Research and Application of Oil Sampling Technology for Transformer Bushings Using Multi-jointed Robots

Transformer high-voltage bushings are considered low-oil equipment, and gas chromatography analysis of their internal oil samples is one of the important test items for monitoring and analyzing the insulation condition within the bushings. With the increase in voltage levels, the oil-paper insulation structure inside high-voltage bushings becomes more complex. The difficulty in controlling the uniformity of the electromagnetic field near the capacitor screen is significant, making it prone to partial discharge, which can cause changes in the composition of dissolved gases in the oil. Gas chromatography analysis of the internal oil samples can effectively detect and reflect internal insulation defects. The results of the oil chromatography analysis are among the key experimental data for operation and maintenance personnel to determine whether equipment can continue to operate. The oil sampling work for high-voltage bushings requires working at heights, and during the operation of transformers, high-voltage bushings are areas that maintenance personnel cannot access. This paper employs multi-jointed robots, in combination with machine vision-guided control and an end-effector, to perform energized oil sampling on high-voltage bushings during transformer operation, providing technical support for hazard investigation, defect detection, and maintenance decision-making.