CN114012752B - Oil-submersible detection robot in extra-high voltage alternating-current transformer - Google Patents
Oil-submersible detection robot in extra-high voltage alternating-current transformer Download PDFInfo
- Publication number
- CN114012752B CN114012752B CN202111355963.XA CN202111355963A CN114012752B CN 114012752 B CN114012752 B CN 114012752B CN 202111355963 A CN202111355963 A CN 202111355963A CN 114012752 B CN114012752 B CN 114012752B
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- oil
- gear
- cavity
- cover
- travelling
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- 238000001514 detection method Methods 0.000 title claims description 13
- 238000007689 inspection Methods 0.000 claims abstract description 13
- 238000000605 extraction Methods 0.000 claims abstract 8
- 238000007789 sealing Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 8
- 230000008092 positive effect Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 49
- 239000010720 hydraulic oil Substances 0.000 description 12
- 230000000903 blocking effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
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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
-
- 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
-
- 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
Abstract
The utility model provides an oil extraction changes cover, oil extraction changes the inner chamber and runs through the chamber and link mutually of cover including dish casing, the central point department of dish casing has seted up and has run through the chamber, runs through the intracavity and installs the screw that the level set up and vertical setting. The invention has the positive effects that: the invention simplifies the overhaul flow, greatly lightens the workload of field overhaulers, is not easy to collide with the surface of the transformer, well protects the internal structure of the transformer, ensures that the camera positioned in the robot can synchronously rotate according to the oil discharge direction, always ensures the front end positioned in the advancing direction, always accords with the sight direction and the advancing direction, and is not easy to lose an overhaul target in the advancing process and the steering of the internal inspection, ensures the normal operation of the internal inspection of the transformer, improves the working efficiency and eliminates the potential safety hazard.
Description
Technical Field
The invention relates to the technical field of transformer overhaul equipment, in particular to an ultra-high voltage alternating current transformer internal detection oil submersible robot.
Background
The extra-high voltage alternating current transformer is core equipment of an extra-high voltage transformer substation, when internal faults of the transformer are processed, maintenance personnel are usually required to enter the transformer to check the inside of the transformer to find out fault sources, so that fault reasons are determined, a solution is formulated, the internal structure of the extra-high voltage transformer is complex, the space is narrow, personnel are difficult to operate in the inside, a plurality of parts are difficult to reach, and check dead angles exist, so that internal fault sources are often difficult to find out, and complex procedures such as oil discharge, vacuumizing, vacuum oiling, hot oil circulation and the like are required to be performed before the internal faults of the transformer are checked, so that maintenance risks and difficulties are increased to a certain extent.
Disclosure of Invention
The invention aims to provide an extra-high voltage alternating current transformer internal inspection oil-submerged machine robot, wherein a robot body does not need to rotate, the running direction can be selected by changing the internal oil discharge direction, a camera inside the robot is always positioned at the front end of the running direction, the operation is more accurate, an inspection object cannot be lost in the internal inspection running process, and the problems in the prior art are solved.
The technical scheme adopted for solving the technical problems is as follows: the invention relates to an ultra-high voltage alternating current transformer internal inspection submersible robot, which comprises a disc-shaped shell, wherein a through cavity is formed in the central position of the disc-shaped shell, a horizontally arranged screw 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, the periphery of the oil discharge rotating sleeve is connected with an axial flow fan blade, a first outer gear ring is arranged on the oil discharge rotating sleeve, a travelling direction rotating sleeve matched with the oil discharge rotating sleeve is arranged in the disc-shaped shell, the travelling direction rotating sleeve is sleeved on the periphery of the oil discharge rotating sleeve, an annular plate is connected with the periphery of the axial flow fan blade, the annular plate is matched with the inner peripheral surface of the travelling direction rotating sleeve, a sealing ring is further arranged on the annular plate, a second outer gear ring is arranged on the travelling direction rotating sleeve, the axial flow fan blade divides the inner cavity of the travelling direction rotating sleeve into a first cavity and a second cavity which are arranged up and down, the first through hole and the second through hole are communicated with the first cavity and the second cavity, projections of central axes of the first through hole and the second through hole on the circular bottom surface of the traveling direction rotating sleeve are respectively positioned at two ends of the diameter of the bottom surface of the traveling direction rotating sleeve, eight first oil moving cavities and second oil moving cavities which are circumferentially arranged are respectively arranged in the disc-shaped shell corresponding to the positions of the first cavity and the second cavity, the first oil moving cavities and the second oil moving cavities at the upper position and the lower position can be in one-to-one correspondence, the first through hole can be communicated with the first oil moving cavity, the second through hole can be communicated with the second oil moving cavity, when the axial flow fan blade rotates, one group of the first oil moving cavities and the second oil moving cavity can be communicated, a first motor and a second motor are arranged in the disc-shaped shell, a first driving gear matched with the first outer gear is arranged on an output shaft of the first motor, the output shaft of the second motor is provided with a second driving gear matched with the second outer gear ring, the first motor can drive the axial-flow fan blades to rotate, the second motor can drive the travelling direction rotating sleeve to rotate, an annular mounting groove is further formed in the disc-shaped shell, the periphery of the annular mounting groove is provided with a transparent plate, an annular gear is arranged in the annular mounting groove, the inner Zhou Peige of the annular gear is provided with a third driving gear, the third driving gear and the second driving gear are coaxially arranged, the rotation angular speeds of the annular gear and the second outer gear ring are the same, the outer side of the annular gear is provided with a camera, the orientation positions of the camera and the second through hole are the same and can synchronously rotate, the inner gear ring at the periphery of the camera is provided with a light blocking sleeve, two sides of the light blocking sleeve are provided with illuminating lamps, the annular mounting groove is internally provided with a storage battery and a control circuit board, and 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 of the propeller, the first motor and the second motor through the control circuit. The dish-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 matched with the sealing plug. And a conductive ring is arranged in the annular mounting groove, the conductive ring is positioned at the inner periphery of the annular gear, a contact head is arranged on a wire of the camera, and the contact head penetrates out of the annular gear and is contacted with the conductive ring.
The invention has the positive effects that: according to the ultra-high voltage alternating current transformer internal detection submersible robot, the internal detection of the transformer is completed by replacing the traditional manual operation by the submersible detection robot, so that the internal detection of the transformer can be completed, the overhaul flow 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, the body of the submersible detection robot does not need to rotate or move when the shooting direction or the advancing direction is changed in the internal detection process, no steering resistance exists, and the camera can be always kept stable; the in-situ steering operation can enable the operation to be more accurate, the in-situ steering operation is round, no protruding part exists, the surface of the transformer is not easy to collide, the internal structure of the transformer is well protected, the camera inside the robot can synchronously rotate according to the oil discharge direction, the front end in the advancing direction is always guaranteed, the sight direction is always consistent with the advancing direction, the overhauling target is not easy to lose in the advancing process and the steering process, the normal running of the internal inspection of the transformer is guaranteed, the working efficiency is improved, and the potential safety hazard is eliminated.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a cross-sectional view taken along B-B in FIG. 3;
FIG. 5 is an enlarged view of a portion of I in FIG. 3;
FIG. 6 is a cross-sectional view taken along line C-C of FIG. 3;
FIG. 7 is a schematic illustration of the configuration of the through bore communicating with an oil feed chamber;
fig. 8 is a schematic diagram of the structure in which the through hole communicates with two oil feed chambers.
Detailed Description
The invention discloses an extra-high voltage alternating current transformer internal oil-submerged detection robot, which is shown in figures 1, 2 and 3, and 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 rotation of the propeller 3 can control the height of the oil-submerged detection robot in the position of 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 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, a second outer gear ring 16 is arranged on the traveling direction rotating sleeve 7, the traveling direction of the submersible robot in hydraulic oil can be adjusted when the traveling direction rotating sleeve 7 rotates, and the robot body cannot rotate.
The axial flow fan blade 5 divides the inner cavity of the travelling direction rotating sleeve 7 into a first cavity 8 and a second cavity 9 which are arranged up and down, 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 travelling direction rotating sleeve 7, as shown in fig. 4, projections of central axes of the first through hole 10 and the second through hole 11 on the circular bottom surface of the travelling direction rotating sleeve 7 are respectively positioned at two ends of the diameter of the bottom surface of the travelling direction rotating sleeve 7, namely, the first through hole 10 and the second through hole 11 are positioned on the same diameter of an end surface circle of the travelling direction rotating sleeve 7, and the central angles of the first through hole 10 and the second through hole 11 are 180 degrees.
Eight first oil-moving cavities 12 and second oil-moving cavities 13 which are circumferentially arranged are respectively arranged in the disc-shaped shell 1 and correspond to the positions of the first cavity 8 and the second cavity 9, the first oil-moving cavities 12 and the second oil-moving cavities 13 at the upper and lower positions can be in one-to-one correspondence, the first through holes 10 can be communicated with the first oil-moving cavities 12, the second through holes 11 can be communicated with the second oil-moving cavities 13, and one group of the first oil-moving cavities 12 and the second oil-moving cavities 13 can be communicated when the axial flow fan blade 5 rotates. The first oil-moving cavity 12 and the second oil-moving cavity 13 can realize the entry and exit of hydraulic oil in the submersible robot, so that the advancing power of the robot is formed, and as the central angle of the first through hole 10 and the second through hole 11 is 180 degrees, the central angle of the communicated first oil-moving cavity 12 and the communicated second oil-moving cavity 13 at the central position of the dished shell 1 is 180 degrees, namely, the front end of the advancing direction of the submersible robot is filled with oil, and the rear end of the advancing direction of the submersible robot is discharged with oil. Through rotating the travelling direction rotating sleeve 7, the first through hole 10 and the second through hole 11 are communicated with the first travelling oil cavity 12 and the second travelling oil cavity 13 at different positions, and the travelling direction can be adjusted on the premise that the robot body does not rotate by changing the positions of the periphery Xiang Jin of the dished shell and oil discharge. Wherein the lifting and steering of the oil-submersible detection robot in the hydraulic oil are independent and do not affect each other.
As shown in fig. 3, the rotation of the axial flow fan blade 5 can push the hydraulic oil of the second chamber 9 to the first chamber 8, the second oil passing chamber 13 at the lower side is an oil inlet, the first oil passing chamber 12 at the upper side is an oil outlet, when the axial flow fan blade 5 rotates, the hydraulic oil sequentially passes through the second oil passing chamber 13, the second through hole 11, the second chamber 9, the first chamber 8, the first through hole 10 and the second oil passing chamber 13 to complete the circulation in the robot, thereby providing the advancing power for the submersible robot, and when the advancing direction rotating sleeve 7 rotates, different advancing directions of the submersible robot can be selected.
The disc-shaped shell 1 is internally provided with a first motor 14 and a second motor 15, the output shaft of the first motor 14 is provided with a first driving gear 17 matched with the first outer gear ring 6, the output shaft of the second motor 15 is provided with a second driving gear 18 matched with the second outer gear ring 16, when the first motor 14 is started, the axial flow fan blade 5 can be driven to rotate through the transmission of the first driving gear 17 and the first outer gear ring 6, then hydraulic oil is fed in and out to be used as the forward power of the robot, and when the second motor 15 is started, the transmission of the second driving gear 18 and the second outer gear ring 16 can drive the travelling direction rotating sleeve 7 to rotate, and then the forward direction of the robot is controlled and selected.
An annular mounting groove 19 is further formed in the disc-shaped shell 1, a transparent plate 23 is arranged on the periphery of the annular mounting groove 19, an inner gear ring 20 is arranged in the annular mounting groove 19, a third driving gear 21 is arranged in an inner Zhou Peige of the inner gear ring 20, the third driving gear 21 and the second driving gear 18 are coaxially arranged, that is, the second driving gear 18 and the third driving gear 21 can synchronously rotate, and the rotation angular speed of the inner gear ring 20 is the same as that of the second outer gear ring 16. The camera 22 is installed in the outside of ring gear 20, and the orientation position of camera 22 and second through-hole 11 is the same, and when advancing direction changes cover 7 synchronous rotation 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, i.e. the direction of advance of latent oil robot to can real-time detection robot the place ahead target when the interior operation of examining of transformer in order to carry out, prevent that traditional latent oil robot from rotating the condition emergence of losing the target easily behind the certain angle, effectively improved the precision of controlling and the efficiency of interior examining. As shown in fig. 6, a light blocking sleeve 32 is installed on the inner gear ring 20 on the periphery of the camera 22, and illuminating lamps 33 are installed on two sides of the light blocking sleeve 32, wherein the illuminating lamps 33 provide necessary brightness for internal inspection in hydraulic oil, and the light blocking sleeve 32 can reduce the influence of the bright light emitted by the illuminating lamps 33 on the camera 22 and 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 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 a control circuit, wherein the storage battery 24 is electric energy required by the improvement operation of the submersible robot, and the control circuit board 25 can control the start and stop of each motor to realize the running of the robot in each direction in the variable-pressure oil.
Further, in order to ensure the strength of the axial flow fan 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 flow fan 5, the annular plate 26 is matched with the inner peripheral surface of the travelling 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 travelling direction rotating sleeve 7, as shown in fig. 5, a sealing ring 27 is further arranged on the annular plate 26.
As shown in fig. 4, eight first oil-moving cavities 12 and second oil-moving cavities 13 which are circumferentially arranged are formed in the dished shell 1, so that the oil-submersible robot can travel in eight different directions in hydraulic oil.
Further, in order to be convenient for charge the battery 24 after the oil-submerged robot is examined in the interior, set up the mouth 28 that charges that links to each other with annular mounting groove 19 on the dish-shaped casing 1, the mouth 28 that charges is located battery 24 upside, still cooperates and installs sealing plug 29 on the mouth 28 that charges, and sealing plug 29's setting can prevent that hydraulic oil from entering into in the annular mounting groove 19 when the oil-submerged robot examines in the interior.
Further, in order to ensure that the camera 22 on the ring gear 20 can always keep communicating with 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 at the inner periphery of the ring gear 20, the conductive ring 30 is connected with the control circuit board 25 through a wire, a contact head 31 is installed on the wire of the camera 22, the contact head 31 penetrates through the ring gear 20 and contacts with the conductive ring 30, and when the ring gear 20 rotates, the contact head 31 always contacts with the conductive ring 30 to ensure normal power supply to the camera 22. The camera 22 may be wirelessly transmitted and controlled, so that an operator can control the camera from outside the transformer and obtain an internal inspection picture in real time.
As shown in fig. 7, a schematic diagram of a state that a through hole is communicated with one oil passing cavity is shown, at this time, hydraulic oil enters from one oil passing cavity and is discharged from the other oil passing cavity, taking the number of eight oil passing cavities shown in fig. 7 as an example, on the premise that one through hole is communicated with one oil passing cavity, the traveling direction of the oil-submerged robot has eight choices, that is, the oil-submerged robot can travel in eight choices when performing internal inspection, and when one through hole is communicated with two oil passing cavities, as shown in fig. 8, the traveling direction of the oil-submerged robot is the position of the centers of the two oil passing cavities, that is, the oil-submerged robot has eight choices additionally in this communicated state, and eight oil passing cavities are communicated in the two manners, so that sixteen choices of traveling directions are shared. The control appliances can be connected to a power supply through wires by the prior electrical technology so as to realize normal functions.
The technical scheme of the invention is not limited to the scope of the embodiments of the invention. The technical content that is not described in detail in the invention is known in the prior art.
Claims (3)
1. An ultra-high voltage alternating current transformer internal detection oil submerged machine robot is characterized in that: including dish casing (1), center position department that dish casing (1) offered and run through chamber (2), install screw (3) and the oil extraction commentaries on classics cover (4) of vertical setting that the level set up in running through chamber (2), the inner chamber and the running through chamber (2) of oil extraction commentaries on classics cover (4) are linked together, be connected with axial fan blade (5) at the periphery of oil extraction commentaries on classics cover (4), install first external gear ring (6) on oil extraction commentaries on classics cover (4), install in dish casing (1) with oil extraction commentaries on classics cover (4) matched with advancing direction change cover (7), advancing direction change cover (7) the cover's (7) periphery at the oil extraction commentaries on classics cover (4), the periphery of axial fan blade (5) is connected with annular plate (26), annular plate (26) and advancing direction change the internal peripheral surface of cover (7) and cooperate, still be equipped with sealing washer (27) on annular plate (26), install second external gear ring (16) on advancing direction change cover (7), first cavity (8) and second cavity (8) that change (7) and second cavity (8) that advance direction change (7) and set up with one and second cavity (9) and the second cavity (10) that advance and link up with first cavity (8), projections of the central axes of the first through hole (10) and the second through hole (11) on the circular bottom surface of the travelling direction rotating sleeve (7) are respectively positioned at two ends of the bottom surface diameter of the travelling direction rotating sleeve (7), corresponding to the positions of the first cavity (8) and the second cavity (9), eight first travelling oil cavities (12) and second travelling oil cavities (13) which are arranged circumferentially are respectively arranged in the disc-shaped shell (1), the first travelling oil cavities (12) and the second travelling oil cavities (13) at the upper and lower positions can be in one-to-one correspondence, the first through hole (10) can be communicated with the first travelling oil cavities (12), the second through hole (11) can be communicated with the second travelling oil cavities (13), when the axial flow fan blade (5) rotates, one group of the first travelling oil cavities (12) and the second travelling oil cavities (13) can be communicated, a first motor (14) and a second motor (15) are arranged in the disc-shaped shell (1), a first motor (17) matched with a first outer gear ring gear (6) is arranged on an output shaft, a second motor (15) is arranged on the output shaft of the first motor (14), a second output shaft (15) is matched with the second gear (14) can be driven by a second gear (16), and the second motor (14) can be driven by the second fan blade (5) to rotate, and the second fan blade (14) can be driven to rotate in the second direction (18) to rotate, and the second fan blade (5) can be driven to rotate, and the second fan blade (14) can rotate in the direction (18) to rotate, still seted up annular mounting groove (19) in dish casing (1), transparent plate (23) are installed to the periphery of annular mounting groove (19), installs ring gear (20) in annular mounting groove (19), and third drive gear (21) are installed to interior Zhou Peige of ring gear (20), and third drive gear (21) are coaxial with second drive gear (18) and set up, ring gear (20) are the same with the rotation angular velocity of second external ring gear (16), and camera (22) are installed in the outside of ring gear (20), and camera (22) are the same with the orientation position of second through hole (11) and can carry out synchronous rotation, install in ring gear (20) of camera (22) periphery and block light cover (32), are blocked light cover (32) both sides and are installed light (33), 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 control circuit, and control circuit board (25) are connected with power device, first motor (14) and second motor (15) of screw (3) respectively.
2. The ultra-high voltage alternating current transformer internal inspection oil submerged machine robot of claim 1, wherein the robot is characterized in that: the dish-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 the charging port (28) is also provided with a sealing plug (29) in a matched manner.
3. The ultra-high voltage alternating current transformer internal inspection oil submerged machine robot of claim 1, wherein the robot is characterized in that: the annular mounting groove (19) is internally provided with a conductive ring (30), the conductive ring (30) is positioned at the inner periphery of the annular gear (20), a wire of the camera (22) is provided with a contact head (31), and the contact head (31) penetrates out of the annular gear (20) and is contacted with the conductive 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 CN114012752A (en) | 2022-02-08 |
| CN114012752B true CN114012752B (en) | 2024-01-19 |
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Family Applications (1)
| 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 |
Country Status (1)
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| CN (1) | CN114012752B (en) |
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| 1000kV特高压变压器低压套管检修作业平台的研发与应用;曲振旭;;电工技术(第09期);全文 * |
| 变压器现场大修常见问题及原因分析;郑国顺, 钱可弭, 刘庆, 张永胜;变压器(第01期);全文 * |
| 基于惯性传感器的微型无缆机器人定位研究;赵晓军;郭一;赵天力;李家兴;杨登科;陈晓燕;电视技术(第003期);全文 * |
| 大容量变压器安装问题探讨;李伯明;;电子制作(第19期);全文 * |
| 油浸式变压器内部检测机器人结构设计与分析;李勋;王亚彪;黄荣辉;何震;伍国兴;李智刚;黄炜昭;;机械工程师(第03期);全文 * |
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| CN114012752A (en) | 2022-02-08 |
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