Soft robot for fault detection of oil-immersed transformer and detection method of soft robot

Abstract

The invention relates to the technical field of oil-immersed transformer fault detection, in particular to a soft robot for oil-immersed transformer fault detection and a detection method thereof.The soft robot comprises a multi-legged soft robot body and an arm driven by the multi-legged soft robot body, and the arm is an air bag type arm; the arm drives an air leakage detection unit arranged at the end part of the arm to be hermetically communicated with an air pipe of the transformer expansion tank; the air leakage detection unit comprises an air exhaust pipeline, an expansion plug arranged at one end of the air exhaust pipeline and a detection mechanism arranged in the air exhaust pipeline; the detection mechanism divides the interior of the air exhaust pipeline into a first chamber and a second chamber which are independent from each other; and a second air hole communicated with the first chamber and the second chamber is formed in the detection mechanism. The oil conservator does not need to be structurally modified in the whole detection process, and meanwhile, the air leakage detection unit can detect oil-immersed transformers of different specifications, so that the detection cost can be remarkably reduced.

Description

Technical Field

[0001] This invention relates to the field of oil-immersed transformer fault detection technology, specifically to a soft robot and its detection method for oil-immersed transformer fault detection. Background Technology

[0002] Soft robots are a new type of flexible robot that can be reinforced with synthetic paper materials, fiber fabrics and metal wires, have a silicone shape, and can adapt to various unstructured environments. Therefore, soft robots can be applied to fault detection of oil-immersed transformers.

[0003] Oil-immersed transformers use oil as their primary insulation and as a cooling medium, employing methods such as oil-immersed self-cooling, oil-immersed air cooling, oil-immersed water cooling, and forced oil circulation. This demonstrates the crucial role of transformer oil within oil-immersed transformers.

[0004] However, in actual use, due to various reasons, oil leakage may occur in the oil tank and / or oil conservator of the oil-immersed transformer, which will lead to faster deterioration of the transformer oil, and even breakdown due to excessive leakage. Therefore, during the use of the transformer, it is necessary to check and troubleshoot the airtightness of the transformer oil tank and oil conservator as appropriate.

[0005] For example, Chinese utility model patent CN211265217U discloses a corrugated oil conservator for transformers, including an oil tank and a corrugated pipe installed inside the oil tank, forming an oil-containing cavity between the oil tank and the corrugated pipe; the oil tank is provided with an oil injection hole and a buffer hole; it also includes a pressure gauge, a first solenoid valve, and a dehumidifier located outside the oil tank, the pressure gauge is used to connect to the corrugated pipe, and the dehumidifier is connected to the corrugated pipe via the first solenoid valve; after the corrugated oil conservator is manufactured, the first solenoid valve is used to isolate the connection between the corrugated pipe and the dehumidifier, and the buffer hole is sealed. An external oil pump is used to pump cooling oil into the oil-containing cavity through the oil injection hole. When the pressure value displayed on the pressure gauge reaches the predetermined test value, the pumping of oil into the oil-containing cavity is stopped and the oil injection hole is closed. Then the corrugated oil conservator is left to stand for a predetermined test time. Afterwards, the change in the pressure value on the pressure gauge can be observed to determine whether the corrugated oil conservator is leaking oil, thus improving the convenience and accuracy of oil leakage detection of the corrugated oil conservator.

[0006] The technical solution provided by the aforementioned patent is to test the airtightness of the oil tank by filling it with oil. This setup requires improvements to the structure of the oil tank itself, which means that the testing method cannot meet the requirements of existing transformers already in use, resulting in high testing costs. Summary of the Invention

[0007] The purpose of this invention is to provide a soft robot and its detection method for fault detection in oil-immersed transformers, so as to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a soft robot for fault detection of oil-immersed transformers, comprising a multi-legged soft robot body and an arm driven by the multi-legged soft robot body, wherein the arm is an airbag-type arm, and the arm drives a leakage detection unit disposed at its end to be sealed and connected to the air pipe of the transformer oil tank.

[0009] The air leakage detection unit includes an air extraction pipe, an expansion plug located at one end of the air extraction pipe, and a detection mechanism located inside the air extraction pipe.

[0010] The other end of the air extraction pipe is connected to an air extraction pump;

[0011] The testing mechanism divides the interior of the air extraction pipe into two independent chambers: a first chamber and a second chamber.

[0012] The detection mechanism has a second air hole that connects the first chamber and the second chamber, and the detection mechanism is used to detect the airflow passing through the second air hole.

[0013] Preferably, the detection mechanism includes a second cover plate hinged to the detection mechanism via a second torsion spring hinge, the second cover plate being rotatable about the pin of the second torsion spring hinge to open or close the second air hole;

[0014] The opening and closing status of the second cover plate is detected by a laser emitter and a laser receiver.

[0015] Preferably, the laser emitter is mounted on the second cover plate;

[0016] The laser beam emitted by the laser emitter is parallel to the axial direction of the pin of the second torsion spring hinge;

[0017] Multiple laser receivers are provided, and these receivers are positioned along the rotational trajectory of the laser line emitted by the laser emitter as the laser emitter rotates with the second cover plate.

[0018] Preferably, the detection mechanism further includes a sealing plate and a first cover plate, wherein the periphery of the sealing plate is sealed and fixed to the inner circumferential surface of the air extraction pipe;

[0019] The first cover plate is hinged to the bottom of the sealing plate by a first torsion spring hinge. The first cover plate can rotate axially around the pin of the first torsion spring hinge to open or close the first air hole opened at the center of the sealing plate.

[0020] The diameter of the first pore is larger than the diameter of the second pore;

[0021] The second vent is located at the center of the first cover plate, and the second cover plate is hinged to the first cover plate by a second torsion spring hinge.

[0022] Preferably, the axial direction of the pin of the first torsion spring hinge is perpendicular to the axial direction of the pin of the second torsion spring hinge.

[0023] Preferably, a second sealing ring is fixedly provided on the surface of the first cover plate near the sealing plate;

[0024] A third sealing ring is fixed on the surface of the second cover plate near the first cover plate.

[0025] Preferably, the laser receiver is mounted on a substrate, the substrate is fixed to a sealing plate, and the substrate is located on the other side of the first cover plate relative to the first torsion spring hinge.

[0026] Preferably, the expansion plug includes a cannula coaxially fixed to one end of the suction pipe and an air bladder sleeved around the cannula. Several first sealing rings are sleeved and fixed on the outer circumference of the air bladder. The air bladder is connected to the arm through a thin tube, and a valve is provided on the thin tube.

[0027] A detection method using a soft robot for fault detection in oil-immersed transformers, the method being based on the aforementioned soft robot for fault detection in oil-immersed transformers, includes the following steps:

[0028] S1. The multi-legged soft robot body uses its arm to move the air leakage detection unit, so that the uninflated expansion plug can be inserted into the trachea.

[0029] S2. Use your arm to inflate the airbag of the air leakage detection unit, so that the airbag expands and presses the first sealing ring into the inside of the trachea, thereby achieving a sealed connection between the intubation tube and the trachea.

[0030] S3. Start the air pump and suck up the oil tank through the air pipe and air tube;

[0031] S31. The first and second cover plates open, the air pressure inside the oil conservator drops rapidly, and after a certain period of time, the first cover plate closes.

[0032] S32. If the second cover plate also returns from the open state to the closed state, there is no air leakage fault in the oil conservator and transformer oil tank; otherwise, if the second cover plate remains open, there is an air leakage fault in the oil conservator and transformer oil tank.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] By using a multi-legged soft robot and its arm, the leak detection unit can be easily moved to the end of the air pipe. Combined with an expansion plug, a sealed connection between the extraction pipe and the air pipe can be achieved. Then, the detection mechanism can be used to detect oil leaks or air tightness in the oil conservator and the entire transformer tank. The entire detection process requires no structural modification to the oil conservator. Furthermore, the leak detection unit can detect oil-immersed transformers of different specifications, significantly reducing detection costs. Further, the detection mechanism measures the air flow rate extracted from the air pipe, thus determining whether there are oil leaks or poor air tightness in the transformer tank or oil conservator. Even further, by placing laser receivers at the bottom of a rotatable second cover and installing multiple laser receivers, the severity of oil leaks or poor air tightness in the transformer tank or oil conservator can be determined. That is, the larger the opening angle of the second cover, the more severe the oil leaks or poor air tightness in the transformer tank or oil conservator. This allows for the selection of appropriate handling methods based on the actual severity, minimizing actual losses. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 This is a three-dimensional structural schematic diagram of the leakage detection unit of the present invention;

[0037] Figure 3 This is a three-dimensional partial cross-sectional view of the leakage detection unit of the present invention;

[0038] Figure 4 This is a schematic diagram of the detection mechanism of the present invention;

[0039] Figure 5 This is a schematic diagram of the expansion plug of the present invention;

[0040] Figure 6 This is a bottom view of the structure of the leakage detection unit of the present invention;

[0041] Figure 7 This is a three-dimensional structural diagram of the detection mechanism of the present invention;

[0042] Figure 8 This is a cross-sectional three-dimensional structural diagram of the detection mechanism of the present invention.

[0043] In the picture:

[0044] 1. Oil pillow; 11. Trachea;

[0045] 2. Multi-legged soft robot body; 21. Arm;

[0046] 3. Leakage detection unit; 31. Air extraction pipe; 311. Sealing gasket; 312. First chamber; 313. Second chamber; 32. Expansion plug; 321. Insertion tube; 3211. Annular groove; 322. Airbag; 323. First sealing ring; 324. Thin tube; 33. Detection mechanism; 331. Sealing plate; 3311. First air hole; 332. First cover plate; 3321. Second air hole; 3322. Second sealing ring; 3323. First torsion spring hinge; 333. Second cover plate; 3331. Third sealing ring; 3332. Second torsion spring hinge; 334. Laser emitter; 335. Laser receiver; 336. Substrate. Detailed Implementation

[0047] 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.

[0048] Please see Figure 1-8 The present invention provides a technical solution:

[0049] A soft robot for fault detection of oil-immersed transformers includes a multi-legged soft robot body 2 and an arm 21 driven by the multi-legged soft robot body 2. The arm 21 is an airbag arm, which is controlled (air-supplyed) by the multi-legged soft robot body 2 to move a leak detection unit 3 to a suitable detection position. For example, in this embodiment, the leak detection unit 3 is moved to be connected to the air pipe 11 of the oil tank 1, and then leak detection is performed.

[0050] Specifically, the arm 21 drives the air leakage detection unit 3 located at its end to be sealed and connected to the air pipe 11 of the transformer oil tank 1.

[0051] like Figures 1 to 3 As shown, the air leakage detection unit 3 includes an air extraction pipe 31, an expansion plug 32 disposed at one end of the air extraction pipe 31, and a detection mechanism 33 disposed inside the air extraction pipe 31. The air extraction pipe 31 is a flexible tube fixed to the arm 21 and can bend with the arm 21. The expansion plug 32 can be inserted into the air tube 11 in a contracted state and then expanded to tighten inside the air tube 11, thus achieving a sealed connection between the air tube 11 and the air extraction pipe 31, and also preventing the air extraction pipe 31 from falling off due to the friction between the outer wall of the expansion plug 32 and the inner wall of the air tube 11. The detection mechanism 33 is used to detect the airflow through the air extraction pipe 31; in other words, the detection mechanism 33 is used to detect the amount of gas extracted from the air tube 11 through the air extraction pipe 31.

[0052] Specifically, the other end of the air extraction pipe 31 is connected to the air extraction pump; when the air extraction pump is started, the air inside the air pipe 11 and even the oil conservator 1 can be extracted through the air extraction pipe 31, such as the air inside the capsule of the capsule-type oil conservator 1.

[0053] like Figure 3 As shown, the detection mechanism 33 divides the interior of the suction pipe 31 into two independent chambers: a first chamber 312 and a second chamber 313. The first chamber 312 is connected to the expansion plug 32, while the second chamber 313 is connected to the air inlet of the suction pump. Figure 3 In the middle view, the first chamber 312 and the second chamber 313 are located at the upper and lower ends of the detection mechanism 33, respectively.

[0054] like Figure 3 , Figure 4 and Figure 8 As shown, the detection mechanism 33 has a second air hole 3321 that connects the first chamber 312 and the second chamber 313. The detection mechanism 33 is used to detect the airflow passing through the second air hole 3321.

[0055] A sealing gasket 311 is also provided at the top of the air extraction pipe 31 to increase the sealing performance between the air extraction pipe 31 and the air pipe 11.

[0056] Furthermore, the testing agency 33 detects the airflow through the second vent 3321 in the following manner: (e.g.) Figures 6-8 As shown, the detection mechanism 33 includes a second cover plate 333 hinged to the detection mechanism 33 via a second torsion spring hinge 3332. The second cover plate 333 is circular, and its diameter is larger than the diameter of the second vent 3321. The second cover plate 333 can rotate around the pin of the second torsion spring hinge 3332 to open or close the second vent 3321. Specifically, under normal conditions, the second torsion spring hinge 3332 covers the bottom of the second vent 3321 under the action of the torsion spring inside, thereby cutting off the connection between the first chamber 312 and the second chamber 313. When the air pump is started, the air pressure inside the second chamber 313 is lower than the air pressure inside the first chamber 312. Under the action of pressure, the second cover plate 333 will overcome the torsion of the torsion spring on the second torsion spring hinge 3332 and gradually rotate downward to open the second cover plate 333, exposing the second vent 3321, so that the gas inside the first chamber 312 can smoothly enter the interior of the second chamber 313.

[0057] like Figure 6 and Figure 7 As shown, the open and closed states of the second cover plate 333 are detected by the laser emitter 334 and the laser receiver 335.

[0058] Furthermore, such as Figure 6 and Figure 7 As shown, the laser emitter 334 is mounted on the second cover plate 333; the laser line emitted by the laser emitter 334 is parallel to the axial direction of the pin of the second torsion spring hinge 3332; and multiple laser receivers 335 are provided, which are arranged on the rotation trajectory of the laser line emitted by the laser emitter 334 as the laser emitter 334 rotates with the second cover plate 333.

[0059] When the second cover plate 333 is in the closed state, such as Figure 7 As shown, the laser line emitted by the laser emitter 334 can be received by the top laser receiver 335. The top laser receiver 335 will then feed back the signal of the laser line emitted by the laser emitter 334 to the control module of the soft robot. The control module can determine that the second cover 333 is in the closed state. Once the second cover 333 gradually opens, the laser line emitted by the laser emitter 334 will be received by one of the laser receivers 335 located below the top laser receiver 335. At this time, the laser receiver 335 will feed back the signal to the control module of the soft robot. The signals fed back to the control module by different laser receivers 335 are different, so the opening angle of the second cover 333 can be determined. The opening angle of the second cover 333 can be used to determine the airflow through the second vent 3321, thereby determining the specific air leakage situation.

[0060] The specific operating principle of the above scheme is as follows: In actual use, firstly, the multi-legged soft robot body 2 and its arm 21 drive the air leakage detection unit 3 to the end of the air tube 11, and the arm 21 completely inserts the expansion plug 32 into the air tube 11. Then, gas is injected into the expansion plug 32, causing the expansion plug 32 to expand, thereby completing the sealed connection between the air tube 11 and the expansion plug 32. From an overall perspective, the sealed connection between the suction pipe 31 and the air tube 11 is also completed. After that, the suction pump can be started to extract the air from the inside of the oil conservator 1 using the suction pipe 31 and the air tube 11 to reduce the air pressure inside the oil conservator 1. For example, in a capsule oil conservator... For example, the air tube 11 is connected to the capsule inside the oil conservator 1. Therefore, under the action of the air pump, the air pressure inside the capsule drops rapidly, causing the capsule to tend to contract. However, since the oil conservator 1 is completely sealed, the capsule can only contract to a small extent. The contraction of the capsule will cause the volume of transformer oil stored inside the oil conservator 1 to increase or tend to increase, thus reducing the pressure inside the oil conservator 1. Since the oil conservator 1 is connected to the transformer tank, if there is an oil leak or poor airtightness in the transformer tank or oil conservator 1, air from the external environment will be released due to the reduced pressure inside the transformer tank or oil conservator 1 through the leak point. The air enters the transformer tank or conservator 1 through a weak point in its airtightness. Once the pressure inside the tank or conservator 1 is replenished, the bladder will further contract under the action of the air pump, and this cycle repeats. Therefore, throughout the process, if there is an oil leak or poor airtightness in the transformer tank or conservator 1, the second vent 3321 will continuously allow airflow through, meaning the second cover 333 will always be open. The opening angle of the second cover 333 is directly proportional to the amount of air entering through the leak or weak point in the transformer tank or conservator 1; the larger the airflow through the leak or weak point, the larger the opening angle of the second cover 333. The opening angle of the second cover plate 333 can be detected by the cooperation of the laser emitter 334 and multiple laser receivers 335, thus completing the detection of oil leakage or air tightness faults in the oil-immersed transformer. It should be noted that if there is no oil leakage in the transformer tank or oil conservator 1 or if the air tightness is good, the second cover plate 333 will only be opened for a short time when the air pump is started, and then it will be closed again. Therefore, in this embodiment, the signal received by the laser receiver 335 in the previous period is invalidated, for example, the signal received in the first 5 seconds is invalidated, that is, the result detected within 5 seconds after the air pump is started is invalidated, and only the detection result after 5 seconds is recorded.

[0061] The above solution achieves the following effect: By using the multi-legged soft robot body 2 and its arm 21, the leak detection unit 3 can be easily moved to the end of the air pipe 11. Combined with the expansion plug 32, a sealed connection between the extraction pipe 31 and the air pipe 11 can be completed. Then, the detection mechanism 33 can be used to detect oil leakage or air tightness in the oil tank 1 and the entire transformer tank. The entire detection process requires no structural modification of the oil tank 1. Furthermore, the leak detection unit 3 can detect oil-immersed transformers of different specifications, thus significantly reducing detection costs. Further, through the set detection mechanism… The flow rate of air drawn from the air pipe 11 is detected by 33, which can determine whether there is oil leakage or poor air tightness in the transformer oil tank or oil conservator 1. Furthermore, by setting the laser receiver 335 at the bottom of the rotatable second cover plate 333 and setting multiple laser receivers 335, the severity of oil leakage or poor air tightness in the transformer oil tank or oil conservator 1 can be determined. That is, the larger the opening angle of the second cover plate 333, the more serious the oil leakage or poor air tightness in the transformer oil tank or oil conservator 1. In order to select an appropriate treatment method according to the actual severity, the actual loss can be minimized.

[0062] To improve actual detection efficiency, such as Figures 6-8 As shown, the detection mechanism 33 also includes a sealing plate 331 and a first cover plate 332. The periphery of the sealing plate 331 is sealed and fixed to the inner circumferential surface of the extraction pipe 31 (e.g., Figure 3 and Figure 4 (as shown);

[0063] like Figures 6-8 As shown, the first cover plate 332 is hinged to the bottom of the sealing plate 331 via a first torsion spring hinge 3323. The first cover plate 332 can rotate axially around the pin of the first torsion spring hinge 3323 to open or close the first vent 3311 located at the center of the sealing plate 331. The diameter of the first vent 3311 is larger than the diameter of the second vent 3321; that is, the air flow rate of the first vent 3311 is greater than the air flow rate of the second vent 3321. The second vent 3321 is located at the center of the first cover plate 332, and the second cover plate 333 is hinged to the first cover plate 332 via a second torsion spring hinge 3332.

[0064] The specific principle for improving detection efficiency in the above scheme is as follows: In actual use, at the initial stage when the air pump is turned on, due to the large air flow, both the first cover plate 332 and the second cover plate 333 will open. Therefore, the air in the air tube 11 and the capsule can be quickly extracted in a short time. When the extracted gas decreases, the first cover plate 332 will close again under the torque of the first torsion spring hinge 3323. At this time, the second cover plate 333 may remain open due to factors such as oil leakage, thereby improving the actual detection efficiency.

[0065] Furthermore, such as Figure 7 As shown, the axial direction of the pin of the first torsion spring hinge 3323 is perpendicular to the axial direction of the pin of the second torsion spring hinge 3332. The purpose of this arrangement is that, as the first cover plate 332 gradually opens, the first cover plate 332 will guide airflow toward the substrate 336 and multiple laser receivers 335, thus providing a certain degree of heat dissipation.

[0066] like Figure 8 As shown, a second sealing ring 3322 is fixedly provided on the surface of the first cover plate 332 near the sealing plate 331; a third sealing ring 3331 is fixedly provided on the surface of the second cover plate 333 near the first cover plate 332. The provision of the second sealing ring 3322 can enhance the sealing performance between the sealing plate 331 and the first cover plate 332, and the provision of the third sealing ring 3331 can enhance the sealing performance between the second cover plate 333 and the first cover plate 332.

[0067] like Figure 7 As shown, the laser receiver 335 is mounted on the substrate 336, which is fixed to the sealing plate 331, and the substrate 336 is located on the other side of the first cover plate 332 relative to the first torsion spring hinge 3323.

[0068] like Figures 3-5 As shown, the expansion plug 32 includes an insertion tube 321 coaxially fixed to one end of the suction pipe 31 and an air bladder 322 sleeved on the outer periphery of the insertion tube 321. An annular groove 3211 is formed on the outer periphery of the insertion tube 321. The air bladder 322 is sleeved and fixed inside the annular groove 3211. Several first sealing rings 323 are sleeved and fixed on the outer periphery of the air bladder 322. The air bladder 322 is connected to the arm through a thin tube 324. A valve is provided on the thin tube 324.

[0069] A detection method using a soft robot for fault detection in oil-immersed transformers, the method being based on the aforementioned soft robot for fault detection in oil-immersed transformers, includes the following steps:

[0070] S1. The multi-legged soft robot body 2 uses the arm 21 to drive the air leakage detection unit 3 to move, so that the uninflated expansion plug 32 is inserted into the air tube 11.

[0071] S2. The arm inflates the airbag 322 of the air leakage detection unit 3, causing the airbag 322 to expand and press the first sealing ring 323 into the inside of the trachea 11, thus achieving a sealed connection between the intubation tube 321 and the trachea 11. The specific process of the arm inflating the airbag 322 is as follows: The multi-legged soft robot body 1 supplies air to the arm 21, so that the uninflated expansion plug 32 is inserted into the inside of the trachea 11. At this time, the air pressure in the arm 21 is small, and the valve set on the thin tube 324 will not open. Then, the air pressure supplied by the multi-legged soft robot body 1 to the arm 21 increases, the valve opens automatically, and the gas in the arm 21 supplies air to the airbag 322 through the thin tube 324, causing the airbag 322 to expand and press the first sealing ring 323 into the inside of the trachea 11, thus achieving a sealed connection between the intubation tube 321 and the trachea 11.

[0072] S3. Start the air pump and suck the oil conservator 1 through the air pipe 31 and the air pipe 11.

[0073] S31, the first cover plate 332 and the second cover plate 333 are opened, the internal air pressure of the oil conservator 1 drops rapidly, and after a certain period of time, the first cover plate 332 is closed.

[0074] S32. If the second cover plate 333 also returns from the open state to the closed state, then there is no air leakage fault in the oil conservator 1 and the transformer oil tank; otherwise, if the second cover plate 333 remains in the open state, then there is an air leakage fault in the oil conservator 1 and the transformer oil tank.

[0075] In this invention, the arm 21 is an airbag arm, which can both drive the air leakage detection unit 3 to move so that the expansion plug 32 can be inserted into the trachea 11, and inflate the airbag 322 on the expansion plug 32 to complete the sealed connection between the intubation tube 321 and the trachea 11.

[0076] 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. A soft robot for fault detection in oil-immersed transformers, characterized in that, It includes a multi-legged soft robot body and an arm driven by the multi-legged soft robot body. The arm is an airbag-type arm, and the arm drives a leak detection unit located at its end to be sealed and connected to the air pipe of the transformer oil tank. The air leakage detection unit includes an air extraction pipe, an expansion plug located at one end of the air extraction pipe, and a detection mechanism located inside the air extraction pipe. The other end of the air extraction pipe is connected to an air extraction pump; The testing mechanism divides the interior of the air extraction pipe into two independent chambers: a first chamber and a second chamber. The detection mechanism has a second air hole that connects the first chamber and the second chamber, and the detection mechanism is used to detect the airflow passing through the second air hole.

2. The soft robot for fault detection of oil-immersed transformers according to claim 1, characterized in that: The detection mechanism includes a second cover plate hinged to the detection mechanism via a second torsion spring hinge. The second cover plate can rotate around the pin of the second torsion spring hinge to open or close the second air hole. The opening and closing status of the second cover plate is detected by a laser emitter and a laser receiver.

3. A soft robot for fault detection of oil-immersed transformers according to claim 2, characterized in that: The laser emitter is mounted on the second cover plate; The laser beam emitted by the laser emitter is parallel to the axial direction of the pin of the second torsion spring hinge; Multiple laser receivers are provided, and these receivers are positioned along the rotational trajectory of the laser line emitted by the laser emitter as the laser emitter rotates with the second cover plate.

4. A soft robot for fault detection of oil-immersed transformers according to claim 3, characterized in that: The detection mechanism also includes a sealing plate and a first cover plate, wherein the periphery of the sealing plate is sealed and fixed to the inner circumferential surface of the air extraction pipe. The first cover plate is hinged to the bottom of the sealing plate by a first torsion spring hinge. The first cover plate can rotate axially around the pin of the first torsion spring hinge to open or close the first air hole opened at the center of the sealing plate. The diameter of the first pore is larger than the diameter of the second pore; The second vent is located at the center of the first cover plate, and the second cover plate is hinged to the first cover plate by a second torsion spring hinge.

5. A soft robot for fault detection of oil-immersed transformers according to claim 4, characterized in that: The axial direction of the pin of the first torsion spring hinge is perpendicular to the axial direction of the pin of the second torsion spring hinge.

6. A soft robot for fault detection of oil-immersed transformers according to claim 4, characterized in that: A second sealing ring is fixedly provided on the surface of the first cover plate near the sealing plate; A third sealing ring is fixed on the surface of the second cover plate near the first cover plate.

7. A soft robot for fault detection of oil-immersed transformers according to claim 4, characterized in that: The laser receiver is mounted on a substrate, which is fixed to a sealing plate, and the substrate is located on the other side of the first cover plate relative to the first torsion spring hinge.

8. A soft robot for fault detection of oil-immersed transformers according to claim 1, characterized in that: The expansion plug includes a coaxial tube fixed to one end of the air extraction pipe and an air bladder sleeved around the outer periphery of the tube. Several first sealing rings are sleeved and fixed on the outer periphery of the air bladder. The air bladder is connected to the arm through a thin tube, and a valve is provided on the thin tube.

9. A detection method using a soft robot for fault detection in oil-immersed transformers, characterized in that: The detection method, based on the soft robot for fault detection of oil-immersed transformers as described in any one of claims 1-8, includes the following steps: S1. The multi-legged soft robot body uses its arm to move the air leakage detection unit, so that the uninflated expansion plug can be inserted into the trachea. S2. Use your arm to inflate the airbag of the air leakage detection unit, so that the airbag expands and presses the first sealing ring into the inside of the trachea, thereby achieving a sealed connection between the intubation tube and the trachea. S3. Start the air pump and suck up the oil tank through the air pipe and air tube; S31. The first and second cover plates open, the air pressure inside the oil conservator drops rapidly, and after a certain period of time, the first cover plate closes. S32. If the second cover plate also returns from the open state to the closed state, there is no air leakage fault in the oil conservator and transformer oil tank; otherwise, if the second cover plate remains open, there is an air leakage fault in the oil conservator and transformer oil tank.

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