer inside detection robot
Method for arranging, ensure that reliability and flexibility of the robot in the multifreedom motion of inside transformer, be prevented effectively from
The situation that inside transformer space is blocked or wound；Structure is simplified rationally, is easy to repair and is safeguarded, allows to meet in oil
The need for immersion inside transformer Detection task.
In order to solve the above-mentioned technical problem, The embodiment provides a kind of oil-filled transformer inside detection machine
The propulsion method for arranging of people, comprises the following steps：It is used to make robot realize floating or dive fortune in the inside arrangement of robot
Dynamic vertical thrust device, vertical thrust device includes：It is arranged on single spiral shell of the conduit of robot interior with setting in the channel
Rotation oar vertical pusher, single screw vertical pusher realizes the floating or dive fortune of robot in the way of propeller rotating
It is dynamic；It is used to robot forward and backward, left or right direction in the horizontal plane is realized what is moved or rotate in the inside arrangement of robot
Horizontal propulsion device, horizontal propulsion device includes：It is arranged on first level jet pump, in robot interior same level
Two horizontal-jet pumps, the 3rd horizontal-jet pump and the 4th horizontal-jet pump, first level jet pump, the second horizontal-jet pump,
At least one of 3rd horizontal-jet pump and the 4th horizontal-jet pump horizontal-jet pump produce thrust, make robot in level
Forward and backward, left or right direction in face are realized mobile or are rotated.
Wherein, first level jet pump, the second horizontal-jet pump, the 3rd horizontal-jet pump and the 4th horizontal-jet pump
There is certain eccentric throw in the center that jet is respectively relative to robot, to allow the robot to smoothly be moved along a straight line
And flexible controllable rotational motion.
Wherein, first level jet pump, the second horizontal-jet pump, the 3rd horizontal-jet pump and the 4th horizontal-jet pump
Thrust direction is horizontal plane radial direction, and the angle between each thrust is 90 °.
Wherein, conduit is propeller conduit, and propeller conduit is vertically mounted on the inside of robot housing；Propeller conduit
The end connected with robot housing is set to flange arrangement.
Wherein, robot housing is set to spherical thin-walled nonmetal structure, and the inner surface setting of housing is used to fixed and connects
The jet pump fixing device of horizontal-jet pump.
Wherein, horizontal-jet pump is connected in jet pump fixing device by flange arrangement.
Wherein, the step of inside for being additionally included in robot sets electric control gear, electric control gear includes：Battery pack, with electricity
The connected control panel of pond group and the multiple sensors being connected with battery pack and control panel respectively.
Wherein, battery pack is the polymer Li-ion battery of loop configuration.
Wherein, the step of inside for being additionally included in robot sets detection means, detection means includes：Illuminating lamp, shooting
Head and the data to be collected according to camera carry out the image processor of graphics process, wherein：Illuminating lamp, camera with
And image processor is connected with control panel respectively.
Implement the propulsion method for arranging of oil-filled transformer inside detection robot of the invention, with following beneficial effect
Really：
Firstth, vertical thrust device includes：The single screw for being arranged on the conduit of robot interior and setting in the channel is vertical
Propeller, single screw vertical pusher realizes floating or the dive campaign of robot in the way of propeller rotating；Level
Propulsion plant includes：It is arranged on first level jet pump, the second horizontal-jet pump, the 3rd in robot interior same level
Horizontal-jet pump and the 4th horizontal-jet pump, first level jet pump, the second horizontal-jet pump, the 3rd horizontal-jet pump and
At least one of 4th horizontal-jet pump horizontal-jet pump produces thrust, makes robot forward and backward, left or right in the horizontal plane
Mobile or rotation is realized in direction, on the basis of linear motion stationarity is ensured, realizes flexible controllable, the Neng Goubao of rotary motion
Card robot in the reliability of the multifreedom motion of inside transformer, be prevented effectively from block in inside transformer space or
The situation of winding.
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, further reduces the volume and weight of robot, carries more in limited volume
Load, is easy to repair and safeguards, allows to meet the need for Detection task inside oil-filled transformer.
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 that the propulsion method for arranging of oil-filled transformer inside detection robot according to embodiments of the present invention is arranged
The structural representation of vertical thrust device.
Fig. 2 is the vertical thrust dress of the propulsion method for arranging of embodiment of the present invention oil-filled transformer inside detection robot
The operation principle schematic diagram put.
Fig. 3 is the institute of propulsion method for arranging according to embodiments of the present invention according to oil-filled transformer inside detection robot
The structural representation of the horizontal propulsion device of arrangement
Fig. 4 is the horizontal propulsion device of the propulsion method for arranging of embodiment of the present invention oil-filled transformer inside detection robot
Operation principle schematic diagram.
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 4, it is the implementation for advancing method for arranging of oil-filled transformer inside detection robot of the present invention
Example one.
Oil-filled transformer inside detection robot in the present embodiment, is the oil immersed type detection machine based on jet propulsion
It is detected and fault diagnosis people, the inside that transformer can be positioned over by the respective aperture of transformer during work.This reality
The propulsion method for arranging of the oil-filled transformer inside detection robot in example is applied, is comprised the following steps：
Step S10, the vertical thrust device for making robot realize floating or dive campaign is used in the inside T arrangements of robot,
Vertical thrust device includes：The conduit 11 for being arranged on robot interior T and the single screw vertical thrust being arranged in conduit 11
Device 12.
During specific implementation, conduit 11 is in the present embodiment propeller conduit, and cylindrical, conduit 11 connects with housing A
End be set to flange arrangement；Single screw vertical pusher 12 is electric screw paddle propeller, is installed vertically on conduit 11
It is interior.During specific implementation, the two ends of conduit 11 are machined with mounting flange, and the flange has been arranged circumferentially bolt hole, and can be with
Bolt hole at the top of housing A is corresponding, and conduit 11 is fixed on housing A by screw.Single screw vertical pusher 12 is
Electric screw paddle push structure, it uses miniature brushless direct-current motor as driver element, and integral installation is in propeller conduit
In 11.During specific implementation, single screw vertical pusher 12 produces pushing away up or down in the way of propeller rotating
Power, realizes floating or the dive campaign of robot
It is appreciated that：Using a single screw vertical pusher 12, while high thrust technical problem is solved, can
Simplify overall structure.
As shown in Fig. 2 when robot floats, single screw vertical pusher 12 produces down thrust F2, in thrust
Lower generation upward velocity v1, moves so as to realize that robot body floats；Similarly, during robot dive, single screw is vertically pushed away
Enter the upwards thrust F1 of device 12 and produce diving speed v2, to realize the function of robot dive campaign.
Step S20, is used to make robot forward and backward, left or right direction reality in the horizontal plane in the inside T arrangements of robot
The horizontal propulsion device for now moving or rotating, horizontal propulsion device includes：It is arranged in robot interior T same levels
One horizontal-jet pump 21, the second horizontal-jet pump 22, the 3rd horizontal-jet pump 23 and the 4th horizontal-jet pump 24, first level
At least one of jet pump 24, the second horizontal-jet pump 22, the 3rd horizontal-jet pump 23 and the 4th horizontal-jet pump 24 water
Flat jet pump produces thrust, robot forward and backward, left or right direction in the horizontal plane is realized mobile or is rotated.
During specific implementation, horizontal-jet pump 21,22,23,24 connects the spray on housing A by jet pump connector B respectively
Loophole and inlet.Horizontal-jet pump 21,22,23,24 uses miniature normal fluid pump, mounting structure to use in the present embodiment
Flange arrangement is installed, and is connected the jet pump fixing device C of horizontal-jet pump 21,22,23,24 and housing A inner surfaces by screw
Connect.In the present embodiment, first level jet pump 21, the second horizontal-jet pump 22, the 3rd horizontal-jet pump 23 and the 4th level
There is certain eccentric throw in the center that jet pump 24 is respectively relative to robot.In this way, first level jet pump 21, the second level
At least one of jet pump 22, the 3rd horizontal-jet pump 23 and the 4th horizontal-jet pump 24 horizontal-jet pump produces thrust,
Robot forward and backward, left or right direction in the horizontal plane is set to realize mobile or rotate.It is appreciated that：Horizontal-jet pump 21,
There is certain eccentric throw in 22,23,24 jet, its effect is relative to the center of housing A：Allow the robot to be put down
Steady linear motion and flexibly controllable rotational motion.By rationally setting eccentric throw of the jet relative to casing center,
While ensureing linear motion stationarity, it is ensured that flexible controllable, the saving time of rotary motion.
As shown in figure 4, during robot horizontal rectilinear motion, being illustrated as a example by producing horizontal forward speed v3：Machine
When people travels forward, the 3rd horizontal-jet pump 23 and the 4th horizontal-jet pump 24 produce thrust F5, F6, under Resulting thrust force effect
Machine is realized travelling forward, and the realization of other direction robot horizontal rectilinear motions is with this similarly；During robot water plate turn, with
Illustrated as a example by left-hand rotation：When robot turns left in the horizontal plane, the horizontal-jet pump 23 of first level jet pump 21 and the 3rd
Thrust F3, F5 is produced, because F3, F5 have the eccentric throw that a size is m, therefore robot sheet relative to robot body axle center
Body by its produce torque acted on, the torque driven machine people is turned left with angular speed w2, so as to realize robot to
Left steering is moved, and the realization that robot turns right is with this similarly.
It is appreciated that：By controlling single screw vertical pusher 12, horizontal-jet pump 21 during robot manipulating task,
22,23,24 opening and closing combination just can realize the detection campaign of robot multi-freedom.
Preferably, first level jet pump 21, the second horizontal-jet pump 22, the 3rd horizontal-jet pump 23 and the 4th level
The thrust direction of jet pump 24 is horizontal plane radial direction, and the angle between each thrust is 90 °.So ensure that level is advanced
While efficiency, inner space is saved, make to be easy to arrange other devices.
Preferably, robot housing A is set to spherical thin-walled nonmetal structure, and the inner surface setting of housing is used to fixed and connects
The jet pump fixing device C of the flat jet pump of water receiving.
Step S30, be additionally included in robot inside set electric control gear the step of, electric control gear includes：Battery pack, with
The connected control panel of battery pack and the multiple sensors being connected with battery pack and control panel respectively.
During specific implementation, battery pack is the polymer Li-ion battery of loop configuration, not only with energy density high, together
When can carry out special-shaped design, largely alleviate robot weight, save inner space.Sensor in the present embodiment
Including：Position and attitude sensor and barrier detecting sensor, the Position and attitude sensor use miniature attitude heading reference system, by 3 axis MEMS
The sensor of the types such as gyro, 3 axis MEMS accelerometer, three axle magnetic resistance type magnetometers is constituted；Barrier transformation of the way sensor is used
OD laser sensors, with intuitively setting up procedure, convenient operation, CMOS technology ensures the high accuracy and reliability of measurement, fits
The advantages of together in short-range accurate measurement.
Step S40, be additionally included in robot inside set detection means the step of, detection means includes：Illuminating lamp, take the photograph
Data as head and to be collected according to camera carry out the image processor of graphics process, wherein：Illuminating lamp, camera
And image processor is connected with control panel respectively.
During specific implementation, illuminating lamp uses compact LED underwater luminaire, and the lighting device profile is cylindric, is pacified respectively
Loaded in two illumination holes on middle housing 11.Camera uses CCD camera, and resolution ratio of camera head is 700TVL, CCD type
" the SONY 960H Exview HAD CCD II, from 3.6mm camera lenses for 1/3；The camera appearance and size is 25mm（It is long）
25mm（It is wide）, during the head of camera is fitted into during installation in the corresponding camera mounting hole of housing, camera lens outside is provided with mirror
Head waterproof cover, is used to seal camera, prevents transformer oil from entering in body.Image processing apparatus are mainly image procossing
Device, the data for being collected to camera carry out image procossing.
The inspection of the propulsion method for arranging arrangement of the oil-filled transformer inside detection robot of son according to embodiments of the present invention
Survey robot in the specific implementation, it is single during being monitored on-line to its inside under oil-filled transformer not oil extraction state
Propeller vertical pusher produces thrust up or down, makes robot realize floating or dive campaign, first level injection
At least one of pump, the second horizontal-jet pump, the 3rd horizontal-jet pump and the 4th horizontal-jet pump horizontal-jet pump is produced
Thrust, makes robot forward and backward, left or right direction in the horizontal plane realize mobile or rotate.Wherein, robot electric control gear tool
Have pose perceive and obstacle recognition function, can Real-time Feedback robot working condition, realize outworker to machine
The nothing of people is rebuffed and is operated；Detection means being capable of Real-time Feedback inside transformer work sheet picture, online understanding transformer working condition.
Implement the propulsion method for arranging of oil-filled transformer inside detection robot of the invention, with following beneficial effect
Really：
Firstth, vertical thrust device includes：The single screw for being arranged on the conduit of robot interior and setting in the channel is vertical
Propeller, single screw vertical pusher realizes floating or the dive campaign of robot in the way of propeller rotating；Level
Propulsion plant includes：It is arranged on first level jet pump, the second horizontal-jet pump, the 3rd in robot interior same level
Horizontal-jet pump and the 4th horizontal-jet pump, first level jet pump, the second horizontal-jet pump, the 3rd horizontal-jet pump and
At least one of 4th horizontal-jet pump horizontal-jet pump produces thrust, makes robot forward and backward, left or right in the horizontal plane
Mobile or rotation is realized in direction, on the basis of linear motion stationarity is ensured, realizes flexible controllable, the Neng Goubao of rotary motion
Card robot in the reliability of the multifreedom motion of inside transformer, be prevented effectively from block in inside transformer space or
The situation of winding.
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, further reduces the volume and weight of robot, carries more in limited volume
Load, is easy to repair and safeguards, allows to meet the need for Detection task inside oil-filled transformer.
Claims (9)
1. the propulsion method for arranging of robot is detected in a kind of oil-filled transformer inside, it is characterised in that comprise the following steps：
It is used to the vertical thrust device for making robot realize floating or dive campaign in the inside arrangement of robot, it is described vertically to push away
Entering device includes：The conduit of robot interior and the single screw vertical pusher being arranged in the conduit are arranged on, it is described
Single screw vertical pusher realizes floating or the dive campaign of robot in the way of propeller rotating；
It is used to robot forward and backward, left or right direction in the horizontal plane is realized mobile or is rotated in the inside arrangement of robot
Horizontal propulsion device, the horizontal propulsion device includes：It is arranged on the first level spray in robot interior same level
Penetrate pump, the second horizontal-jet pump, the 3rd horizontal-jet pump and the 4th horizontal-jet pump, it is the first level jet pump, described
At least one of second horizontal-jet pump, the 3rd horizontal-jet pump and the 4th horizontal-jet pump horizontal-jet pump
Thrust is produced, robot forward and backward, left or right direction in the horizontal plane is realized mobile or is rotated.
2. the propulsion method for arranging of robot is detected in oil-filled transformer inside as claimed in claim 1, it is characterised in that institute
State first level jet pump, the second horizontal-jet pump, the 3rd horizontal-jet pump and the 4th horizontal-jet pump
Jet be respectively relative to the center of robot and there is certain eccentric throw, to allow the robot to carry out stable straight line fortune
Dynamic and flexibly controllable rotational motion.
3. the propulsion method for arranging of robot is detected in oil-filled transformer inside as claimed in claim 2, it is characterised in that institute
State first level jet pump, the second horizontal-jet pump, the 3rd horizontal-jet pump and the 4th horizontal-jet pump
Thrust direction be horizontal plane radial direction, the angle between each thrust is 90 °.
4. the propulsion method for arranging of robot is detected in oil-filled transformer inside as claimed in claim 1, it is characterised in that institute
Conduit is stated for propeller conduit, the propeller conduit is vertically mounted on the inside of robot housing；
The end that the propeller conduit connects with robot housing is set to flange arrangement.
5. the propulsion method for arranging of robot is detected in oil-filled transformer inside as claimed in claim 1, it is characterised in that institute
State robot housing and be set to spherical thin-walled nonmetal structure, the inner surface setting of the housing is used to fixed and connects horizontal-jet
The jet pump fixing device of pump.
6. the propulsion method for arranging of robot is detected in oil-filled transformer inside as claimed in claim 5, it is characterised in that water
Flat jet pump is connected in jet pump fixing device by flange arrangement.
7. the propulsion method for arranging of robot is detected in oil-filled transformer inside as claimed in claim 1, it is characterised in that also
The step of inside for being included in robot sets electric control gear, the electric control gear includes：Battery pack, is connected with the battery pack
Control panel and the multiple sensors that are connected with the battery pack and the control panel respectively.
8. the propulsion method for arranging of robot is detected in oil-filled transformer inside as claimed in claim 7, it is characterised in that institute
State the polymer Li-ion battery that battery pack is loop configuration.
9. the propulsion method for arranging of robot is detected in oil-filled transformer inside as claimed in claim 1, it is characterised in that also
The step of inside for being included in robot sets detection means, the detection means includes：Illuminating lamp, camera and to root
The data collected according to the camera carry out the image processor of graphics process, wherein：The illuminating lamp, the camera with
And described image processor is connected with the control panel respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022059.4A CN106908259A (en) | 2017-01-12 | 2017-01-12 | A kind of propulsion method for arranging of oil-filled transformer inside detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022059.4A CN106908259A (en) | 2017-01-12 | 2017-01-12 | A kind of propulsion method for arranging of oil-filled transformer inside detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106908259A true CN106908259A (en) | 2017-06-30 |
Family
ID=59207009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710022059.4A Pending CN106908259A (en) | 2017-01-12 | 2017-01-12 | A kind of propulsion method for arranging of oil-filled transformer inside detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106908259A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807577A (en) * | 2017-11-14 | 2018-03-16 | 深圳供电局有限公司 | A kind of robotic spraying's drive control apparatus and control method |
| CN109292062A (en) * | 2018-11-14 | 2019-02-01 | 南京航空航天大学 | A kind of the floating type underwater robot and its working method of Piezoelectric Driving |
| CN109405870A (en) * | 2018-08-21 | 2019-03-01 | 深圳供电局有限公司 | Detect robot |
| 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 |
| CN110340899A (en) * | 2019-06-19 | 2019-10-18 | 深圳供电局有限公司 | Robot for overhauling for oil-immersed transformer |
| CN111056015A (en) * | 2019-12-31 | 2020-04-24 | 陈秀梅 | Multi-rotor flying patrol bomb |
| CN114055495A (en) * | 2021-11-30 | 2022-02-18 | 国网重庆市电力公司电力科学研究院 | Function reconstruction type intelligent robot for detecting inside of transformer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101393246A (en) * | 2008-11-12 | 2009-03-25 | 华北电力大学 | Mini robot for detecting internal failure of power transformer |
| CN103057681A (en) * | 2013-01-18 | 2013-04-24 | 中国科学技术大学 | Underwater monitoring robot |
| CN103419915A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Underwater robot device for shallow water observation |
| CN103600821A (en) * | 2013-11-07 | 2014-02-26 | 江苏科技大学 | Omni-directional floating and wall-climbing underwater robot |
| CN104477359A (en) * | 2014-10-27 | 2015-04-01 | 中国船舶重工集团公司第七〇五研究所 | Underwater robot multi-degree-of-freedom vectored thrust layout method |
| CN105026112A (en) * | 2013-02-01 | 2015-11-04 | Abb技术有限公司 | Device and method for transformer in-situ inspection |
| CN205010463U (en) * | 2015-08-14 | 2016-02-03 | 苏州金业船用机械厂 | Marine advancing device of automatically controlled formula |
| CN106218840A (en) * | 2016-09-30 | 2016-12-14 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
-
2017
- 2017-01-12 CN CN201710022059.4A patent/CN106908259A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101393246A (en) * | 2008-11-12 | 2009-03-25 | 华北电力大学 | Mini robot for detecting internal failure of power transformer |
| CN103057681A (en) * | 2013-01-18 | 2013-04-24 | 中国科学技术大学 | Underwater monitoring robot |
| CN105026112A (en) * | 2013-02-01 | 2015-11-04 | Abb技术有限公司 | Device and method for transformer in-situ inspection |
| CN103419915A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Underwater robot device for shallow water observation |
| CN103600821A (en) * | 2013-11-07 | 2014-02-26 | 江苏科技大学 | Omni-directional floating and wall-climbing underwater robot |
| CN104477359A (en) * | 2014-10-27 | 2015-04-01 | 中国船舶重工集团公司第七〇五研究所 | Underwater robot multi-degree-of-freedom vectored thrust layout method |
| CN205010463U (en) * | 2015-08-14 | 2016-02-03 | 苏州金业船用机械厂 | Marine advancing device of automatically controlled formula |
| CN106218840A (en) * | 2016-09-30 | 2016-12-14 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807577A (en) * | 2017-11-14 | 2018-03-16 | 深圳供电局有限公司 | A kind of robotic spraying's drive control apparatus and control method |
| 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 |
| CN109405870A (en) * | 2018-08-21 | 2019-03-01 | 深圳供电局有限公司 | Detect robot |
| CN109292062A (en) * | 2018-11-14 | 2019-02-01 | 南京航空航天大学 | A kind of the floating type underwater robot and its working method of Piezoelectric Driving |
| 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 |
| CN110340899A (en) * | 2019-06-19 | 2019-10-18 | 深圳供电局有限公司 | Robot for overhauling for oil-immersed transformer |
| CN111056015A (en) * | 2019-12-31 | 2020-04-24 | 陈秀梅 | Multi-rotor flying patrol bomb |
| CN114055495A (en) * | 2021-11-30 | 2022-02-18 | 国网重庆市电力公司电力科学研究院 | Function reconstruction type intelligent robot for detecting inside of transformer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106908259A (en) | A kind of propulsion method for arranging of oil-filled transformer inside detection robot | |
| CN106771741A (en) | A kind of oil-filled transformer inside detection robot | |
| JP6484387B2 (en) | Rollover floating multihabitat diving device with built-in drive | |
| CN104527352B (en) | A kind of novel ball amphibious robot and its method of work | |
| CN110065607A (en) | Assist bionic machine fish | |
| CN108237856A (en) | A kind of dwell robot and method more | |
| CN104571124B (en) | Three-degree-of-freedom attitude simulation device for underwater vehicle | |
| CN103287557A (en) | Novel underwater robot movement control device | |
| CN101475055A (en) | Underwater robot | |
| CN106218840A (en) | A kind of dish-shaped submarine navigation device based on eddying motion | |
| CN205221042U (en) | Miniature cable accuse underwater observation robot | |
| CN206440784U (en) | Detection robot inside a kind of oil-filled transformer | |
| CN106741791B (en) | Full Rotary underwater propeller | |
| CN102126544B (en) | Underwater self-propulsion omnibearing sensor | |
| CN201325591Y (en) | Radiation resistant underwater monitoring robot | |
| CN109649526A (en) | A kind of full landform helical detector | |
| CN109115979A (en) | Portable multi-function solid water quality detection device | |
| CN102049983A (en) | Footplate driving-type amphibious robot | |
| CN204347614U (en) | A kind of for submarine navigation device Three Degree Of Freedom attitude-simulating device | |
| CN109941409A (en) | A kind of sized underwater observation robot and control method | |
| CN109405870A (en) | Detect robot | |
| CN110203359A (en) | Imitative leopard triangular bream Fu fish underwater robot | |
| CN114906299B (en) | Magnetic type underwater operation robot and condenser pipe porous detection method | |
| CN108423145A (en) | A kind of quadrotor submarine navigation device that vector promotes | |
| CN209290651U (en) | A kind of propulsion device and underwater robot for underwater robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170630 |
|
| RJ01 | Rejection of invention patent application after publication |