An oil-immersed transformer inspection robot

Abstract

The application relates to the technical field of inspection robots, and discloses an oil-immersed transformer inspection robot, which comprises a UAV body and a detection probe, the detection probe is embedded in the inner cavity of the UAV body, is used for collecting image and video data of the inside of a transformer, realizes visual detection of hidden dangers such as internal insulation defects and overheating faults of the transformer, the top of the UAV body is equipped with a main vector propeller, which is used for providing thrust in the vertical direction of the robot, realizing the ascending, descending and depth adjustment of the robot in transformer oil, and the front end and the rear end of the UAV body are respectively equipped with a vice vector propeller, which is used for providing steering and transverse thrust in the horizontal direction of the robot. The oil-immersed transformer inspection robot prevents the winding of cables and internal components, guarantees the motion accuracy of the robot, provides a smooth path for the dragging recovery in case of failure, can complete the recovery without discharging oil and opening the cover, and greatly reduces the operation risk and difficulty.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to an oil-immersed transformer inspection robot. Background Technology

[0002] Oil-immersed transformers are core equipment in power systems that undertake voltage transformation and power transmission. The operating status of their internal insulating oil and solid insulating materials directly affects the safe and stable operation of the power grid. Regularly inspecting the internal defects of transformers is an important measure to prevent sudden equipment failures. Oil-immersed transformer inspection robots, as a special equipment that can enter the inside of transformers to complete visual inspections, have been widely used in the field of power operation and maintenance.

[0003] Existing oil-immersed transformer inspection robots often employ a steering mechanism where multiple motors drive individual vector thrusters. This results in control synchronization errors between motors, leading to sluggish steering and insufficient angle control precision. When navigating the dense windings and core structure inside the transformer, collisions and jamming are common. Furthermore, existing robots often use wheeled or tracked locomotives, directly contacting the transformer's bottom and internal components. This can cause oil sludge to adhere, increasing resistance and potentially scratching or damaging insulation components. Vibrations from this contact motion also affect the stability of the inspection data. Finally, existing robots' cable retraction mechanisms often use a fixed-speed control mode, failing to adjust cable tension in real-time according to the robot's movement. This can lead to cables becoming too loose and tangled in internal components, or too tight and pulling on the robot. This not only interferes with the robot's normal movement but also significantly increases the difficulty of retrieval in case of robot malfunction. Often, large amounts of transformer oil need to be drained and the robot opened to remove it, increasing operational risks and costs. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an oil-immersed transformer inspection robot, which solves the technical problems of insufficient turning angle control accuracy, easy adhesion of oil and sludge to the walking mechanism and scraping of insulating components, and inability to adjust cable tension in real time, leading to entanglement and difficulty in retrieval.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an oil-immersed transformer inspection robot, comprising: an unmanned aerial vehicle (UAV) body and a detection probe. The detection probe is embedded in the inner cavity of the UAV body and is used to collect image and video data of the transformer interior, enabling visual detection of potential hazards such as insulation defects and overheating faults inside the transformer. A main vector thruster is mounted on the top of the UAV body to provide vertical thrust for the robot, enabling the robot to rise, fall, and adjust its depth in the transformer oil. Secondary vector thrusters are mounted at the front and rear ends of the UAV body to provide horizontal steering and lateral thrust for the robot, enabling left and right turning, attitude correction, and lateral movement. A rotating shaft is provided at one end of each of the two secondary vector thrusters, serving as a rotational support shaft for the deflection of the secondary vector thrusters. A connecting rod is connected to the other end of the rotating shaft to transmit power and drive the rotating shaft to rotate. A push rod is rotatably arranged between the two sets of connecting rods to convert the rotational motion into linear reciprocating motion, synchronously driving the two sets of connecting rods to swing. An eccentric wheel is rotatably connected to the outside of the push rod, and the push rod rotates eccentrically. The system generates reciprocating driving force. A first motor is installed at the power input end of the eccentric wheel to provide power for the deflection of the secondary vector thruster. The first motor is located within the inner cavity of the unmanned aerial vehicle (UAV). Buoyancy adjustment chambers are located at the top, front, and rear of the UAV. By adjusting its own displacement, the overall buoyancy of the robot is changed, enabling the robot to achieve contactless levitation movement and avoid contact with the sludge at the bottom of the transformer and internal components. An active thruster is installed at the power output end of the UAV to provide the main power for the robot's forward and backward movement, driving the robot to perform long-distance linear inspections inside the transformer. A cable is inserted into the control end of the UAV to provide continuous power to the robot, transmit control commands and detection data, and also serve as a drag-and-retrieve carrier in case of robot failure. The other end of the cable is connected to a power supply and control device to provide power to the entire inspection system, enabling remote control and data processing of the robot's movement and detection functions. A housing is installed between the power supply and control device and the cable to house and protect the cable storage and tension control components, isolating them from external environmental influences.

[0006] The inner cavity of the housing is equipped with two sets of storage wheels for orderly storage and release of cables. This synchronizes the cable winding and releasing in conjunction with the robot's movement. The two sets of storage wheels are connected by a bearing with a mounting seat. The cables are wound around the outside of the two sets of storage wheels, and a second motor is installed outside each storage wheel to drive it in both forward and reverse directions, enabling electric cable winding and releasing. The second motor is located inside the housing. A sensor module is installed on the outside of the cable near the cable outlet to detect the cable tension in real time. The output of the sensor module is connected to the control terminal of the second motor via a controller. When the cable tension exceeds a preset threshold, the second motor is automatically controlled to adjust the winding and releasing speed to prevent the cable from breaking due to excessive tension or becoming too loosely tangled.

[0007] Preferably, a bearing is provided at the junction of the rotating shaft and the unmanned aerial vehicle body to reduce the frictional resistance when the rotating shaft rotates, improve the flexibility and response speed of the secondary vector thruster deflection, and a communication module is provided on the outside of the unmanned aerial vehicle body as a backup for wired communication, so as to realize wireless data interaction between the robot and the power supply and control equipment, and improve the reliability of system operation.

[0008] Preferably, the inner cavity of the power supply and control device is equipped with a power module to provide a stable and continuous DC power supply for the power supply and control device itself and the robot. The display end of the power supply and control device is equipped with a display module to display the detection images and video images transmitted by the robot in real time, as well as the robot's operating status, position, buoyancy and other parameters. The control end of the power supply and control device is evenly equipped with buttons for operators to manually control the robot's forward, backward, turning, lifting and lowering, as well as detection start and stop operations.

[0009] Preferably, the buoyancy adjustment chamber and the main vector thruster are both bolted to the outside of the unmanned aerial vehicle body, which facilitates disassembly, maintenance, upkeep and parts replacement in the later stage. Furthermore, the buoyancy adjustment chamber and the main vector thruster are both equipped with reinforcing ribs on the outside to improve structural strength and resistance to deformation, so that they can withstand the oil pressure and mechanical impact inside the transformer.

[0010] Preferably, the buoyancy adjustment chamber includes a sealed chamber, an oil-resistant rubber bladder, a miniature DC oil pump, and an oil inlet / outlet. The oil bladder is placed inside the sealed chamber. By changing the volume of the oil bladder, the drainage volume of the sealed chamber is altered, thereby adjusting the overall buoyancy of the robot. One end of the miniature oil pump is connected to the oil bladder, and the other end is connected to the internal oil environment of the transformer through the oil inlet / outlet. The miniature oil pump fills or discharges transformer oil into the oil bladder, achieving precise adjustment of buoyancy.

[0011] Preferably, the inner cavity of the housing is provided with a cable guide wheel, which is located between the storage wheel and the cable outlet of the housing. The cable guide wheel is used to guide the direction of the cable, avoid the cable from twisting, tangling and abrasion during the winding and unwinding process, and extend the service life of the cable.

[0012] Preferably, the output shaft of the first motor is fixedly connected to the central shaft of the eccentric wheel to ensure that the power of the first motor can be directly and efficiently transmitted to the eccentric wheel, reducing transmission loss. The first motor is fixed to the inner cavity of the unmanned aerial vehicle body by a motor bracket to stably support the first motor, prevent vibration and displacement during operation, and ensure transmission accuracy.

[0013] Preferably, a waterproof sealing joint is provided between the cable and the control end of the UAV body to achieve sealing protection at the cable connection point, prevent transformer oil from entering the UAV body and damaging electronic components, and ensure the stability and reliability of power and signal transmission by connecting the cable to the inside of the UAV body through the waterproof sealing joint.

[0014] Preferably, the active thruster is fixed to the tail of the unmanned aerial vehicle (UAV) body via a mounting base, which improves the stability of the active thruster installation and its operation. The axis of the active thruster coincides with the longitudinal axis of the UAV body, so that the thrust generated by the active thruster is along the longitudinal axis of the robot, ensuring the smoothness and directionality of the robot's linear motion.

[0015] Preferably, the eccentric shaft of the eccentric wheel is rotatably connected to the push rod, converting the rotational motion of the eccentric wheel into the linear reciprocating motion of the push rod. The two ends of the push rod are respectively hinged to two sets of connecting rods. The reciprocating motion of the push rod synchronously drives the two sets of connecting rods to swing, thereby driving the two secondary vector thrusters to deflect synchronously, realizing precise control of the robot's turning angle.

[0016] Compared with the prior art, the present invention provides an oil-immersed transformer inspection robot, which has the following beneficial effects: This oil-immersed transformer inspection robot utilizes an eccentric wheel linkage mechanism to synchronously drive the front and rear auxiliary vector thrusters with a single motor, eliminating synchronization errors inherent in multi-motor drives. This allows for more consistent and precise turning movements within the grease-filled interior of large transformers, and more flexible and safer navigation through complex transformer structures. A buoyancy adjustment chamber, working in conjunction with the multi-vector propulsion system, enables contactless omnidirectional suspension, preventing sludge adhesion and component scratching, while also stabilizing cable stress and reducing the risk of cable fatigue damage. An adaptive cable tension adjustment mechanism, working in conjunction with the suspension motion, adjusts cable tension in real-time to maintain a moderately taut, straight state. This prevents cables from tangling with internal components, ensures robot motion accuracy, and provides a smooth path for retrieval in case of malfunction, allowing for recovery without draining oil or opening the cover, significantly reducing operational risks and difficulty. Attached Figure Description

[0017] Figure 1 This is a front view of the present invention; Figure 2 This is a front view of the unmanned aerial vehicle (UAV) of the present invention; Figure 3 This is a schematic diagram of the external appearance of the main vector thruster of the present invention; Figure 4 This is a schematic diagram of the external casing of the present invention; Figure 5 This is a partial cross-sectional view of the housing of the present invention.

[0018] In the diagram: 1. Unmanned aerial vehicle (UAV) body; 2. Detection probe; 3. Main vector thruster; 31. Secondary vector thruster; 32. Rotary shaft; 33. Connecting rod; 34. Push rod; 35. Eccentric wheel; 36. First motor; 4. Thruster; 5. Buoyancy adjustment chamber; 6. Cable; 7. Shell; 71. Storage wheel; 72. Second motor; 73. Sensor module; 8. Power supply and control equipment; 81. Button; 82. Display module. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This invention provides a technical solution; please refer to [link / reference]. Figure 1 and Figure 2 An oil-immersed transformer inspection robot includes: an unmanned aerial vehicle body 1 and a detection probe 2. The detection probe 2 is embedded in the inner cavity of the unmanned aerial vehicle body 1 and is used to collect images and video data inside the transformer to achieve visual detection of potential hazards such as insulation defects and overheating faults inside the transformer. The top of the unmanned aerial vehicle body 1 is equipped with a main vector thruster 3 to provide vertical thrust for the robot, enabling the robot to rise, fall, and adjust its depth in the transformer oil. The front and rear ends of the unmanned aerial vehicle body 1 are respectively equipped with secondary vector thrusters 31 to provide horizontal steering and lateral thrust for the robot, enabling the robot to turn left and right, correct its posture, and move laterally. Each of the two secondary vector thrusters 31 has a rotating shaft 32 at one end opposite to it, which serves as a rotating support shaft for the deflection of the secondary vector thrusters 31. The other end of the rotating shaft 32 is connected to a connecting rod 33 to transmit power to drive the rotating shaft 32 to rotate. A push rod 34 is rotatably arranged between the two sets of connecting rods 33 to convert the rotational motion into linear reciprocating motion and synchronously drive the two sets of connecting rods 33 to swing.

[0021] Please see Figure 3 and Figure 4An eccentric wheel 35 is externally rotatably connected to the push rod 34, generating reciprocating driving force through its own eccentric rotation. A first motor 36 is installed at the power input end of the eccentric wheel 35, providing power for the deflection of the secondary vector thruster 31. The first motor 36 is located inside the unmanned aerial vehicle body 1. Buoyancy adjustment chambers 5 are installed at the top and three ends of the unmanned aerial vehicle body 1. By adjusting its own displacement, the overall buoyancy of the robot is changed, enabling the robot to achieve contactless levitation movement and avoid contact with the sludge at the bottom of the transformer and internal components. An active thruster 4 is installed at the power output end of the unmanned aerial vehicle body 1 to provide forward and backward propulsion for the robot. The main power source for backward movement drives the robot to perform long-distance linear inspections inside the transformer. The control end of the unmanned aerial vehicle 1 is connected to a cable 6, which provides continuous power to the robot, transmits control commands and detection data, and also serves as a drag-and-retrieve carrier in case of robot failure. The other end of the cable 6 is connected to a power supply and control device 8, which provides power to the entire inspection system, enabling remote control and data processing of the robot's movement and detection functions. A housing 7 is set between the power supply and control device 8 and the cable 6 to house and protect the cable 6 storage and tension control components, and to isolate it from external environmental influences.

[0022] Please see Figure 4 and Figure 5 The inner cavity of the housing 7 is equipped with two sets of storage wheels 71 for orderly storage and release of cables 6. The cables 6 are synchronously wound and released in coordination with the robot's movement. The two sets of storage wheels 71 are connected by bearings with seats. The cables 6 are wound around the outside of the two sets of storage wheels 71 respectively. A second motor 72 is installed on the outside of the storage wheels 71 to drive the storage wheels 71 to rotate forward and backward, realizing the electric winding and releasing of the cables 6. The second motor 72 is located in the inner cavity of the unmanned aerial vehicle body 1. A sensor module 73 is installed on the outside of the cable 6 to detect the tension of the cable 6 in real time. The input end of the sensor module 73 is connected to the second motor 72 through a controller. When the tension of the cable 6 exceeds a preset threshold, the second motor 72 is automatically controlled to adjust the winding and releasing speed to prevent the cable 6 from breaking due to excessive tension or becoming tangled due to excessive looseness.

[0023] A bearing is provided at the junction of the rotating shaft 32 and the unmanned aerial vehicle body 1 to reduce the frictional resistance when the rotating shaft 32 rotates, improve the flexibility and response speed of the deflection of the secondary vector thruster 31, and a communication module is provided on the outside of the unmanned aerial vehicle body 1 as a backup for wired communication, so as to realize wireless data interaction between the robot and the power supply and control equipment 8, and improve the reliability of system operation.

[0024] The power supply and control device 8 has a power module inside its cavity, which provides a stable and continuous DC power supply for itself and the robot. The display end of the power supply and control device 8 is equipped with a display module 82, which displays the detection images and video images transmitted by the robot in real time, as well as the robot's operating status, position, buoyancy and other parameters. The control end of the power supply and control device 8 is evenly equipped with buttons 81, which are used by the operator to manually control the robot's forward, backward, turning, lifting and lowering, as well as detection start and stop operations.

[0025] Both the buoyancy adjustment chamber 5 and the main vector thruster 3 are bolted to the outside of the unmanned aerial vehicle body 1, which facilitates disassembly, maintenance, upkeep and parts replacement in the future. Both the buoyancy adjustment chamber 5 and the main vector thruster 3 are equipped with reinforcing ribs to improve structural strength and resistance to deformation, so that they can withstand the oil pressure and mechanical impact inside the transformer.

[0026] The buoyancy adjustment chamber 5 includes a sealed chamber, an oil-resistant rubber bladder, a miniature DC oil pump, and an oil inlet / outlet. The oil bladder is placed inside the sealed chamber. By changing the volume of the oil bladder, the amount of water discharged from the sealed chamber is changed, thereby adjusting the overall buoyancy of the robot. One end of the miniature oil pump is connected to the oil bladder, and the other end is connected to the internal oil environment of the transformer through the oil inlet / outlet. The miniature oil pump fills or discharges transformer oil into the oil bladder, thereby achieving precise adjustment of buoyancy.

[0027] The inner cavity of the housing 7 is provided with a cable guide wheel, which is located between the storage wheel 71 and the cable outlet of the housing 7. The cable guide wheel is used to guide the direction of the cable 6, avoid the cable 6 from twisting, tangling and abrasion during the winding and unwinding process, and extend the service life of the cable 6.

[0028] The output shaft of the first motor 36 is fixedly connected to the central shaft of the eccentric wheel 35, ensuring that the power of the first motor 36 can be directly and efficiently transmitted to the eccentric wheel 35, reducing transmission loss. The first motor 36 is fixed to the inner cavity of the UAV body 1 by a motor bracket, which is used to stably support the first motor 36, prevent vibration and displacement during operation, and ensure transmission accuracy.

[0029] A waterproof sealing joint is provided between cable 6 and the control terminal of unmanned aerial vehicle body 1 to achieve sealing protection at the connection of cable 6, prevent transformer oil from entering the inside of unmanned aerial vehicle body 1 and damaging electronic components. Cable 6 is electrically connected to the inside of unmanned aerial vehicle body 1 through the waterproof sealing joint to ensure the stability and reliability of power and signal transmission.

[0030] The active thruster 4 is fixed to the tail of the unmanned aerial vehicle body 1 by a mounting base, which improves the installation firmness and operational stability of the active thruster 4. The axis of the active thruster 4 coincides with the longitudinal axis of the unmanned aerial vehicle body 1, so that the thrust generated by the active thruster 4 is along the longitudinal axis of the robot, ensuring the smoothness and directionality of the robot's linear motion.

[0031] The eccentric shaft of the eccentric wheel 35 is rotatably connected to the push rod 34, converting the rotational motion of the eccentric wheel 35 into the linear reciprocating motion of the push rod 34. The two ends of the push rod 34 are respectively hinged to two sets of connecting rods 33. The reciprocating motion of the push rod 34 synchronously drives the two sets of connecting rods 33 to swing, thereby driving the two secondary vector thrusters 31 to deflect synchronously, realizing precise control of the robot's turning angle.

[0032] The detection probe 2 consists of a high-definition camera and a ring-shaped LED lighting unit, electrically connected to the internal control module of the unmanned aerial vehicle (UAV) body 1. It collects image and video data from inside the transformer and transmits it to the power supply and control equipment 8. The main vector thruster 3 has a built-in drive motor, electrically connected to the control module, and receives commands to provide vertical thrust, enabling the robot to lift, move, and adjust its depth. The secondary vector thruster 31 has a built-in drive motor, electrically connected to the control module, and receives commands to provide horizontal steering and lateral thrust, enabling the robot's posture correction. The first motor 36 is a stepper motor, electrically connected to the control module, and receives commands to drive the eccentric wheel 35 to rotate, which in turn drives the linkage mechanism to synchronously deflect the secondary vector thruster 31. The buoyancy adjustment chamber 5 has a built-in micro DC oil pump, electrically connected to the control module, and receives commands to fill or drain transformer oil into the oil bladder, adjusting the robot's overall buoyancy. The active thruster 4 has a built-in drive motor, electrically connected to the control module, and receives commands to provide forward and backward main thrust, driving the robot to perform linear inspections. The cable 6 integrates power and signal lines, with both ends electrically connected to the control module and the power supply and control equipment 8, respectively, transmitting power, control commands, and detection data. The power supply and control device 8 has a built-in main control unit that receives and processes detection data and sends control commands to various execution components of the robot. The second motor 72 is a servo motor, electrically connected to the controller inside the housing 7. It receives commands to drive the storage wheel 71 in both forward and reverse directions, enabling electric cable retraction and extension. The sensor module 73 is a tension sensor that collects analog cable tension signals and transmits them to the controller. The controller compares the signals with a preset threshold and outputs a speed control signal to control the speed of the second motor 72, maintaining stable cable tension. The communication module is a wireless transceiver chip, electrically connected to the control module, serving as a backup channel for wired communication and enabling wireless data interaction between the robot and the power supply and control device 8. The power module consists of a lithium battery pack and a voltage conversion unit, with its outputs connected to various electrical components of the system, providing a stable DC power supply. The display module 82 is an LCD screen, electrically connected to the main control unit, displaying the detection screen, robot position, and operating parameters in real time. The button 81 is electrically connected to the input of the main control unit, used to input manual control commands for manual operation of the robot.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An oil-immersed transformer inspection robot, comprising: The unmanned aerial vehicle (UAV) body (1) and the detection probe (2) are embedded in the inner cavity of the UAV body (1). The UAV body (1) is characterized in that: a main vector thruster (3) is mounted on the top of the UAV body (1), and secondary vector thrusters (31) are mounted on the front and rear ends of the UAV body (1). A rotating shaft (32) is provided at one end of each of the two secondary vector thrusters (31), and a connecting rod (33) is connected to the other end of the rotating shaft (32). A push rod (34) is rotatably arranged between the two sets of connecting rods (33), and an eccentric rod is rotatably connected to the outside of the push rod (34). The eccentric wheel (35) has a first motor (36) at its power input end. The first motor (36) is located in the inner cavity of the unmanned aerial vehicle body (1). The top and three ends of the unmanned aerial vehicle body (1) are provided with buoyancy adjustment chambers (5). The power output end of the unmanned aerial vehicle body (1) is provided with an active thruster (4). The control end of the unmanned aerial vehicle body (1) is connected with a cable (6). The other end of the cable (6) is connected to a power supply and control device (8). A housing (7) is provided between the power supply and control device (8) and the cable (6). The inner cavity of the housing (7) is provided with two sets of storage wheels (71), and the two sets of storage wheels (71) are connected by bearings with seats. The cable (6) is wound around the outside of the two sets of storage wheels (71), and a second motor (72) is provided on the outside of the storage wheels (71). The second motor (72) is located in the inner cavity of the unmanned aerial vehicle (1). A sensor module (73) is provided on the outside of the end of the cable (6), and the input end of the sensor module (73) is connected to the second motor (72) through a controller.

2. The oil-immersed transformer inspection robot according to claim 1, characterized in that: A bearing is provided at the junction of the rotating shaft (32) and the unmanned aerial vehicle body (1), and a communication module is provided on the outside of the unmanned aerial vehicle body (1).

3. The oil-immersed transformer inspection robot according to claim 1, characterized in that: The inner cavity of the power supply and control device (8) is provided with a power module, and the display end of the power supply and control device (8) is provided with a display module (82). Buttons (81) are evenly arranged on the control end of the power supply and control device (8).

4. The oil-immersed transformer inspection robot according to claim 1, characterized in that: The buoyancy adjustment chamber (5) and the main vector thruster (3) are both bolted to the outside of the unmanned aircraft body (1), and the outside of the buoyancy adjustment chamber (5) and the main vector thruster (3) are both reinforced.

5. The oil-immersed transformer inspection robot according to claim 1, characterized in that: The buoyancy regulating chamber (5) includes a sealed chamber, an oil-resistant rubber oil bladder, a micro DC oil pump, and an oil inlet and outlet. The oil bladder is placed inside the sealed chamber. One end of the micro oil pump is connected to the oil bladder, and the other end is connected to the oil environment inside the transformer through the oil inlet and outlet.

6. The oil-immersed transformer inspection robot according to claim 1, characterized in that: The inner cavity of the housing (7) is provided with a cable guide wheel, which is located between the storage wheel (71) and the cable outlet of the housing (7).

7. The oil-immersed transformer inspection robot according to claim 1, characterized in that: The output shaft of the first motor (36) is fixedly connected to the central shaft of the eccentric wheel (35), and the first motor (36) is fixed to the inner cavity of the unmanned aerial vehicle body (1) by a motor bracket.

8. The oil-immersed transformer inspection robot according to claim 1, characterized in that: A waterproof sealing connector is provided between the cable (6) and the control end of the unmanned aerial vehicle (1), and the cable (6) is electrically connected to the inside of the unmanned aerial vehicle (1) through the waterproof sealing connector.

9. The oil-immersed transformer inspection robot according to claim 1, characterized in that: The active thruster (4) is fixed to the tail of the UAV body (1) by a mounting base, and the axis of the active thruster (4) coincides with the longitudinal axis of the UAV body (1).

10. The oil-immersed transformer inspection robot according to claim 1, characterized in that: The eccentric shaft of the eccentric wheel (35) is rotatably connected to the push rod (34), and the two ends of the push rod (34) are respectively hinged to two sets of connecting rods (33).

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