Research on Disturbance Factors of Transformer Insulation Using Submersible Internal Inspection Robot

Large oil-immersed power transformers are core equipment in power grids, and the use of robots for internal inspection can significantly enhance efficiency. However, existing research has primarily focused on the development of robotic bodies, neglecting the potential impact of their operation on the transformer’s oil–paper insulation system. This paper addresses this issue, evaluates the risk of underwater inspection robots colliding with internal structures, and finds that the maximum elongation rate of insulation paperboard at a speed of 0.1 m/s is far below the damage limit. Simultaneously, it analyzes the process by which propellers induce bubbles in oil, pointing out the need to optimize propeller design to ensure insulation safety. The study also extends the classical cavitation theory in water to the oil medium, reveals the conditions for gas generation by the propeller and the variation in the patterns of gas components (such as C2H2, H2, etc.) through experiments, and discusses the gas source issue of cavitation in oil.