【摘要】 基于电力系统泛在物联网的发展要求，针对大型油浸式电力变压器传统检测手段的缺点，将水下航行器技术应用于变压器箱体内部检测工作，设计了一款油浸式变压器内部巡检式水下航行器，进行了总体、动力系统和布局与机构设计；进行了运动性能分析仿真；并研制了原理样机，通过水池试验，分析验证了水下航行器的运动性能满足需求。更多还原

【Abstract】 According to the development requirements of ubiquitous Internet of things in power system and the shortcomings of traditional detection methods of large oil immersed power transformer.the underwater vehicle technology(UUV) is applied to the internal detection of transformer box, and an oil immersed transformer internal patrol type UUV is designed vehicle.The designs of overall structure, power system, layout and mechanism are achieved, the kinematic performance analysis and simulation are carried out, and the principle prototype is made.The kinematic performance of UUV is analyzed and verified through the pool test.更多还原