CN114012752A - Extra-high voltage alternating current transformer internal inspection submersible robot - Google Patents
Extra-high voltage alternating current transformer internal inspection submersible robot Download PDFInfo
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- CN114012752A CN114012752A CN202111355963.XA CN202111355963A CN114012752A CN 114012752 A CN114012752 A CN 114012752A CN 202111355963 A CN202111355963 A CN 202111355963A CN 114012752 A CN114012752 A CN 114012752A
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- 238000007689 inspection Methods 0.000 title claims abstract description 30
- 238000007789 sealing Methods 0.000 claims description 8
- 230000000903 blocking effect Effects 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 9
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000000605 extraction Methods 0.000 abstract description 3
- 230000008092 positive effect Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 49
- 239000010720 hydraulic oil Substances 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Examine latent oily robot in special high voltage alternating current transformer, including dish-shaped casing, the central point department of putting of dish-shaped casing has seted up and has run through the chamber, runs through the interior screw that is installed the level and sets up and the oil extraction of vertical setting changes the cover, the oil extraction changes the inner chamber of cover and runs through chamber looks UNICOM. The invention has the positive effects that: the invention simplifies the maintenance flow, greatly lightens the workload of field maintenance personnel, is not easy to collide the surface of the transformer, well protects the internal structure of the transformer, and the camera positioned in the robot can synchronously rotate according to the oil discharge direction, ensures that the camera is always positioned at the front end of the advancing direction, the sight line direction and the advancing direction are always consistent, the maintenance target is not easy to lose during the advancing process and steering of internal inspection, the normal operation of the internal inspection of the transformer is ensured, the working efficiency is improved, and the potential safety hazard is eliminated.
Description
Technical Field
The invention relates to the technical field of transformer maintenance equipment, in particular to an internal submersible inspection robot for an extra-high voltage alternating current transformer.
Background
An extra-high voltage alternating current transformer is core equipment of an extra-high voltage transformer substation, when the internal fault of the transformer is processed, maintenance personnel are generally required to enter the transformer to check and find out a fault source so as to determine the fault reason and make a solution, and the extra-high voltage transformer has a complex internal structure and a narrow space, is difficult to operate in the transformer, is difficult to reach by personnel at a plurality of parts and has inspection dead angles, so that the internal fault source is difficult to find out in the internal inspection result, and complex procedures of oil discharge, vacuum pumping, vacuum oil injection, hot oil circulation and the like are required to be performed before the internal inspection of the transformer, the maintenance risk and difficulty are increased to a certain extent, the existing solution is that an oil-submersible robot is adopted to replace manual work to complete the internal inspection of the transformer, but the oil-submersible robot generally has an overlarge turning radius and can cause inaccurate operation and control under the resistance action of cooling oil, when the transformer is moved for internal inspection, the defects that the inspection target is easy to lose after the transformer is rotated by a certain angle and the like are overcome, and the smooth implementation of the internal inspection of the transformer is inconvenient.
Disclosure of Invention
The invention aims to provide an extra-high voltage alternating current transformer internal inspection submersible robot, a robot body does not need to rotate, the advancing direction can be selected by changing the internal oil discharging direction, a camera in the robot is always positioned at the front end of the advancing direction, the operation and the control are more accurate, the maintenance target cannot be lost in the internal inspection advancing process, and the problems in the prior art are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an internal-inspection submersible robot for an extra-high voltage alternating-current transformer, which comprises a disc-shaped shell, wherein a through cavity is formed in the center of the disc-shaped shell, a horizontally arranged propeller and a vertically arranged oil discharge rotating sleeve are arranged in the through cavity, the inner cavity of the oil discharge rotating sleeve is communicated with the through cavity, an axial flow fan blade is connected to the periphery of the oil discharge rotating sleeve, a first outer gear ring is arranged on the oil discharge rotating sleeve, a traveling direction rotating sleeve matched with the oil discharge rotating sleeve is arranged in the disc-shaped shell, the traveling direction rotating sleeve is sleeved on the periphery of the oil discharge rotating sleeve, an annular plate is connected to the periphery of the axial flow fan blade, the annular plate is matched with the inner peripheral surface of the traveling direction rotating sleeve, a sealing ring is further arranged on the annular plate, a second outer gear ring is arranged on the traveling direction rotating sleeve, the inner cavity of the traveling direction rotating sleeve is divided into a first cavity and a second cavity which are vertically arranged by the axial flow fan blade, a first through hole communicated with the first cavity and a second cavity are formed in the traveling direction rotating sleeve, and the traveling direction rotating sleeve is communicated with the second cavity The projections of the axle wires of the first through hole and the second through hole on the round bottom surface of the advancing direction rotating sleeve are respectively positioned at the two ends of the diameter of the bottom surface of the advancing direction rotating sleeve and correspond to the positions of the first cavity and the second cavity, eight first oil walking cavities and eight second oil walking cavities which are circumferentially arranged are respectively arranged in the disc-shaped shell, the first oil walking cavities and the second oil walking cavities at the upper position and the lower position can be in one-to-one correspondence, wherein the first through hole can be communicated with the first oil walking cavities, the second through hole can be communicated with the second oil walking cavities, one group of the first oil walking cavities and the second oil walking cavities can be communicated when the axial flow fan blade rotates, the first motor and the second motor are arranged in the disc-shaped shell, the first driving gear matched with the first outer gear ring is arranged on the output shaft of the first motor, the second driving gear matched with the second outer gear ring is arranged on the output shaft of the second motor, the disc-shaped shell is internally provided with an annular mounting groove, a transparent plate is arranged at the periphery of the annular mounting groove, an inner gear ring is arranged in the annular mounting groove, a third driving gear is arranged on the inner periphery of the inner gear ring in a matched manner, the third driving gear and the second driving gear are coaxially arranged, the rotating angular speed of the inner gear ring is the same as that of the second outer gear ring, a camera is arranged on the outer side of the inner gear ring, the facing positions of the camera and the second through hole are the same and can synchronously rotate, a light blocking sleeve is arranged on the inner gear ring at the periphery of the camera, illuminating lamps are arranged on two sides of the light blocking sleeve, a storage battery and a control circuit board are further arranged in the annular mounting groove, the storage battery is connected with the control circuit board through a circuit, and the control circuit board is respectively connected with a power device, a power device and a rotating sleeve of a propeller through a control circuit, The first motor is connected with the second motor. The disc-shaped shell is provided with a charging port communicated with the annular mounting groove, the charging port is positioned on the upper side of the storage battery, and the charging port is also provided with a sealing plug in a matching manner. The annular mounting groove is internally provided with a conducting ring, the conducting ring is positioned on the inner periphery of the inner gear ring, a contact head is arranged on a lead of the camera, and the contact head penetrates out of the inner gear ring and is in contact with the conducting ring.
The invention has the positive effects that: according to the ultrahigh-voltage alternating-current transformer internal inspection submersible robot, the transformer internal inspection is completed by replacing the traditional manual work through the submersible robot, the overall inspection of the interior of the transformer can be performed, the inspection process is simplified, the workload of field maintainers is greatly reduced, the advancing direction of the robot can be controlled by changing the internal oil discharging direction, the influence of hydraulic oil resistance on the advancing of the robot in the rotating process is avoided, when the shooting direction or the advancing direction is changed in the internal inspection process, the body of the submersible robot does not need to rotate or move, no steering resistance exists, and a camera can be always kept stable; pivot turns to the operation and can make to control more accurately, and outside circular, no outstanding part, difficult collision transformer surface, fine protection the inner structure of transformer, and be located the inside camera of robot and can carry out synchronous rotation according to the oil extraction direction, guarantee to be located the front end of advancing direction all the time, sight direction and advancing direction are unanimous all the time, the interior process of advancing of examining and when turning to be difficult for losing the maintenance target, the normal clear of examining in having guaranteed the transformer, and the work efficiency is improved, the potential safety hazard has been eliminated.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a sectional view taken along line A-A of FIG. 2;
FIG. 4 is a sectional view taken along line B-B of FIG. 3;
FIG. 5 is an enlarged partial view of I of FIG. 3;
FIG. 6 is a cross-sectional view taken along line C-C of FIG. 3;
FIG. 7 is a schematic diagram of the structure in which the through hole communicates with an oil-carrying chamber;
fig. 8 is a schematic diagram of the structure of the through hole communicated with the two oil walking cavities.
Detailed Description
The invention relates to an extra-high voltage alternating current transformer internal inspection submersible robot, which comprises a disc-shaped shell 1, wherein a through cavity 2 is formed in the center of the disc-shaped shell 1, a horizontally arranged propeller 3 and a vertically arranged oil discharge rotating sleeve 4 are arranged in the through cavity 2, the inner cavity of the oil discharge rotating sleeve 4 is communicated with the through cavity 2, and the propeller 3 rotates to control the height of the submersible robot in hydraulic oil.
The periphery of the oil discharge rotating sleeve 4 is connected with an axial flow fan blade 5, a first outer gear ring 6 is installed on the oil discharge rotating sleeve 4, a traveling direction rotating sleeve 7 matched with the oil discharge rotating sleeve 4 is installed in the disc-shaped shell 1, the traveling direction rotating sleeve 7 is sleeved on the periphery of the oil discharge rotating sleeve 4, a second outer gear ring 16 is installed on the traveling direction rotating sleeve 7, the traveling direction of the submersible robot in hydraulic oil can be adjusted and detected when the traveling direction rotating sleeve 7 rotates, and the robot body cannot rotate.
Eight first oil walking chambers 12 and eight second oil walking chambers 13 which are circumferentially arranged are respectively arranged in the disc-shaped shell 1 corresponding to the positions of the first cavity 8 and the second cavity 9, the first oil walking chambers 12 and the second oil walking chambers 13 at the upper position and the lower position can be in one-to-one correspondence, wherein a first through hole 10 can be communicated with the first oil walking chambers 12, a second through hole 11 can be communicated with the second oil walking chambers 13, and one group of the first oil walking chambers 12 and the second oil walking chambers 13 can be communicated when the axial flow fan blade 5 rotates. The first oil walking cavity 12 and the second oil walking cavity 13 can realize the inlet and outlet of hydraulic oil in the submersible robot, so that the advancing power of the robot is formed, and the central angles of the first through hole 10 and the second through hole 11 are 180 degrees, the central angles of the first oil walking cavity 12 and the second oil walking cavity 13 which are communicated are also 180 degrees at the position of the circle center of the disc-shaped shell 1, namely the front end of the advancing direction of the submersible robot is fed with oil, and the rear end of the advancing direction of the submersible robot is discharged with oil. By rotating the advancing direction rotating sleeve 7, the first through hole 10 and the second through hole 11 are communicated with the first oil walking cavity 12 and the second oil walking cavity 13 at different positions, the circumferential oil feeding and discharging positions of the disc-shaped shell 1 are changed, and the advancing direction can be adjusted on the premise that the robot body does not rotate. The lifting and the steering of the submersible robot in the hydraulic oil are independent and do not influence each other.
As shown in fig. 3, the axial flow fan blade 5 rotates to push the hydraulic oil in the second chamber 9 to the first chamber 8, the second oil-moving chamber 13 on the lower side is an oil inlet, the first oil-moving chamber 12 on the upper side is an oil outlet, when the axial flow fan blade 5 rotates, the hydraulic oil sequentially passes through the second oil-moving chamber 13, the second through hole 11, the second chamber 9, the first chamber 8, the first through hole 10 and the second oil-moving chamber 13 to complete circulation inside the robot, so as to provide advancing power for the submersible robot, and when the advancing direction rotating sleeve 7 is rotated, different advancing directions of the submersible robot can be selected.
Install first motor 14 and second motor 15 in dish-shaped casing 1, install on the output shaft of first motor 14 with first outer ring gear 6 matched with first drive gear 17, install on the output shaft of second motor 15 with second outer ring gear 16 matched with second drive gear 18, can drive axial fan blade 5 through the transmission of first drive gear 17 and first outer ring gear 6 and rotate when first motor 14 starts, and then make hydraulic oil business turn over as the power that the robot gos forward, can drive direction of travel commentaries on classics cover 7 rotation through the transmission of second drive gear 18 and second outer ring gear 16 when second motor 15 starts, and then control the selection to the direction of advance of robot.
An annular mounting groove 19 is further formed in the disc-shaped shell 1, a transparent plate 23 is mounted on the periphery of the annular mounting groove 19, an inner gear ring 20 is mounted in the annular mounting groove 19, a third driving gear 21 is mounted on the inner periphery of the inner gear ring 20 in a matched mode, the third driving gear 21 and the second driving gear 18 are coaxially arranged, namely the second driving gear 18 and the third driving gear 21 can synchronously rotate, and the rotating angular speeds of the inner gear ring 20 and the second outer gear ring 16 are the same. Install camera 22 in the outside of ring gear 20, camera 22 is the same with the orientation position of second through-hole 11, when advancing direction commentaries on classics cover 7 synchronous revolution on ring gear 20 and the second outer ring gear 16, the position that camera 22 corresponds is the oil inlet position of robot all the time, also be the advancing direction of oily robot promptly, so that can real-time detection robot the place ahead target when carrying out the interior operation of examining of transformer, prevent that traditional oily robot of diving from rotating the condition emergence of losing the target easily behind the certain angle, the precision of controlling and the efficiency of interior inspection have effectively been improved. As shown in fig. 6, a light blocking sleeve 32 is installed on the ring gear 20 at the periphery of the camera 22, and illuminating lamps 33 are installed at two sides of the light blocking sleeve 32, wherein the illuminating lamps 33 are set to provide necessary brightness for internal inspection in hydraulic oil, and the light blocking sleeve 32 can reduce the influence of light emitted by the illuminating lamps 33 on the camera 22, so as to ensure the definition of a shot picture in the internal inspection process. The power supply circuit of the illumination lamp 33 and the power supply circuit of the camera 22 may be connected in series.
The annular mounting groove 19 is also internally provided with a storage battery 24 and a control circuit board 25, the storage battery 24 is connected with the control circuit board 25 through a circuit, the control circuit board 25 is respectively connected with the power device of the propeller 3, the first motor 14 and the second motor 15 through control circuits, the storage battery 24 is used for increasing electric energy necessary for operation of the submersible robot, and the control circuit board 25 can control starting and stopping of the motors to realize that the robot travels in all directions in the transformer oil.
Further, in order to ensure the strength of the axial fan blade 5 and achieve the purpose of separating the first chamber 8 and the second chamber 9, as shown in fig. 4, an annular plate 26 is connected to the outer periphery of the axial fan blade 5, the annular plate 26 is engaged with the inner peripheral surface of the traveling direction rotating sleeve 7, and in order to achieve the sealing between the outer periphery of the annular plate 26 and the inner periphery of the traveling direction rotating sleeve 7, as shown in fig. 5, a sealing ring 27 is further provided on the annular plate 26.
As shown in fig. 4, eight first oil-moving chambers 12 and eight second oil-moving chambers 13 which are circumferentially arranged are formed in the disc-shaped shell 1, so that the submersible robot can move in eight different directions in hydraulic oil.
Further, in order to be convenient for charge the storage battery 24 after the internal inspection of the submersible robot is completed, the charging port 28 communicated with the annular mounting groove 19 is formed in the disc-shaped shell 1, the charging port 28 is positioned on the upper side of the storage battery 24, the sealing plug 29 is further installed on the charging port 28 in a matched mode, and when the sealing plug 29 is arranged and can be used for the internal inspection of the submersible robot, hydraulic oil is prevented from entering the annular mounting groove 19.
Further, in order to ensure that the camera 22 on the inner ring gear 20 can always be connected to the control circuit board 25 while rotating, as shown in fig. 6, a conductive ring 30 is installed in the annular installation groove 19, the conductive ring 30 is located on the inner periphery of the inner ring gear 20, the conductive ring 30 is connected to the control circuit board 25 through a wire, a contact 31 is installed on the wire of the camera 22, the contact 31 penetrates through the inner ring gear 20 and contacts with the conductive ring 30, and when the inner ring gear 20 rotates, the contact 31 always contacts with the conductive ring 30 to ensure normal power supply to the camera 22. The camera 22 can adopt wireless transmission and control, so that an operator can control the camera from the outside of the transformer and obtain an internal inspection picture in real time.
As shown in fig. 7, the state diagram of the communication between the through hole and one oil-moving chamber is shown, at this time, hydraulic oil enters from one oil-moving chamber and is discharged from the other oil-moving chamber, taking the number of eight oil-moving chambers shown in fig. 7 as an example, on the premise that one through hole is communicated with one oil-moving chamber, the traveling direction of the submersible robot has eight choices, that is, the submersible robot can travel in eight directions during internal inspection, when one through hole is communicated with two oil-moving chambers, as shown in fig. 8, the traveling direction of the submersible robot is the position of the centers of the two oil-moving chambers, that is, the submersible robot has eight extra traveling direction choices in this communication state, and the eight oil-moving chambers are communicated in the two communication modes, that is, there are sixteen traveling direction choices. The control electrical appliances can be connected to a power supply through wires by the prior electrical technology so as to realize normal functions.
The technical solution of the present invention is not limited to the scope of the embodiments of the present invention. The technical contents not described in detail in the present invention are all known techniques.
Claims (3)
1. The utility model provides an extra-high voltage alternating current transformer examines latent oily robot in, its characterized in that: comprises a disc-shaped shell (1), a penetrating cavity (2) is arranged at the central position of the disc-shaped shell (1), a horizontally arranged propeller (3) and a vertically arranged oil discharge rotating sleeve (4) are arranged in the penetrating cavity (2), the inner cavity of the oil discharge rotating sleeve (4) is communicated with the penetrating cavity (2), an axial flow fan blade (5) is connected with the periphery of the oil discharge rotating sleeve (4), a first outer gear ring (6) is arranged on the oil discharge rotating sleeve (4), a traveling direction rotating sleeve (7) matched with the oil discharge rotating sleeve (4) is arranged in the disc-shaped shell (1), the traveling direction rotating sleeve (7) is sleeved on the periphery of the oil discharge rotating sleeve (4), the periphery of the axial flow fan blade (5) is connected with an annular plate (26), the annular plate (26) is matched with the inner peripheral surface of the traveling direction rotating sleeve (7), a sealing ring (27) is arranged on the annular plate (26), and a second gear ring (16) is arranged on the traveling direction rotating sleeve (7), the inner cavity of the advancing direction rotating sleeve (7) is divided into a first cavity (8) and a second cavity (9) which are arranged up and down by the axial flow fan blade (5), a first through hole (10) communicated with the first cavity (8) and a second through hole (11) communicated with the second cavity (9) are formed in the advancing direction rotating sleeve (7), the projections of the central axes of the first through hole (10) and the second through hole (11) on the circular bottom surface of the advancing direction rotating sleeve (7) are respectively positioned at the two ends of the diameter of the bottom surface of the advancing direction rotating sleeve (7) and correspond to the positions of the first cavity (8) and the second cavity (9), eight first oil walking cavities (12) and second oil walking cavities (13) which are arranged circumferentially are respectively formed in the disc-shaped shell (1), the first oil walking cavities (12) and the second oil walking cavities (13) at the upper position and the lower position can be in one-to-one correspondence, wherein the first through holes (10) can be communicated with the first oil walking cavities (12), the second through hole (11) can be communicated with the second oil walking cavity (13), one group of first oil walking cavities (12) and the second oil walking cavities (13) can be communicated when the axial flow fan blades (5) rotate, a first motor (14) and a second motor (15) are installed in the disc-shaped shell (1), a first driving gear (17) matched with the first outer gear ring (6) is installed on an output shaft of the first motor (14), a second driving gear (18) matched with the second outer gear ring (16) is installed on an output shaft of the second motor (15), the first motor (14) can drive the axial flow fan blades (5) to rotate when being started, the second motor (15) can drive the running direction rotating sleeve (7) to rotate, an annular mounting groove (19) is further formed in the disc-shaped shell (1), a transparent plate (23) is installed on the periphery of the annular mounting groove (19), and an inner gear ring (20) is installed in the annular mounting groove (19), a third driving gear (21) is arranged on the inner periphery of the inner gear ring (20) in a matching way, the third driving gear (21) and the second driving gear (18) are coaxially arranged, the rotational angular speed of the inner gear ring (20) is the same as that of the second outer gear ring (16), a camera (22) is arranged on the outer side of the internal gear ring (20), the facing positions of the camera (22) and the second through hole (11) are the same, and the camera and the second through hole can synchronously rotate, a light blocking sleeve (32) is arranged on an inner gear ring (20) on the periphery of the camera (22), illuminating lamps (33) are arranged on two sides of the light blocking sleeve (32), still install battery (24) and control circuit board (25) in annular mounting groove (19), battery (24) are connected with control circuit board (25) through the circuit, and control circuit board (25) are connected with power device, first motor (14) and second motor (15) of screw (3) respectively through control circuit.
2. The internal submersible inspection robot for the extra-high voltage alternating current transformer as claimed in claim 1, characterized in that: the disc-shaped shell (1) is provided with a charging port (28) communicated with the annular mounting groove (19), the charging port (28) is positioned on the upper side of the storage battery (24), and a sealing plug (29) is further installed on the charging port (28) in a matching manner.
3. The internal submersible inspection robot for the extra-high voltage alternating current transformer as claimed in claim 1, characterized in that: a conducting ring (30) is installed in the annular installation groove (19), the conducting ring (30) is located on the inner periphery of the inner gear ring (20), a contact head (31) is installed on a lead of the camera (22), and the contact head (31) penetrates out of the inner gear ring (20) and is in contact with the conducting ring (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111355963.XA CN114012752B (en) | 2021-11-16 | 2021-11-16 | Oil-submersible detection robot in extra-high voltage alternating-current transformer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111355963.XA CN114012752B (en) | 2021-11-16 | 2021-11-16 | Oil-submersible detection robot in extra-high voltage alternating-current transformer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114012752A true CN114012752A (en) | 2022-02-08 |
| CN114012752B CN114012752B (en) | 2024-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111355963.XA Active CN114012752B (en) | 2021-11-16 | 2021-11-16 | Oil-submersible detection robot in extra-high voltage alternating-current transformer |
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| CN (1) | CN114012752B (en) |
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