CN115502992A - High-voltage switch room fault danger elimination and fire control intelligent handling robot - Google Patents

Abstract

The invention relates to a high-voltage switch chamber fault danger elimination and fire fighting intelligent handling robot which comprises a robot main body, a robot control system, a traveling mechanism, a key mechanism, a cabinet opening mechanism and a fire extinguishing mechanism, wherein the robot main body is provided with a cabinet opening mechanism; the robot control system is used for receiving and decoding a wireless control instruction sent by the central control system, controlling the running mechanism, the key mechanism, the cabinet opening mechanism and the fire extinguishing mechanism to run according to the decoded designation, wherein the running mechanism is a mechanism only capable of running in two vertical directions and capable of running at a set distance in two running directions, the cabinet opening mechanism and the key mechanism are both arranged on the front side of the robot main body, a distance measurer and a vision shooting device for verifying the running position of the running mechanism are further arranged on the front side of the robot main body, the running of the running mechanism according to the set distance can be used for ensuring that the robot runs to a corresponding position, fault elimination and fire fighting are performed, the algorithm program in the running process is simplified, and the safety accident situation caused by program crash is avoided.

Description

High-voltage switch room fault danger elimination and fire control intelligent handling robot

Technical Field

The invention relates to the field of intelligent robots for power systems, in particular to a high-voltage switch room fault danger elimination and fire protection intelligent handling robot.

Background

The high-voltage switch cabinet is used as a complete set of electrical equipment in an electric power system, undertakes the switching and protection tasks of a switch in the power distribution and electric energy conversion processes of the electric power system, and is the last gateway for supplying power to citizens, so that the high-voltage switch cabinet is particularly important for daily maintenance of the equipment; the 10kV switch cabinet consists of a circuit breaker, an isolating switch, a load switch, an operating mechanism and a mutual inductor; because the switch cabinet is directly connected with the electric equipment, once the switch cabinet breaks down, the power failure accident caused by the switch cabinet causes huge social loss and economic loss, and because the switch cabinet has a compact internal structure, a plurality of parts and small insulation distance, the 10kV switch cabinet is often easier to cause faults than other electric equipment.

Particularly, various abnormal phenomena and faults can occur in a control loop in 10kV switch cabinet equipment due to the influence of equipment aging or environmental change and the like; usually, if need overhaul these high tension switchgear, power supply company's staff can carry out remote control through the computer, but just must artifically cut off the power supply to high tension switchgear when remote control breaks down, but consider the safety problem, forbid staff's scene again and beat the switch on the spot, can only have a power failure to last level bus, cause the large tracts of land to have a power failure the condition to appear on a large scale. Meanwhile, such explosion accidents of the high-voltage switch cabinet usually cause fire disasters, and further cause greater damage to the operation and maintenance safety of power equipment and a power grid.

Based on the potential safety hazard, at present, a manipulator and an intelligent robot are used for performing key operation (emergency closing, mode replacement and the like) and fire fighting operation on a switch cabinet, the manipulator still needs to be manually operated and only is far away from the switch cabinet, risks are reduced to a certain extent, the potential safety hazard still exists, the intelligent robot does not need manual participation in the whole process, the potential safety hazard can be completely eliminated, the intelligent robot needs to move to a specified high-voltage switch cabinet through a traveling mechanism of the robot matched with radar and machine vision and is accurately butted with the position of the switch cabinet, the robot cannot reciprocate on a straight line even if the intelligent robot is designed side by side because the number of the high-voltage switch cabinets in a high-voltage chamber is more than one, actions such as turning and the like need to be matched with a navigation path, in the moving process, the whole-process calculation needs to be performed through radar and vision, so that the robot can accurately walk to the specified position can be ensured, however, a system with a complex algorithm program is easy to break down, a computer is easy to cause serious safety accident due to the fault, and even the situation that the robot cannot press down the high-voltage switch cabinet and collide with the high-voltage switch cabinet can not occur.

Disclosure of Invention

The invention aims to provide a high-voltage switch chamber fault danger elimination and fire protection intelligent handling robot, wherein a walking mechanism is designed into a mechanism capable of moving in two vertical directions at a fixed distance, so that the walking of the robot can be converted into pure mechanical control from software real-time control, the algorithm program of robot positioning walking is simplified, and the potential safety hazard generated by program disorder of the existing high-voltage switch chamber fault danger elimination and fire protection robot is further solved.

In order to achieve the above purpose, the invention adopts the technical scheme that: a high-voltage switch room fault danger elimination and fire fighting intelligent handling robot comprises a robot main body, a robot control system, a traveling mechanism, a key mechanism, a cabinet opening mechanism and a fire extinguishing mechanism; the robot control system is used for receiving and decoding a wireless control instruction sent by the central control system, and controlling running mechanisms, key mechanisms, the cabinet opening mechanism and the fire extinguishing mechanism according to the decoded appointed control, the running mechanisms are mechanisms capable of running in two vertical directions only, and can run at a set distance in the two running directions, the cabinet opening mechanism and the key mechanisms are arranged on the front side of the robot main body, and a distance measurer and a vision shooting device used for verifying the running position of the running mechanisms are further arranged on the front side of the robot main body.

The walking direction of the walking mechanism is limited, so that the walking mechanism can only travel in two vertical directions and can travel according to a set distance, and thus the robot can be ensured to travel to the corresponding high-voltage switch cabinet for fault elimination and intelligent fire fighting by traveling according to the set distance of the walking mechanism, the algorithm program in the walking process is simplified, and the safety accident condition caused by program crash is avoided.

Preferably, the robot control system receives a wireless control command from the central control system, decodes the designation, executes the designation when the designation is complete and feeds back the designation to the central control system wirelessly, and does not execute the wireless feedback when the designation is incomplete and feeds back the designation to the central control system to enable the central control system to issue the command again.

The robot control system decodes the wireless control instruction sent by the central control system and feeds the decoded condition back to the central control system, so that the robot control system can be ensured to receive the complete instruction.

Preferably, the vision shooting device comprises a shooting mounting seat mounted on the robot main body through a shooting mounting bolt, a shooting device which is obliquely shot downwards is arranged on the shooting mounting seat, the shooting device shoots a picture with a fixed size and transmits the picture to the robot control system, a picture comparison system in the robot control system obtains information about whether the walking position of the walking mechanism is accurate or not through picture comparison, the picture comparison method comprises the steps of firstly setting a certain specific position on the high-voltage switch cabinet as a comparison reference point, then comparing the shot picture with a stored image of a marked position, superposing frames of the two pictures, finally, judging whether the comparison reference point is superposed or not after the two pictures are superposed, and if so, calculating the offset.

The visual shooting device is matched with the picture for comparison, whether the position after walking is deviated from the standard position or not can be compared, and then the walking precision of the walking mechanism can be judged.

Preferably, running gear is including setting up four landing legs and four solitary running gear that can electrically stretch out and draw back in robot main part below, running gear is including setting up in the robot main part and the vertical decurrent switching-over motor of output shaft, the output shaft of switching-over motor has the wheel mount pad, the walking axle is installed to the wheel mount pad, and the walking axle cooperation has the walking motor, walking axle fixed mounting has the walking wheel, and the angle rotation that the walking motor can install the settlement, and the center of walking wheel is in on the central line of switching-over motor output shaft.

Running gear realizes the walking on two vertical directions through four landing legs of four running gear cooperation that can 90 degrees pivoted, compares current mecanum wheel structure, and the weight that can bear and the precision control who goes on are all secure.

Preferably, the walking device further comprises a reversing support column with a vertical trend and arranged on the lower portion of the robot main body, the lower portion of the reversing support column is arc-shaped and tangent to the upper surface of the wheel mounting seat, the four reversing support columns are annularly and uniformly distributed, and two reversing contact sensors with a phase difference of 180 degrees are arranged on the wheel mounting seat.

The effect that the switching-over support column cooperation wheel mount pad played the support avoids the output shaft of switching-over motor to bear great pressure, can also produce the accurate execution that contact induction signal ensured at every turn switching-over through annular contact inductor and switching-over support column simultaneously.

Preferably, button mechanism is including setting up the button device of being no less than two in robot main part front side and quantity, the button device includes that the robot main part sets up and the output shaft level wears out the button rotation motor of robot main part front side perpendicularly, the output shaft that the button rotated the motor has the button carousel, the installation carousel is connected with the button installation piece, be provided with the button telescopic link that moves towards perpendicularly with robot main part leading flank on the button installation piece, the outer end of button telescopic link has cup jointed insulating cover through the screw thread, and the button rotates the motor and is 90 degrees step motor for the step angle.

The button mechanism is realized through a plurality of button devices, and single button device can rotate the motor through the button and drive the rotation, so can make single button device carry out the key operation to a plurality of buttons on the high tension switchgear.

Preferably, the side of the key turntable is provided with key positioning columns which are in tangential fit with the front side of the robot main body, the front side of the robot main body is embedded with four key positioning contact sensors which have 90-degree phases and can generate contact sensing signals with the key positioning columns, the number of the key positioning columns is five, the key positioning contact sensors are distributed in an annular mode, and the phase difference of the three key positioning columns is 90 degrees.

Five key reference columns cooperate four key location contact inductor's design, can feed back out the key telescopic link and be in specific which station through the three key location contact inductor that produces the contact induction, so ensure the accuracy of button.

Preferably, the cabinet opening mechanism comprises two cabinet opening mechanical arms installed on the robot body, the cabinet opening mechanical arms comprise cabinet opening telescopic rods arranged in the robot body and cabinet opening supporting blocks arranged on the front side of the robot body, the cabinet opening telescopic rods are connected with a first cabinet opening rotating arm motor, the first cabinet opening rotating arm motor is supported by the cabinet opening supporting blocks, a first cabinet opening rotating arm is installed on the first cabinet opening rotating arm motor, a second cabinet opening rotating arm is installed at the other end of the first cabinet opening rotating arm through a second cabinet opening rotating arm motor, a key transposition motor is arranged below the second cabinet opening rotating arm, the key transposition motor is connected with a key transposition turntable, an unlocking rotating sleeve is evenly arranged on the outer diameter of the key transposition turntable, a key or a cabinet opening sucker is installed on the unlocking rotating sleeve, and a steering engine which enables the unlocking rotating sleeve to rotate is arranged in the key transposition turntable.

The action of opening the cabinet door by a hand can be simulated by matching two rotating arms with a cabinet opening telescopic rod, the two rotating arms are equivalent to two hand joints, and the keys of a plurality of switch cabinets can be respectively stored by the design of a plurality of unlocking rotating sleeves on the key transposition rotating disc.

Preferably, the key transposition rotary table is provided with four positioning laser transmitters moving in the radial direction, the four positioning laser transmitters correspond to the four unlocking rotating sleeves in position, the phase difference between the corresponding positioning laser transmitters and the corresponding unlocking rotating sleeves is zero, the robot main body 1 is provided with a positioning laser receiver matched with the positioning laser transmitters, and the comparison reference point of the picture comparison method is the key socket of the high-voltage switch cabinet.

The design of location laser emitter and location laser receiver can ensure that the rotation of two rocking arms can reach the position of settlement when using, ensures that the key is accurate inserts in the key socket, and the camera when making a video recording, can also be through the key socket with treat that the key that inserts be in a straight line in the picture and judge the butt joint state of key socket and key.

Preferably, the fire-fighting mechanism is including setting up the fire control arm in the robot main part, the end connection of fire control arm has the fire-fighting ooff valve, fire-fighting ooff valve fixedly connected with fire control shower nozzle, and the fire-fighting ooff valve passes through the fire hose and communicates with the fire extinguishing tank in the robot main part.

The fire-fighting mechanism adjusts the position of the fire-fighting switch valve through the fire-fighting mechanical arm, so that the fire-fighting nozzle can be aligned to the high-voltage switch cabinet on fire to extinguish the fire.

Drawings

Fig. 1 is a schematic diagram of a high-voltage switch chamber fault danger elimination and fire protection intelligent treatment robot module.

Fig. 2 is an operation flow chart of the high-voltage switch chamber fault danger elimination and fire protection intelligent treatment robot.

Fig. 3 is a front view of a high-voltage switch room fault danger elimination and fire protection intelligent handling robot.

Fig. 4 is a schematic structural view of a leg and a single running gear.

Fig. 5 is a schematic structural view of fig. 4 after changing the walking direction.

Fig. 6 isbase:Sub>A cross-sectional viewbase:Sub>A-base:Sub>A of fig. 3.

Fig. 7 is a front view of the bin opening robot arm.

Fig. 8 is a top view of the cabinet opening mechanism.

Fig. 9 is a plan view of the unlocking portion.

Fig. 10 is a schematic view of the installation of the visual camera.

The text labels shown in the figures are represented as: 1. a robot main body; 2. a traveling device; 3. a support leg; 4. a key device; 5. a range finder; 6. a cabinet opening mechanism; 7. a fire-fighting mechanical arm; 8. a fire-fighting switch valve; 9. a fire sprinkler; 10. a vision camera; 11. a commutation motor; 12. a wheel mount; 13. a traveling shaft; 14. a traveling wheel; 15. a traveling motor; 16. a reversing support column; 17. a commutation contact inductor; 21. a key rotating motor; 22. a key rotary table; 23. a key mounting block; 24. a key telescopic rod; 25. an insulating sleeve; 26. a key positioning column; 27. a key positioning contact sensor; 31. a cabinet opening supporting block; 32. a cabinet opening telescopic rod; 33. a first split tumbler motor; 34. a first opening rotating arm; 35. a second split rotary arm motor; 36. a second cabinet opening rotating arm; 37. a key transposition motor; 38. a key transposition turntable; 39. unlocking the rotating sleeve; 40. a key; 41. a cupboards are opened; 42. positioning a laser transmitter; 43. positioning a laser receiver; 45. a camera mounting base; 46. a camera mounting bolt; 47. and a camera.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-3, a high-voltage switch room fault danger elimination and fire protection intelligent handling robot comprises a robot main body 1, a robot control system, a traveling mechanism, a key mechanism, a cabinet opening mechanism 6 and a fire extinguishing mechanism; the robot control system is used for receiving and decoding a wireless control instruction sent by the central control system, and controlling the running mechanism, the key mechanism, the cabinet opening mechanism and the fire extinguishing mechanism according to the decoded designation, wherein the running mechanism is a mechanism capable of only running in two vertical directions, and can run at a set distance in two running directions, the cabinet opening mechanism 6 and the key mechanism are both arranged on the front side of the robot main body 1, the front side of the robot main body 1 is also provided with a distance meter 5 and a vision shooting device 10 for verifying the running position of the running mechanism, the robot control system receives the wireless control instruction sent by the central control system, decodes the designation, executes the designation and feeds back the designation to the central control system if the designation is complete, and does not execute the wireless feedback to the central control system if the designation is incomplete, so that the central control system sends the instruction again.

The high-voltage switch cabinet (which can be different cabinets of a set of high-voltage switch cabinet) is initially arranged in rows in the high-voltage switch cabinet, the front side surface of the robot main body 1 and the front side surface of the high-voltage switch cabinet are in a state of being opposite, when a robot is required to carry out fault danger elimination or fire fighting on a certain high-voltage switch cabinet in the high-voltage switch cabinet, a wireless control instruction is sent to the robot in the high-voltage switch cabinet through the central control system, the robot control system decodes the instruction, if the decoded instruction is complete, the instruction is executed and returned to the central control system, if the decoded instruction is incomplete, the instruction is returned to the central control system to resend the instruction, if the central control system does not receive a feedback signal within set time (such as 1 min), the instruction is resent until the robot control system decodes to obtain the complete instruction, the robot control system sends a specific walking instruction to the walking mechanism according to the decoded instruction, if the walking mechanism walks in a first direction (parallel to the front side plate of the robot main body 1), and walks in a second direction (perpendicular to the front side plate of the robot main body 1), so that the whole robot moves to the corresponding high-voltage switch cabinet, and then the high-voltage switch cabinet is operated through a door or a fire fighting mechanism is operated according to open the high-voltage switch cabinet.

As shown in fig. 3 and 10, the vision shooting device 10 includes a camera installation seat 45 installed on the robot main body 1 through a camera installation bolt 46, a camera 47 shooting obliquely downwards is arranged on the camera installation seat 45, the camera 47 shoots a picture with a fixed size and transmits the picture to the robot control system, the picture comparison system in the robot control system obtains information whether the walking position of the walking mechanism is accurate through picture comparison, the picture comparison method is that a certain specific position on the high-voltage switch cabinet is set as a comparison reference point, then the shot picture is compared with a stored marked position picture, the frames of the two pictures are overlapped, finally, the comparison reference point is overlapped after the two pictures are overlapped, if so, the offset is calculated.

After the robot completes position conversion through the walking mechanism, whether the distance between the robot main body 1 and the corresponding high-voltage switch cabinet is a set value is measured through the range finder 5 on the robot main body 1, if not, the walking distance of the walking mechanism in the second walking direction is proved to be not b, if yes, the walking distance of the walking mechanism in the second walking direction is proved to be b, the second walking direction is qualified, then, shooting is carried out through the camera 47, pictures of the corresponding high-voltage switch cabinet with fixed size are obtained through shooting, and then the pictures are transmitted to the robot control system, the pictures shot by the picture comparison system in the robot control system are compared with stored marked position pictures, frames of the two pictures are overlapped, whether comparison reference points are overlapped is judged, if the deviation is large, the deviation is obtained through comparing the deviation length on the pictures with the length of the frames of the whole picture, if the deviation is 0.1 of the frame length, the deviation is 0.1 x d (fixed frame length), then, a control command is formed and transmitted to the walking mechanism for relevant adjustment, under the general condition, no deviation occurs, and the walking mechanism is maintained.

As shown in fig. 4-5, running gear is including setting up four electronic flexible landing legs 3 and four solitary running gear 2 in robot body 1 below, running gear 2 is including setting up in robot body 1 and the vertical decurrent reversing motor 11 of output shaft, reversing motor 11's output shaft has wheel mount pad 12, walking shaft 13 is installed to wheel mount pad 12, and walking shaft 13 cooperation has walking motor 15, walking shaft 13 fixed mounting has walking wheel 14, and walking motor 15 can install the angular rotation of setting for, and walking wheel 14's center is in on the central line of reversing motor 11 output shaft, and running gear still includes the reversing support post 16 of the vertical trend that robot body 1's lower part still set up, and reversing support post 16 lower part is the arc and tangent with the upper surface of wheel mount pad 12, and reversing support post 16's quantity is four, and annular evenly distributed, is provided with two phase differences as the reversing contact inductor 17 of 180 degrees on the wheel mount pad 12.

To realize the movement in two perpendicular directions without changing the state of the robot body 1 (making the front side of the robot body 1 always face the high-voltage switch cabinets placed in a row), it is most easily conceivable to use mecanum wheels, however, when using mecanum wheels, there are great defects, the bearing capacity is not enough, in case of a certain bearing, the walking accuracy is poor, so that the application of the invention is difficult, and the invention realizes the movement in the vertical direction by the design that the supporting legs 3 are matched with four independent walking devices 2, and because the walking wheels 14 are conventional wheels, the bearing capacity of the robot is not affected, when the robot is transposed, the whole robot main body 1 is jacked up after the supporting legs are extended, the wheels can be separated from the ground, therefore, the wheels can not generate friction force with the ground when the robot is transposed, the design of the reversing supporting column and the reversing contact inductor 17 can ensure that the reversing angle is accurate 90 degrees, and in the process of walking, the walking motor 15 directly drives the walking shaft 13, thereby directly driving the wheels to rotate, and the wheels are fixedly arranged on the walking shaft 13, so that relative sliding can not be generated, therefore, the walking distance of the walking wheel can be controlled by the rotating turns of the walking motor 15, the walking distance can be controlled by a mechanical structure, the software program control is simplified, the dead rate is reduced, the center of the walking wheel 14 is positioned on the central line of the output shaft of the reversing motor 11, when the reversing is carried out, the contact point between the walking wheel 14 and the ground can be ensured not to change along with the reversing, the precision is further improved, only the walking distance in each direction needs to be calculated, the influence on the walking distance in the reversing process does not need to be considered, and the calculation program is simplified.

As shown in fig. 6, the key mechanism includes two or more key devices 4 arranged on the front side of the robot main body 1, the key devices 4 include a key rotating motor 21 arranged in the robot main body 1 and having an output shaft horizontally penetrating through the front side of the robot main body 1, the output shaft of the key rotating motor 21 is connected with a key rotating disc 22, the key rotating disc 22 is connected with a key mounting block 23, a key telescopic rod 24 perpendicularly running with the front side of the robot main body 1 is arranged on the key mounting block 23, an insulating sleeve 25 is sleeved on the outer end of the key telescopic rod 24 through a thread, the key rotating motor 21 is a stepping motor with a stepping angle of 90 degrees, a key positioning column 26 tangentially matched with the front side of the robot main body 1 is mounted on the side of the key rotating disc 22, four key positioning contact sensors 27 with phases of 90 degrees and capable of generating contact induction signals with the key positioning column 26 are embedded in the front side of the robot main body 1, the number of the key positioning columns 26 is five, and the key positioning columns 26 are annularly distributed, wherein the three phase differences are 90 degrees.

The key mechanism can realize the key operation of a plurality of keys on a high-voltage switch cabinet through the design of a plurality of key devices 4 and the specific structural design of the key devices 4, can reduce the number of the telescopic key structures and avoid interference compared with the key operation realized by matching one key structure with a walking mechanism and a lifting structure, and simplifies an algorithm program.

As shown in fig. 7 to 9, the cabinet opening mechanism 6 includes two cabinet opening mechanical arms installed on the robot main body 1, each cabinet opening mechanical arm includes a cabinet opening telescopic rod 32 provided in the robot main body 1 and a cabinet opening supporting block 31 provided on the front side of the robot main body 1, the cabinet opening telescopic rod 32 is connected to a first cabinet opening rotating arm motor 33, the first cabinet opening rotating arm motor 33 is supported by the cabinet opening supporting block 31, a first cabinet opening rotating arm 34 is installed on the first cabinet opening rotating arm motor 33, a second cabinet opening rotating arm 36 is installed at the other end of the first cabinet opening rotating arm 34 through a second cabinet opening rotating arm motor 35, a key transposition motor 37 is provided below the second cabinet opening rotating arm 36, the key transposition motor 37 is connected to a key transposition rotary disk 38, a rotary unlocking sleeve 39 is uniformly provided on the outer diameter of the key transposition rotary disk 38, a key 40 or a suction cup 41 is installed on the unlocking rotary sleeve 39, a steering engine for rotating the unlocking rotary sleeve 39 is provided in the key rotary disk 38, four radial positioning laser transmitters 42 are provided on the key rotary disk 38, and four positioning laser transmitters 42 are matched with the corresponding positions of the rotary sleeve 39, and a phase difference between the positioning laser transmitters of the positioning receiver 43 of the corresponding to the positioning receiver of the cabinet opening rotary sleeve 39, and the positioning receiver 1 is set.

The robot has another function of fire fighting, if a corresponding high-voltage switch cabinet has a fire or smoke alarm, a central control system can send a fire extinguishing instruction, the robot can open the cabinet through a cabinet opening mechanism after a travelling mechanism travels to a corresponding position, the key transposition rotary table 38 is driven to rotate through a key transposition motor 37 in the travelling process of the travelling mechanism, so that a corresponding switch cabinet key 40 is positioned at a working station, meanwhile, another cabinet opening mechanical arm can position a cabinet opening suction disc 41 at the working station, after the robot travels to the corresponding position, the first cabinet opening rotary arm motor 33 and the second cabinet opening motor 35 rotate according to a set mode, so that the first cabinet opening rotary arm 34 and the second cabinet opening rotary arm 36 are unfolded, in the state, a positioning laser receiver 43 receives a laser signal transmitted by a positioning laser transmitter 42, so that the unlocking of the first cabinet opening rotary arm 34 and the unfolding position of the second cabinet opening rotary arm 36 can be ensured to be accurately performed, then the first cabinet opening rotary arm 34 and the second cabinet opening rotary arm 36 are driven to move to the second cabinet opening rotary arm 34 and the second cabinet opening rotary arm 36 through a telescopic rotary arm 32, so that the fire fighting rotary arm 34 and the second cabinet opening rotary arm can be operated by a steering engine 39, and the second cabinet opening rotary arm can be operated, so that the second cabinet opening rotary arm 34 and the second cabinet opening rotary arm can be operated by the steering engine 39, so that the fire fighting can be operated after the cabinet opening rotary arm can be operated, the first cabinet opening rotary arm 34 and the second cabinet opening rotary arm can be operated; in order to install unlocking keys on the two cabinet opening mechanical arms, key sockets of different high-voltage switch cabinets are required to be positioned on cabinet doors on different sides; the cabinet opening operation of the cabinet opening mechanism is not only limited to fire fighting and extinguishing, but also can be matched with a shooting device to shoot the internal condition of the switch cabinet, and further the fault elimination function is perfected.

As shown in fig. 3, the fire-fighting mechanism comprises a fire-fighting mechanical arm 7 arranged on the robot main body 1, the end of the fire-fighting mechanical arm 7 is connected with a fire-fighting switch valve 8, the fire-fighting switch valve 8 is fixedly connected with a fire-fighting nozzle 9, and the fire-fighting switch valve 8 is communicated with a fire extinguishing tank in the robot main body 1 through a fire-fighting hose.

Fire control mechanism drives fire switch valve 8 through fire control arm 7 and carries out the position change, and then make fire control shower nozzle 9 be in the best position of putting out a fire, fire switch valve 8 is opened to the rethread afterwards, make the material in the jar of putting out a fire in the robot main part 1 spout from fire control shower nozzle 9, and then accomplish the fire control operation of putting out a fire, when initial condition, fire control arm 7 can contract on robot main part 1, avoid leading to the central skew to appear turning on one's side at the in-process of walking, when putting out a fire, the landing leg then can extend, support robot main part 1 through the landing leg, prevent to turn on one's side, whether open the cabinet and put out a fire then need judge according to the state that the cubical switchboard was fired, the intensity of a fire is big then directly put out a fire, the intensity of a fire is little then opened the cubical switchboard and is put out a fire, the same face of shining that can shoot through the shooting ware is judged out.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The principles and embodiments of the present invention have been described herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, or combinations, or other applications of the inventive concepts and solutions as may be employed without such modifications, are intended to be included within the scope of the present invention.

Claims (10)

1. A high-voltage switch room fault danger elimination and fire fighting intelligent handling robot comprises a robot main body, a robot control system, a traveling mechanism, a key mechanism, a cabinet opening mechanism and a fire extinguishing mechanism; the robot control system is used for receiving and decoding a wireless control instruction sent by the central control system, and controlling the running mechanism, the key mechanism, the cabinet opening mechanism and the fire extinguishing mechanism according to the decoded designation.

2. The robot for intelligent risk elimination and fire fighting of high voltage switch room faults as claimed in claim 1, wherein the robot control system receives a wireless control command from the central control system, decodes the designation, executes the designation and feeds back the designation to the central control system wirelessly if the designation is complete, and does not execute the designation and feeds back the designation to the central control system wirelessly if the designation is incomplete so that the central control system can issue a command again.

3. The robot for intelligently dealing with high-voltage switch chamber fault danger elimination and fire fighting according to claim 1, wherein the vision shooting device comprises a shooting installation seat installed on the robot body through a shooting installation bolt, the shooting installation seat is provided with a shooting device which shoots obliquely downwards, the shooting device shoots pictures with fixed sizes and transmits the pictures to the robot control system, and a picture comparison system in the robot control system obtains information whether the walking position of the walking mechanism is accurate or not through picture comparison.

4. The robot is handled to high tension switchgear room trouble danger elimination and fire control intelligence, its characterized in that, running gear includes four electronic flexible landing legs and four solitary running gear of setting in the robot main part below, running gear is including setting up in the robot main part and the vertical decurrent switching-over motor of output shaft, the output shaft of switching-over motor has the wheel mount pad, the walking axle is installed to the wheel mount pad, and the walking axle cooperation has the walking motor, walking axle fixed mounting has the walking wheel, and the angle that the walking motor can install the settlement rotates, and the center of walking wheel is in on the central line of switching-over motor output shaft.

5. The robot for intelligently dealing with high-voltage switch chamber fault danger elimination and fire fighting according to claim 4, wherein the walking device further comprises a vertically-oriented reversing support column arranged at the lower part of the robot main body, the lower part of the reversing support column is arc-shaped and tangent to the upper surface of the wheel mounting seat, the number of the reversing support columns is four, the reversing support columns are annularly and uniformly distributed, and two reversing contact sensors with a phase difference of 180 degrees are arranged on the wheel mounting seat.

6. The robot for intelligent handling of high-voltage switch chamber fault danger elimination and fire fighting according to claim 1, wherein the key mechanism comprises at least two key devices arranged on the front side of the robot body, each key device comprises a key rotating motor which is arranged in the robot body and an output shaft horizontally and vertically penetrates out of the front side of the robot body, an output shaft of the key rotating motor is connected with a key turntable, the key mounting turntable is connected with a key mounting block, a key telescopic rod which vertically extends to the front side of the robot body is arranged on the key mounting block, an insulating sleeve is sleeved on the outer end of the key telescopic rod through threads, and the key rotating motor is a stepping motor with a stepping angle of 90 degrees.

7. The robot for intelligent high-voltage switch chamber fault danger elimination and fire fighting management according to claim 6, wherein the side surface of the key rotary table is provided with key positioning columns which are matched with the front side surface of the robot main body in a tangent mode, four key positioning contact sensors which are 90 degrees in phase and can generate contact sensing signals with the key positioning columns are embedded in the front side of the robot main body, the number of the key positioning columns is five, the key positioning columns are distributed in a ring shape, and the phase difference of three key positioning columns is 90 degrees.

8. The robot for high-voltage switch room fault danger elimination and intelligent fire fighting disposal according to claim 3, wherein the cabinet opening mechanism comprises two cabinet opening mechanical arms arranged on a robot body, each cabinet opening mechanical arm comprises a cabinet opening telescopic rod arranged in the robot body and a cabinet opening supporting block arranged on the front side of the robot body, each cabinet opening telescopic rod is connected with a first cabinet opening rotating arm motor, each first cabinet opening rotating arm motor is supported by each cabinet opening supporting block, each first cabinet opening rotating arm motor is provided with a first cabinet opening rotating arm, the other end of each first cabinet opening rotating arm is provided with a second cabinet opening rotating arm through a second cabinet opening rotating arm motor, a key transposition motor is arranged below each second cabinet opening rotating arm, each key transposition motor is connected with a key transposition rotating disc, each key transposition rotating disc is provided with an unlocking rotating sleeve with a key or a cabinet opening sucker, and each key rotating disc is internally provided with an unlocking transposition engine for rotating the unlocking transposition sleeve.

9. The robot for intelligent handling of high voltage switch room fault danger elimination and fire fighting according to claim 8, wherein four positioning laser transmitters moving in a radial direction are arranged on the key transposition rotating disc, the four positioning laser transmitters correspond to the four unlocking rotating sleeves in position, the phase difference between the corresponding positioning laser transmitters and the corresponding unlocking rotating sleeves is zero, a positioning laser receiver matched with the positioning laser transmitters is arranged on the robot main body 1, and the comparison reference point of the picture comparison method is the key socket of the high voltage switch cabinet.

10. The robot for fault danger elimination and intelligent fire fighting management according to claim 1, wherein the fire fighting mechanism comprises a fire fighting mechanical arm arranged on the robot body, the end of the fire fighting mechanical arm is connected with a fire fighting switch valve, the fire fighting switch valve is fixedly connected with a fire fighting nozzle, and the fire fighting switch valve is communicated with a fire fighting tank in the robot body through a fire fighting hose.

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