CN210090600U - Robot for detecting inside of oil-immersed transformer - Google Patents
Robot for detecting inside of oil-immersed transformer Download PDFInfo
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- CN210090600U CN210090600U CN201920386404.7U CN201920386404U CN210090600U CN 210090600 U CN210090600 U CN 210090600U CN 201920386404 U CN201920386404 U CN 201920386404U CN 210090600 U CN210090600 U CN 210090600U
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- 239000007788 liquid Substances 0.000 claims abstract description 70
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000002347 injection Methods 0.000 claims abstract description 20
- 239000007924 injection Substances 0.000 claims abstract description 20
- 238000003384 imaging method Methods 0.000 claims description 22
- 238000007689 inspection Methods 0.000 claims description 14
- 238000005286 illumination Methods 0.000 claims description 8
- 239000012780 transparent material Substances 0.000 claims description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000007847 structural defect Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The application relates to an oil-immersed transformer internal detection robot. The upper hemispherical shell comprises at least two groups of first pump body communicating devices which are symmetrically arranged around the center point of the upper hemispherical shell. The first pump body communicating device is arranged in the spherical cavity. Each group of first pump body communication devices comprises a first liquid inlet and a first liquid outlet. The lower hemispherical shell comprises at least two groups of second pump body communicating devices which are symmetrically arranged around the center point of the lower hemispherical shell. The second pump body communicating device is arranged in the spherical cavity. Each group of second pump body communication devices comprises a second liquid inlet and a second liquid outlet. The first injection device is positioned on the upper hemispherical shell and is communicated with the first liquid inlet and the first liquid outlet. And is located in the lower hemisphere. The second injection device is communicated with the second liquid inlet and the second liquid outlet. Therefore, the robot for detecting the inside of the oil-immersed transformer is simple in structure, simple to operate and high in working efficiency.
Description
Technical Field
The application relates to the field of electrical monitoring, in particular to an oil-immersed transformer internal detection robot.
Background
With the vigorous development of the economic society, the demand of electric energy is continuously increased, and the requirement on the quality of the electric energy is higher and higher, so that higher requirements are provided for the safety and the stability of a power system. The transformer is used as one of the core devices in the power transformation link, and the operation reliability of the transformer directly affects the stability and safety of the power grid. The detection device of the traditional oil-immersed transformer is complex in structure, complex in operation and low in detection efficiency.
SUMMERY OF THE UTILITY MODEL
Therefore, it is necessary to provide a robot for detecting the inside of an oil-immersed transformer, aiming at the problems of complex structure, complex operation and low detection efficiency of a detection device of a traditional oil-immersed transformer.
An oil-immersed transformer internal detection robot, comprising:
spherical shell, spherical cavity is surrounded to form by spherical shell, includes:
the upper hemispherical shell comprises at least two groups of first pump body communicating devices which are symmetrically arranged around the center point of the upper hemispherical shell and are arranged in the spherical cavity, and each group of first pump body communicating devices comprises a first liquid inlet and a first liquid outlet;
the lower hemispherical shell comprises at least two groups of second pump body communication devices which are symmetrically arranged around the center point of the lower hemispherical shell and are arranged in the spherical cavity, and each group of second pump body communication devices comprises a second liquid inlet and a second liquid outlet;
the first injection device is arranged in the spherical cavity, is positioned in the upper hemispherical shell and is communicated with the first liquid inlet and the first liquid outlet;
and the second injection device is arranged in the spherical cavity, is positioned in the lower hemispherical shell and is communicated with the second liquid inlet and the second liquid outlet.
In one embodiment, three sets of first pump body communication means are included, said first injector means comprising three first injectors, said three first injectors being symmetrically arranged around a central point at 120 ° in a plane parallel to the equatorial plane of said spherical housing, each of said first injectors communicating with said first inlet port and said first outlet port.
In one embodiment, three sets of second pump body communication means are included, said second injector means comprising three second injectors, said three second injectors being symmetrically arranged around a central point at 120 ° in a plane parallel to the equatorial plane of said spherical housing, each of said second injectors communicating with said second inlet port and said second outlet port.
In one embodiment, further comprising:
the middle ring is arranged between the upper hemispherical shell and the lower hemispherical shell and is made of transparent material;
and the ultraviolet imaging device is arranged in the spherical cavity and is positioned in the middle ring.
In one embodiment, the lighting device further comprises at least two lighting devices arranged in the spherical shell and positioned in the middle ring.
In one embodiment, two illuminating devices are included and respectively arranged on two sides of the ultraviolet imaging device.
In one embodiment, the ultraviolet imaging device and the illuminating device are arranged on the rotating disc.
In one embodiment, the device further comprises a camera device, which is arranged in the spherical cavity and is positioned in the middle ring.
In one embodiment, the robot further comprises a pose sensor arranged in the spherical cavity.
In one embodiment, the detection robot further comprises an electricity storage device, wherein the electricity storage device is arranged in the spherical cavity and used for supplying power to the oil-immersed transformer internal detection robot.
In one embodiment, the device further comprises an obstacle sensing device arranged in the spherical cavity.
The embodiment of the application provides an inside inspection robot of oil-immersed transformer, the upper hemisphere casing includes around at least two sets of first pump body intercommunication devices that upper hemisphere casing central point symmetry set up. The first pump body communicating device is arranged in the spherical cavity. Each group of the first pump body communication device comprises a first liquid inlet and a first liquid outlet. The lower hemispherical shell comprises at least two groups of second pump body communicating devices which are symmetrically arranged around the center point of the lower hemispherical shell. The second pump body communicating device is arranged in the spherical cavity. Each group of the second pump body communication devices comprises a second liquid inlet and a second liquid outlet. The first injection device is communicated with the first liquid inlet and the first liquid outlet. The second liquid inlet and the second liquid outlet of the second injection device are communicated. Through control said first liquid outlet with first inlet, second liquid outlet with the switching condition, the liquid input and output volume and the in-out speed of second inlet can be controlled the inside detection robot of oil-immersed transformer rolls rotatory different angles, moves towards different directions, and then is convenient for detect the inside structural defect of transformer. Therefore, the robot for detecting the inside of the oil-immersed transformer is simple in structure, simple to operate and high in working efficiency.
Drawings
Fig. 1 is an exploded side view of an oil-immersed transformer internal detection robot provided in an embodiment of the present application;
fig. 2 is an exploded front view of an internal detection robot of an oil-immersed transformer according to an embodiment of the present application;
fig. 3 is an external view of an internal detection robot for an oil-immersed transformer according to an embodiment of the present application;
fig. 4 is a top view of an internal detection robot for an oil-immersed transformer according to an embodiment of the present application;
fig. 5 is an exploded view of an oil-immersed transformer internal detection robot according to another embodiment of the present application.
Description of reference numerals:
Spherical shell 100
Spherical cavity 110
Upper hemispherical shell 120
First pump body communication means 130
A first liquid inlet 131
First liquid outlet 132
Lower hemispherical shell 140
Second pump body communication means 150
Second liquid outlet 152
Pose sensor 240
Obstruction-sensing device 260
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1 to 4, an embodiment of the present application provides an internal inspection robot 10 for an oil-immersed transformer. The robot 10 for detecting the inside of the oil-immersed transformer comprises a spherical shell 100, a first injection device 160 and a second injection device 170. The spherical shell 100 surrounds a spherical cavity 110. The spherical shell 100 includes an upper hemispherical shell 120 and a lower hemispherical shell 140. The upper hemispherical shell 120 includes at least two sets of first pump communication devices 130 disposed symmetrically around the center point of the upper hemispherical shell 120. The first pump body communication means 130 is disposed in the spherical cavity 110. Each set of said first pump communication means 130 comprises a first inlet port 131 and a first outlet port 132. The lower hemispherical shell 140 includes at least two sets of second pump body communication devices 150 symmetrically disposed around the center point of the lower hemispherical shell 140. The second pump body communication means 150 is disposed in the spherical cavity 110. Each set of said second pump communication means 150 comprises a second inlet port 151 and a second outlet port 152. The first injection device 160 is disposed in the spherical cavity 110. The first injection device 160 is located in the upper hemispherical shell 120 and is communicated with the first liquid inlet 131 and the first liquid outlet 132. The second injection device 170 is disposed in the spherical cavity 110 and located in the lower hemisphere. The second injection device 170 is communicated with the second liquid inlet 151 and the second liquid outlet 152.
In this embodiment, the robot 10 for detecting the inside of the oil-immersed transformer may be used to monitor structural defects inside the oil-immersed transformer. The spherical shell 100 may have a large inner space. More devices can be carried inside the spherical cavity 110. The spherical shell 100 may be constructed of a thin shell of non-metallic material and is lightweight, thereby maximizing overall buoyancy and weight ratio. The first pump body communication means 130 may serve as a fluid passage for the first spray means 160. The first liquid inlet 131 and the first liquid outlet 132 may be through holes opened in the upper hemispherical case 120. The center point of the upper hemispherical shell 120 may be the farthest point of the upper hemispherical shell 120 from the equatorial plane of the spherical shell 100. Similarly, the structure and function of the lower hemispherical shell 140 may be the same as those of the upper hemispherical shell 120, and are not described herein.
At least two sets of first pump body communication devices 130 are symmetrically arranged around the center point of the upper hemispherical shell 120, and at least two sets of second pump body communication devices 150 are symmetrically arranged around the center point of the lower hemispherical shell 140, so that the first pump body communication devices 130 and the second pump body communication devices 150 can balance the stress of the oil-immersed transformer internal detection robot 10 during injection.
By controlling the liquid inlet and outlet amounts of the first liquid outlet 132 and the first liquid inlet 131 in each of the first pump body communication devices 130 and by controlling the liquid inlet and outlet amounts of the second liquid outlet 152 and the second liquid inlet 151 in each of the second pump body communication devices 150, the oil-immersed transformer internal detection robot 10 can be moved in the direction of gravity. In addition, by controlling the opening and closing conditions of the first liquid outlet 132 and the first liquid inlet 131, the second liquid outlet 152 and the second liquid inlet 151, the liquid inlet amount and the liquid outlet speed, the internal detection robot 10 of the oil-immersed transformer can be controlled to roll and rotate at different angles and move in different directions, and therefore, the internal structural defects of the transformer can be detected at multiple angles. Therefore, the robot 10 for detecting the inside of the oil-immersed transformer is simple in structure, simple to operate and high in working efficiency.
In one embodiment, the oil-filled transformer internal inspection robot 10 includes three sets of first pump body communication devices 130. The first injection device 160 includes three first injectors 161. The three first injectors 161 are symmetrically disposed about a central point at 120 ° to a plane parallel to the equatorial plane of the spherical shell 100. Each of the first injectors 161 is in communication with the first liquid inlet port 131 and the first liquid outlet port 132. In one embodiment, the center point around which the three first injectors 161 are located may be located on the axis of the spherical housing 100. Therefore, the internal load of the oil-immersed transformer internal detection robot 10 can be made as uniform as possible. The three first injectors 161 may be connected to the first liquid inlet 131 and the first liquid outlet 132 through hoses.
In one embodiment, the first pump communication means 130 are symmetrically disposed at 120 ° intervals around the center point of the upper semi-spherical housing 120. It is to be understood that each of the first injectors 161 is in close communication with the first liquid inlet 131 and the first liquid outlet 132 provided to the upper hemispherical shell 120.
In one embodiment, the oil-filled transformer internal inspection robot 10 further includes three sets of second pump body communication devices 150. The second injection device 170 includes three second injectors 171. In a plane parallel to the equatorial plane of the spherical shell 100, the three second injectors 171 are symmetrically arranged around a central point at 120 °, each of the second injectors 171 communicating with the second liquid inlet 151 and the second liquid outlet 152. It is understood that the positions and functions of the three sets of the second pump body communication device 150 and the three second injectors 171 in the lower hemispherical shell 140 may be the same as the positions and functions of the three first injectors 161 in the first pump body communication device 130 provided in the upper hemispherical shell 120 in the above embodiments, and are not repeated herein.
Referring to fig. 5, in an embodiment, the oil-filled transformer internal inspection robot 10 further includes a middle ring 180 and an ultraviolet imaging device 190. The middle ring 180 is disposed between the upper hemispherical shell 120 and the lower hemispherical shell 140. The middle ring 180 is made of transparent material. The ultraviolet imaging device 190 is disposed in the spherical cavity 110 and located in the middle ring 180. In this embodiment, the middle ring 180 may be made of transparent oil-resistant engineering plastic. The ultraviolet imaging device 190 can acquire an external image through the middle ring 180.
In one embodiment, the ultraviolet imaging device 190 may adopt an ultraviolet imaging module TD100, and has a high sensitivity of 2.2 × 10-18watt/cm2 and low noise interference. The full-day blind detector can be adopted, the full-area accurate superposition of ultraviolet and visible light, the accurate positioning, the synchronous focusing of ultraviolet and visible light and the ascending function of an SD card line can be realized. The ultraviolet imaging device 190 has high integration level, low power consumption, small volume, light weight and convenient operation. The outer side of the lens of the ultraviolet imaging device 190 may be provided with a waterproof cover for sealing the probe and preventing liquid from entering the ultraviolet imaging device 190. The at least two lighting devices 210 are disposed in the spherical shell 100 and located in the middle ring 180. The ultraviolet imaging device 190 can feed back working images in the transformer in real time, realize fixed-point detection on the discharge area in the transformer, observe the discharge state of the transformer in real time, and know the working state of the transformer on line.
In one embodiment, the oil-filled transformer internal inspection robot 10 further includes at least two illumination devices 210. The lighting device 210 is disposed in the spherical shell 100 and located in the middle ring 180. The illumination device 210 may emit light to the outside through the middle ring 180 for image monitoring and observation. The lighting device 210 may be a small LED underwater lighting lamp.
In one embodiment, the oil-filled transformer internal inspection robot 10 includes two of the lighting devices 210. The two illumination devices 210 are respectively disposed at two sides of the ultraviolet imaging device 190. The two lighting devices 210 are respectively disposed on two sides of the ultraviolet imaging device 190, so that the light emitted from the oil-immersed transformer internal detection robot 10 to the outside is more uniform.
In one embodiment, the oil-filled transformer internal inspection robot 10 further comprises a rotating disk 220. The rotating disc 220 is disposed in the spherical cavity 110 and is parallel to the plane of the equator of the spherical housing 100. The ultraviolet imaging device 190 and the illumination device 210 are disposed on the rotating disk 220. The rotating disc 220 can rotate to rotate the ultraviolet imaging device 190 and the illumination device 210. According to the requirement, the rotation angle of the rotating disc 220 can be controlled, so that the ultraviolet imaging device 190 and the illumination device 210 can be turned to a specific direction to collect external information. In one embodiment, the plane of the rotating disc 220 may coincide with the plane of the equator of the spherical housing 100, so that the center of gravity of the robot 10 inside the oil-filled transformer may be stabilized.
In one embodiment, the oil-filled transformer internal inspection robot 10 further includes a camera 230. The camera 230 is disposed in the spherical cavity 110 and located in the middle ring 180.
In this embodiment, the camera 230 may capture an external image through the middle ring 180. The camera 230 may be a CCD camera. The resolution of the camera is 700TVL, the CCD type is 1/3' SONY 960HExview HAD CCD II, and a 3.6mm lens is selected; the camera has a dimension of 25mm (length) by 25mm (width). A waterproof cover is installed on the outer side of the camera lens to seal the camera and prevent liquid from entering the camera device 230.
In one embodiment, the image signals collected by the camera 230 and the ultraviolet imaging device 190 may be transmitted to an external terminal. The terminal can control the working state of the robot 10 for detecting the inside of the oil-immersed transformer.
In one embodiment, the oil-filled transformer internal inspection robot 10 further includes a pose sensor 240. The posture sensor 240 is disposed in the spherical cavity 110. The pose sensor 240 may be a miniature pose reference system, and may be composed of sensors of three-axis MEMS gyroscope, three-axis MEMS accelerometer, three-axis magnetoresistive magnetometer, and the like. The pose sensor 240 can measure the motion state of the robot 10 for detecting the inside of the oil-immersed transformer, and adjust the motion state of the robot 10 for detecting the inside of the oil-immersed transformer according to the motion state of the robot 10 for detecting the inside of the oil-immersed transformer.
In one embodiment, the oil-filled transformer internal inspection robot 10 further includes an electrical storage device 250. The power storage device 250 is disposed in the spherical cavity 110. The power storage device 250 is used for supplying power to the oil-immersed transformer internal detection robot 10. The electrical storage device 250 may be a battery pack. The power storage device 250 may be disposed near the center of the spherical cavity 110 to avoid affecting the center of gravity of the oil-immersed transformer internal detection robot 10.
In one embodiment, the oil-filled transformer internal detection robot 10 further includes an obstacle sensing device 260. The obstacle sensing device 260 is disposed in the spherical cavity 110. In one embodiment, the obstacle sensing device 260 may be an OD laser sensor, which has an intuitive setting process and is convenient to operate, and a CMOS sensor may be used to ensure high accuracy and reliability of measurement, which is suitable for precise measurement over a short distance.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. The utility model provides an inside inspection robot of oil-immersed transformer which characterized in that includes:
a spherical shell (100), said spherical shell (100) enclosing a spherical cavity (110), comprising:
the upper hemispherical shell (120) comprises at least two groups of first pump body communicating devices (130) which are symmetrically arranged around the center point of the upper hemispherical shell (120) and are arranged in the spherical cavity (110), and each group of the first pump body communicating devices (130) comprises a first liquid inlet (131) and a first liquid outlet (132);
the lower hemispherical shell (140) comprises at least two groups of second pump body communication devices (150) which are symmetrically arranged around the center point of the lower hemispherical shell (140) and are arranged in the spherical cavity (110), and each group of second pump body communication devices (150) comprises a second liquid inlet (151) and a second liquid outlet (152);
the first injection device (160) is arranged in the spherical cavity (110), is positioned in the upper hemispherical shell (120), and is communicated with the first liquid inlet (131) and the first liquid outlet (132);
and the second injection device (170) is arranged in the spherical cavity (110), is positioned in the lower hemispherical shell (140), and is communicated with the second liquid inlet (151) and the second liquid outlet (152).
2. The oil filled transformer internal inspection robot according to claim 1, characterized by comprising three sets of first pump body communication devices (130), wherein the first injection device (160) comprises three first injectors (161), and the three first injectors (161) are symmetrically arranged around a central point at 120 ° in a plane parallel to an equatorial plane of the spherical housing (100), and each first injector (161) is communicated with the first liquid inlet (131) and the first liquid outlet (132).
3. The oil filled transformer internal detection robot according to claim 1, characterized by comprising three groups of second pump body communication devices (150), wherein the second injection device (170) comprises three second injectors (171), the three second injectors (171) are symmetrically arranged around a central point at 120 ° in a plane parallel to an equatorial plane of the spherical housing (100), and each second injector (171) is communicated with the second liquid inlet (151) and the second liquid outlet (152).
4. The oil-filled transformer internal detection robot of claim 1, further comprising:
a middle ring (180) disposed between the upper hemispherical shell (120) and the lower hemispherical shell (140), the middle ring (180) being a transparent material;
and the ultraviolet imaging device (190) is arranged in the spherical cavity (110) and is positioned in the middle ring (180).
5. The oil filled transformer internal inspection robot of claim 4, characterized by further comprising at least two lighting devices (210) disposed in the spherical housing (100) and located in the middle ring (180).
6. The oil-filled transformer internal detection robot according to claim 5, characterized by comprising two illumination devices (210) respectively arranged at two sides of the ultraviolet imaging device (190).
7. The oil-filled transformer internal detection robot according to any one of claims 5-6, characterized by further comprising a rotating disc (220) disposed in the spherical cavity (110) and parallel to the plane of the equator of the spherical housing (100), wherein the ultraviolet imaging device (190) and the illumination device (210) are disposed on the rotating disc (220).
8. The oil-filled transformer internal detection robot according to claim 4, further comprising a camera device (230) disposed in the spherical cavity (110) and located in the middle ring (180).
9. The oil filled transformer internal detection robot of claim 1, further comprising a pose sensor (240) disposed within the spherical cavity (110).
10. The oil-filled transformer internal detection robot according to claim 1, further comprising an electrical storage device (250) disposed in the spherical cavity (110) for supplying power to the oil-filled transformer internal detection robot (10).
11. The oil-filled transformer internal detection robot of claim 1, further comprising an obstacle sensing sensor (260) disposed in the spherical cavity (110).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920386404.7U CN210090600U (en) | 2019-03-25 | 2019-03-25 | Robot for detecting inside of oil-immersed transformer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920386404.7U CN210090600U (en) | 2019-03-25 | 2019-03-25 | Robot for detecting inside of oil-immersed transformer |
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| CN210090600U true CN210090600U (en) | 2020-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920386404.7U Active CN210090600U (en) | 2019-03-25 | 2019-03-25 | Robot for detecting inside of oil-immersed transformer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870636A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot for detecting inside of oil-immersed transformer |
| CN111536385A (en) * | 2020-04-07 | 2020-08-14 | 河南工程学院 | Coal mine gas test monitoring device and method |
-
2019
- 2019-03-25 CN CN201920386404.7U patent/CN210090600U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870636A (en) * | 2019-03-25 | 2019-06-11 | 深圳供电局有限公司 | Robot for detecting inside of oil-immersed transformer |
| CN109870636B (en) * | 2019-03-25 | 2024-06-14 | 深圳供电局有限公司 | Inside detection robot of oil immersed transformer |
| CN111536385A (en) * | 2020-04-07 | 2020-08-14 | 河南工程学院 | Coal mine gas test monitoring device and method |
| CN111536385B (en) * | 2020-04-07 | 2022-03-25 | 河南工程学院 | Coal mine gas test monitoring device and method |
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