CN115576240A - High tension switchgear trouble is discerned, intelligent danger elimination and fire control linked system - Google Patents

Abstract

The invention relates to a high-voltage switch cabinet fault identification, intelligent danger elimination and fire fighting linkage system, which comprises a high-voltage switch cabinet, a fault identification danger elimination robot, a fire fighting robot, a signal switching module and a central control module in an operating room, wherein the high-voltage switch cabinet switches information through the signal switching module and then feeds back the information to the central control module; the failure identification danger elimination and fire fighting are realized by two robots, the precision of Mecanum wheels is not influenced, the algorithm program in the failure danger elimination process can be simplified, and the cost of high-precision specific route distance-fixed movement is reduced.

Description

High tension switchgear trouble is discerned, intelligent danger elimination and fire control linked system

Technical Field

The invention relates to the field of intelligent power systems, in particular to a high-voltage switch cabinet fault identification, intelligent danger elimination and fire protection linkage system.

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; generally speaking, if need overhaul these high tension switchgear, the staff of power supply company 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 considers the safety problem, forbids the staff on the spot again and beats the switch on the spot, can only have a power failure to last level bus, causes the large tracts of land and has a power failure condition on a large scale and appears. In recent years, the accidents of personal casualties caused by switch cabinet faults are repeated by national grid companies, so that not only is great threat to the operation safety of a power grid caused, but also severe social influence is caused. For example, a fault of a 10kV switch cabinet occurs in a 220kV substation of a certain power supply company, which causes two operators on duty who perform field inspection outside the switch cabinet to be burnt by electric arcs, and one of the operators dies. In the process of processing the switch refusal by operating personnel, when the switch is pulled to confirm that the switch position indication is in the opening position after the switch is pulled to confirm that the switch position indication is in the opening position, arc short circuit is generated when the isolation disconnecting link is pulled, so that 2 persons can be seriously injured and 1 person can be slightly injured; three-phase short circuit occurs in a certain 220kV transformer substation together in a 10kV switch cabinet, and electric arc generates high-temperature and high-pressure air waves to rush open a cabinet door, so that 2 operators on duty who perform field inspection outside the switch cabinet are burnt by the electric arc. Meanwhile, such explosion accidents of the high-voltage switch cabinet usually cause fire, and further cause greater damage to the operation and maintenance safety of power equipment and a power grid.

Based on the potential safety hazard, the switch cabinet is subjected to key operation (emergency closing, mode replacement and the like) and fire fighting operation by using a manipulator and an intelligent robot at present, the manipulator still needs to be operated manually, only the manipulator is far away from the switch cabinet, the risk is 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 can accurately travel to the specified position due to the fact that the number of the high-voltage switch cabinets (or different cabinet bodies of a single high-voltage switch cabinet) in a high-voltage chamber is more than one, even if the robot is designed side by side, the robot cannot reciprocate on a straight line, actions such as turning and the like are needed to be matched with a navigation path, in the moving process, the whole-process calculation needs to be carried out through the radar and the whole-process calculation, however, a system with complicated algorithm program is easy to have faults, and further, the computer is easy to cause the dead operation, and even if the safety switch cabinet is closed, the high-voltage switch cabinet is pressed down, the high-voltage switch cabinet can not be in case of emergency accidents can be caused by the emergency accidents; aiming at the situation, the existing robot integrating fault danger elimination and fire protection carries out fixed-distance movement according to a specific route, an algorithm program is reduced, the route and fixed-distance movement needs to guarantee movement accuracy, generally only has movement in two vertical directions, turning and other operations are avoided, and under the condition of not turning, the main structure for realizing the movement in the two vertical directions adopts four Mecanum wheels.

Disclosure of Invention

The invention aims to provide a high-voltage switch cabinet fault identification, intelligent danger elimination and fire fighting linkage system, which divides fault identification danger elimination and fire fighting into two robots for realization, has high precision required by fault identification danger elimination, low precision required by fire fighting, small volume and low weight of fault identification and danger elimination, and can not influence the precision of a Mecanum wheel, thereby not only simplifying the algorithm procedure in the fault danger elimination process, but also reducing the cost of high-precision specific route fixed-distance movement.

In order to realize the purpose, the invention adopts the technical scheme that: a high-voltage switch cabinet fault identification, intelligent danger elimination and fire protection linkage system comprises a high-voltage switch cabinet in a high-voltage chamber, a fault identification danger elimination robot, a fire protection robot, a signal switching module and a central control module in an operating chamber, wherein the high-voltage switch cabinet feeds back information to the central control module after being switched by the signal switching module, the fault identification danger elimination robot feeds back the identified fault information to the central control module after being switched by the signal switching module, the central control module sends an instruction according to the feedback information and an internally set program and is used for controlling the fault identification danger elimination robot and the fire protection robot to operate after being switched by the signal switching module, and the fault identification danger elimination robot takes four Mecanum wheels matched with driving motors as a walking mechanism.

The fault identification danger elimination and the fire fighting are realized by two robots, the precision required by the fault identification danger elimination is high, the precision required by the fire fighting is low, the size and the weight of the fault identification danger elimination are small, the precision of the Mecanum wheel cannot be influenced, the algorithm program in the fault danger elimination process can be simplified, and the cost of the fixed-distance movement of a high-precision specific route can be reduced.

Preferably, the fault identification danger elimination robot includes the danger elimination robot main part, and mecanum wheel sets up in the lower part of danger elimination robot main part, and just four sides of danger elimination robot main part all are provided with the walking camera, be provided with the danger elimination carousel in the danger elimination robot main part, be connected with first rocking arm through first rocking arm motor on the danger elimination carousel, the other end of first rocking arm is connected with the second rocking arm through second rocking arm motor, and the other end of second rocking arm is connected with the third rocking arm through third rocking arm motor, and the other end of third rocking arm is connected with the button telescopic link, and the outer end of button telescopic link has cup jointed the insulating cover that is used for the button, and the pivot of first rocking arm, second rocking arm and third rocking arm is parallel.

The fault identification danger elimination robot adopts the Mecanum wheel to realize accurate vertical direction movement, and the walking camera can identify whether proruption obstacle appears on the walking path, adopts three rocking arm to realize the altitude mixture control of button telescopic link, realizes the angle modulation of button telescopic link through the danger elimination carousel, removes the in-process, can contract three rocking arm, so the focus of whole robot is low, removes the in-process and can not appear turning on one's side.

Preferably, the third rotating arm keeps a horizontal direction during working, the upper part and the lower part of one end of the third rotating arm, which is provided with the key telescopic rod, are provided with danger elimination cameras with inclined directions, and the third rotating arm is further provided with an danger elimination distance meter with the direction consistent with that of the key telescopic rod.

The danger elimination camera and the danger elimination distance meter are designed, whether the third rotating arm is horizontal and vertical to the high-voltage switch cabinet is judged through the danger elimination distance meter, and whether the height of the key telescopic rod is qualified or not can be judged through shot information through the danger elimination camera.

Preferably, the high tension switchgear includes the cabinet body, and the front side upper portion of the cabinet body is cubical switchboard display screen and cubical switchboard button, and the front side lower part of the cabinet body is the cabinet door, the internal locking device with cabinet door complex that is provided with of cabinet, locking device can automatic unlocking under the outage state, and the outside of the cabinet body is provided with the device of opening the cabinet that makes the cabinet door open and shut, and the device of opening the cabinet enables the cabinet door to open automatically under the outage state, be provided with the aspiration pump with cabinet body inner chamber intercommunication on the cabinet door, the gas outlet department of aspiration pump installs smoke alarm.

Set up aspiration pump and smoke alarm on the cabinet door, take out and discharge smoke alarm department through the internal gas of aspiration pump with the cabinet, so can be faster obtain the condition of catching fire in the cubical switchboard.

Preferably, locking device is including setting up the cabinet lock installation piece at the internal setting of the lock seat of these inboards of cabinets and cabinet, there is the locking piece through the cooperation of locking piece lift guide rail on the cabinet lock installation piece, and realizes locking in the locking seat is inserted to the locking piece, the upper portion of locking piece is connected with locking piece lift stay cord, and locking piece lift stay cord is through the opposite side of locking piece lift pulley back sag to cabinet lock installation piece, and the end connection of locking piece lift stay cord has a metal pouring weight, is provided with on the cabinet lock installation piece with metal pouring weight magnetic adsorption complex electromagnetism iron plate and the pouring weight stopper that is in electromagnetism iron plate below, when the metal pouring weight is adsorbed by electromagnetism iron plate, the locking piece inserts in the lock seat.

Locking device adopts the height of the mode control locking piece of metal pouring weight cooperation electromagnetism iron plate, and then can control the state that opens and shuts of locking piece and lock seat, leads to the high tension switchgear outage back appearing the conflagration, and the metal pouring weight can descend naturally and make the locking piece rise, and then with the separation of lock seat, realizes the function of unblanking automatically of outage.

Preferably, the locking block lifting pulley is arranged on the pulley mounting block, and the pulley mounting block is connected with a pulley lifting pull rod which is arranged in the cabinet body and moves vertically.

The design of pulley lift pull rod can realize the rising of locking piece when metal pouring weight adsorbs with the electromagnet piece, so can not influence the normal of cabinet door and open and shut.

Preferably, the cabinet opening device comprises a cabinet door and a cabinet body hinged one end fixed connection cabinet opening connecting block, the switch connecting block is hinged to a cabinet opening connecting seat, a cabinet opening mounting seat is arranged on the outer side of the cabinet body, a cabinet opening spring in tension is arranged between the cabinet opening mounting seat and the cabinet opening connecting seat, a cabinet opening electric pull rod consistent with the trend of the cabinet opening spring is arranged on the cabinet opening mounting seat, and the cabinet opening connecting seat is fixedly connected with a cabinet opening plug bush in sleeve connection with the push-pull rod part of the cabinet opening electric pull rod.

The design of the device for opening the cabinet needs to extend through the electric pull rod for opening the cabinet when the cabinet door is required to be closed, so that the push rod part is inserted into the plug bush for opening the cabinet and is continuously extended, the cabinet door can be closed, the electric pull rod for opening the cabinet can be restored after the cabinet door is locked by the locking device, and the cabinet door can be automatically opened by only unlocking the locking device and retracting the spring for opening the cabinet in a stretching state when the cabinet is required to be opened.

Preferably, the fire-fighting robot comprises a fire-fighting robot main body and a fire-fighting walking device, the fire-fighting robot main body is divided into two areas by a partition plate, one area is provided with a power distribution control box, the other area is provided with a fire-fighting storage, the upper part of the fire-fighting robot main body is provided with a spray head mounting seat, a spray head rotating motor is arranged in the spray head mounting seat and is connected with a spray head control valve, an outlet of the spray head control valve is connected with a spray head, an inlet of the spray head control valve is connected with the fire-fighting storage through a hose, and the front side of the fire-fighting robot main body is provided with an upward-inclined and downward-inclined fire-fighting camera and a horizontal-oriented fire-fighting range finder; the upper side plate of the fire-fighting robot main body is an inclined plane which inclines downwards forwards, the spray head mounting seat is matched with a slide rail on the fire-fighting robot main body, the spray head mounting seat is connected with a spray head adjusting stay cord, the other end of the spray head adjusting stay cord is connected with a spray head adjusting block, and the spray head adjusting block is matched with a spray head adjusting electric pull rod in the vertical direction on the rear side plate of the fire-fighting robot main body.

Set up the last curb plate of fire-fighting robot main part into the inclined plane of slope, the stay cord structure is adjusted to the shower nozzle in the cooperation, can adjust the position that the shower nozzle mount pad is in on the curb plate, so can adjust the design of the position cooperation shower nozzle rotating electrical machines of shower nozzle, can realize the regulation of shower nozzle position and angle to remedy the fire control position defect that the walking of fire-fighting robot is inaccurate to cause.

Preferably, the fire-fighting storage device comprises a tank body rotating motor which is arranged in the fire-fighting robot main body and vertically upwards of an output shaft, the tank body rotating motor is connected with a tank body mounting block, the lower portion of the tank body mounting block is in tangent fit with and supported by a support column in the fire-fighting robot main body, a mounting hole for loading a fire extinguishing tank is formed in the tank body mounting block, a fire extinguishing substance outlet of the fire extinguishing tank is communicated with an interface pipe in the fire-fighting robot main body through a hose and an interface sleeve, the outer end of the interface pipe is communicated with a spray head control valve through a hose, a safety plug extracting seat is further arranged in the fire-fighting robot main body, a safety plug extracting pin is detachably mounted on the safety plug extracting seat, and the safety plug extracting pin penetrates through an annular part of a safety plug of the fire extinguishing tank.

The fire control memory can be deposited the jar body of current fire extinguisher, compares the current jar body, has only changed the structure of spray tube, and consequently the jar of putting out a fire acquires simply, when needs use, can rotate the jar of putting out a fire (be equivalent to shaking when manual operation), rotates the in-process, can also extract the safety cock that the round pin will put out a fire the jar through the safety cock and extract, so can realize safe jar of putting out a fire and save, and do not influence the operation of putting out a fire.

Drawings

Fig. 1 is a schematic diagram of a high-voltage switch cabinet fault identification, intelligent danger elimination and fire protection linkage system.

Fig. 2 is a front view of a high-voltage switchgear cabinet.

Fig. 3 isbase:Sub>A cross-sectional viewbase:Sub>A-base:Sub>A of fig. 2.

Fig. 4 is a schematic view of the locking device in a locked state.

Fig. 5 is a schematic view of the locking device in an unlocked state.

Fig. 6 is a schematic view of the locking device automatically unlocking in a power-off state.

Fig. 7 is a top view of the fault identification and rescue robot.

Fig. 8 is a bottom view of the fault-identifying and risk-eliminating robot.

Fig. 9 is a partial enlarged view of B in fig. 7.

Fig. 10 is a sectional view of the fire fighting robot.

Fig. 11 is a schematic view of a fire suppression storage.

The text labels shown in the figures are represented as: 1. a cabinet body; 2. a switch cabinet display screen; 3. a switch cabinet button; 4. a cabinet door; 5. an air pump; 6. a smoke alarm; 7. a cabinet opening connecting block; 8. a cabinet opening connecting seat; 9. opening a cabinet and inserting the cabinet; 10. opening the cabinet spring; 11. opening the electric pull rod; 12. a cabinet opening mounting seat; 13. a lock seat; 14. a cabinet lock mounting block; 15. a locking block; 16. a locking block lifting guide rail; 17. a locking block lifting pull rope; 18. a locking block lifting pulley; 19. a pulley mounting block; 20. a pulley lifting pull rod; 21. a metal weight; 22. an electromagnet block; 23. a weight limiting block; 31. a danger elimination robot main body; 32. a Mecanum wheel; 33. a walking camera; 34. a danger eliminating rotary table; 35. a first rotor arm motor; 36. a first rotating arm; 37. a second boom motor; 38. a second rotating arm; 39. a third boom motor; 40. a third rotating arm; 41. a key telescopic rod; 42. an insulating sleeve; 43. a danger-eliminating range finder; 44. a risk-eliminating camera; 49. a fire-fighting camera; 50. a fire-fighting rangefinder; 51. a fire-fighting robot main body; 52. a fire fighting running gear; 53. a partition plate; 54. a power distribution control box; 55. a fire-fighting storage; 56. a nozzle mounting base; 57. a nozzle rotating motor; 58. a spray head control valve; 59. a spray head; 60. a nozzle adjusting pull rope; 61. a nozzle adjusting block; 62. the nozzle adjusts the electric pull rod; 62. a support pillar; 63. a tank rotating motor; 64. a tank body mounting block; 65. a fire extinguishing tank; 66. a safety plug; 67. an interface sleeve; 68. the safety bolt is pulled out of the seat; 69. the safety pin is pulled out.

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, a high-voltage switch cabinet fault identification, intelligent danger elimination and fire protection linkage system comprises a high-voltage switch cabinet in a high-voltage chamber, a fault identification danger elimination robot, a fire protection robot, a signal switching module and a central control module in an operating chamber, wherein the high-voltage switch cabinet feeds back information to the central control module after switching through the signal switching module, the fault identification danger elimination robot feeds back identified fault information to the central control module after switching through the signal switching module, the central control module sends an instruction according to the fed-back information and an internally set program and is used for controlling the fault identification danger elimination robot and the fire protection robot to operate after switching through the signal switching module, and the fault identification danger elimination robot takes four mecanum wheels 32 matched with driving motors as a walking mechanism.

When the pressure switch cabinet fault identification, intelligent danger elimination and fire fighting linkage system is used specifically, a set operation instruction is input into the central control module, the central control module can send the operation instruction to the signal switching module, and then the fault identification and danger elimination robot is controlled to carry out fault patrol, and a patrol result and fault information or fire information fed back by the high-voltage switch cabinet can be transmitted to the signal switching module and then fed back to the central control module, the central control module analyzes the information according to the patrol and the information fed back by the high-voltage switch cabinet and then sends out an instruction again, so that the fault identification and danger elimination robot is controlled to carry out danger elimination (key) operation or the fire fighting operation, in the whole system, the fault identification and danger elimination and the fire fighting are divided into two robots, the heavy fire fighting robot has low requirement on the travelling precision, only if the high-voltage switch cabinet is in the range of a spray nozzle, the travelling precision of the fault identification and danger elimination robot is high, the robot can accurately cooperate with a button on the high-voltage switch cabinet, the mechanical identification and the travelling precision of the fault identification and danger elimination robot can not be affected by the mechanical movement precision of a small mechanical risk elimination wheel.

As shown in fig. 7 to 9, the fault identification danger elimination robot includes an danger elimination robot main body 31, a mecanum wheel 32 is disposed at a lower portion of the danger elimination robot main body 31, four side surfaces of the danger elimination robot main body 31 are provided with walking cameras 33, a danger elimination turntable 34 is disposed on the danger elimination robot main body 31, the danger elimination turntable 34 is connected with a first rotating arm 36 through a first rotating arm motor 35, the other end of the first rotating arm 36 is connected with a second rotating arm 38 through a second rotating arm motor 37, the other end of the second rotating arm 38 is connected with a third rotating arm 40 through a third rotating arm motor 39, the other end of the third rotating arm 40 is connected with a key rotating arm 41, an insulating sleeve 42 for a key is sleeved at an outer end of the key rotating arm 41, rotating shafts of the first rotating arm 36, the second rotating arm 38 and the third rotating arm 40 are parallel, the third rotating arm 40 keeps a horizontal direction during working, an upper portion and a lower portion of one end of the key rotating arm 40 provided with a key telescopic rod 41 are provided with a danger elimination camera 44 having an inclined direction, and a distance measuring telescopic rod 43 having a direction identical to that of the key 41 is further disposed on the third rotating arm 40.

The fault identification danger elimination robot mainly comprises two operation modes, wherein the first mode is fault identification (inspection), the second mode is fault elimination, the fault identification operation is simple, the whole fault identification danger elimination robot is driven to move along a specific route through a Mecanum wheel, a camera is shot through a walking camera and a danger elimination camera 44, so that fault information of some simple high-voltage switch cabinets can be inspected, the fault elimination is realized by knowing that a certain high-voltage switch cabinet (or a certain cabinet body of a group of high-voltage switch cabinets) has a fault and needing key operation such as emergency stop, conversion and the like, the whole fault identification danger elimination robot is driven to move to a high-voltage switch cabinet to be operated through the Mecanum wheel according to the specified route, then the first rotating arm motor 35, the second rotating arm motor 37 and the third rotating arm motor 39 drive the first rotating arm 36, the second rotating arm 38 and the third rotating arm 40 to rotate by an angle specified by a command, so that the third rotating arm 40 reaches the height required by the key while keeping horizontal, the key elimination finder 43 carries out key operation, the first rotating arm 40 has two functions of key operation, and the first rotating arm 40 is in a fault elimination state, and whether the distance measurement is accurately measured by the camera shooting range of the corresponding high-distance measuring robot is judged by the high-distance measuring instrument, and whether the high-distance measuring instrument is accurately judged by combining the high-distance measuring instrument.

As shown in fig. 2, the high tension switchgear includes the cabinet body 1, and the front side upper portion of the cabinet body 1 is cubical switchboard display screen 2 and cubical switchboard button 3, and the front side lower part of the cabinet body 1 is cabinet door 4, be provided with in the cabinet body 1 with cabinet door 4 complex locking device, locking device can automatic unlocking under the power-off state, and the outside of the cabinet body 1 is provided with the device of opening the cabinet that makes cabinet door 4 open and shut, and the device of opening the cabinet enables cabinet door 4 to open automatically under the power-off state, be provided with aspiration pump 5 with 1 inner chamber intercommunication of the cabinet body on the cabinet door 4, smoke alarm 6 is installed to the gas outlet department of aspiration pump 5.

High tension switchgear is at the in-process of operation, the bleeding that aspiration pump 5 can last, if appear in the high tension switchgear on fire, produced smog can be taken out and directly carried to smoke alarm 6 departments, make smoke alarm 6 produce alarm signal, compare current in the high tension switchgear indoor or set up smoke alarm's mode outside the high tension switchgear, the design of aspiration pump 5 is passed through in this application, can be as fast as possible take out the flue gas, timely production alarm signal, both can just accomplish smoke alarm when the conflagration just takes place, and locking device unlocks, the device of opening the cabinet opens cabinet door 4, make things convenient for the fire-fighting robot to carry out the fire control and put out a fire.

As shown in fig. 4-6, the locking device includes a lock base 13 disposed inside the cabinets 4 and a cabinet lock mounting block 14 disposed inside the cabinet 1, the cabinet lock mounting block 14 is provided with a lock block 15 through a lock block lifting guide rail 16, the lock block 15 is inserted into the lock base 13 to achieve locking, the upper portion of the lock block 15 is connected with a lock block lifting pull rope 17, the lock block lifting pull rope 17 drops to the other side of the cabinet lock mounting block 14 through a lock block lifting pulley 18, the end of the lock block lifting pull rope 17 is connected with a metal weight 21, the cabinet lock mounting block 14 is provided with an electromagnet block 22 magnetically adsorbed and matched with the metal weight 21 and a weight limiting block 23 located below the electromagnet block 22, when the metal weight 21 is adsorbed by the electromagnet block 22, the lock block 15 is inserted into the lock base 13, the lock block lifting pulley 18 is disposed on the pulley mounting block 19, and the pulley mounting block 19 is connected with a weight lifting pull rod 20 disposed inside the cabinet 1 and vertically moving.

Fig. 4 shows that the locking device is in a locked state, and when unlocking is required under the condition of normal power-on, the pulley installation block 19 is driven to ascend through the pulley lifting pull rod 20, and then the lock block lifting pulley 18 can be driven to ascend, because the metal weight 21 is adsorbed by the electromagnet block 22, only the lock block 15 can ascend, and the state shown in fig. 5 is reached, so that unlocking is realized, if the high-voltage switch cabinet is powered off due to a fire, the pulley lifting pull rod 20 cannot ascend and descend under the condition of no power, the electromagnet block 22 is also in the power-off state, the metal weight 21 descends under the action of gravity until being intercepted by the weight limiting block 23, and the lock block 15 at this time is pulled up by the descending of the metal weight 21, so that the metal weight is separated from the lock base 13, and the operation of power-off automatic unlocking is reached, and the state is shown in fig. 6.

As shown in fig. 2-3, the cabinet opening device includes a cabinet opening connecting block 7 fixedly connected with one end of a cabinet door 4 hinged to a cabinet body 1, the switch connecting block 7 is hinged to a cabinet opening connecting seat 8, a cabinet opening mounting seat 12 is arranged on the outer side of the cabinet body 1, a cabinet opening spring 10 in tension is arranged between the cabinet opening mounting seat 12 and the cabinet opening connecting seat 8, a cabinet opening electric pull rod 11 consistent with the trend of the cabinet opening spring 10 is arranged on the cabinet opening mounting seat 12, and a cabinet opening plug bush 9 in sleeve fit with the push-pull rod portion of the cabinet opening electric pull rod 11 is fixedly connected to the cabinet opening connecting seat 8.

When cabinet door 4 is in the locking state, the electronic pull rod 11 of uncork is in the state of retracting, only the part is in uncork plug bush 9, after the locking device unblock, by tensile uncork spring 10 then can carry out elastic recovery, so can drive uncork connecting seat 8 and remove toward uncork mount pad 12 direction, so can drive the relative uncork connecting seat 8 of uncork connecting block 7 and rotate, and then make cabinet door 4 open, accomplish the automatic cabinet door under the outage state and open, and closing of cabinet door, can be manual operation, also can open cabinet connecting seat 8 through the electronic pull rod 11 top of uncork after the circular telegram, make uncork spring 10 be in tensile state once more, and make the cabinet door closed once more.

As shown in fig. 10, the fire-fighting robot comprises a fire-fighting robot main body 51 and a fire-fighting walking device 52, the fire-fighting robot main body 51 is divided into two regions by a partition plate 53, one region is provided with a power distribution control box 54, the other region is provided with a fire-fighting storage 55, the upper part of the fire-fighting robot main body 51 is provided with a nozzle mounting seat 56, a nozzle rotating motor 57 is arranged in the nozzle mounting seat 56, the nozzle rotating motor 57 is connected with a nozzle control valve 58, the outlet of the nozzle control valve 58 is connected with a nozzle, the inlet is connected with the fire-fighting storage through a hose, and the front side of the fire-fighting robot main body 51 is provided with a fire-fighting camera 49 which inclines upwards and downwards and a fire-fighting distance meter 50 which moves horizontally; the upper side plate of the fire-fighting robot main body 51 is an inclined plane inclined forwards and downwards, the spray head mounting seat 56 is matched with a slide rail on the fire-fighting robot main body 51, the spray head mounting seat 56 is connected with a spray head adjusting stay cord 60, the other end of the spray head adjusting stay cord 60 is connected with a spray head adjusting block 61, and the spray head adjusting block 61 is matched with a spray head adjusting electric pull rod 62 in the vertical direction on the rear side plate of the fire-fighting robot main body 51.

After the fire-fighting robot receives the instruction, the fire-fighting walking device 52 can walk according to the instruction, after completion, carry out range finding and shooting through fire-fighting range finder 50 and fire camera 49, according to the range finding condition of fire-fighting range finder 50 and the fire condition that fire camera 49 shot, the distribution control box can calculate out the approximate angle of shower nozzle 59 and the approximate position of shower nozzle 59, then adjust the position of electronic pull rod 62 cooperation inclined fire-fighting robot main part 51's last side plate adjustment shower nozzle mount pad 56 through the shower nozzle earlier, then adjust the angle of shower nozzle control valve 58 and shower nozzle 59 through shower nozzle rotating electrical machines 57, then start shower nozzle control valve 58 again and make shower nozzle 59 carry out the spraying of fire extinguishing substance, and then put out a fire to the high-voltage switch cabinet under the state of starting a fire, along with going on putting out a fire, can progressively with shower nozzle 59 to the high-voltage switch cabinet removal, this process can be realized through shower nozzle adjustment electronic pull rod 62 and shower nozzle regulation stay cord 60.

As shown in fig. 10-11, the fire fighting storage 55 includes a tank rotating motor 63 with an output shaft vertically upward in the fire-fighting robot main body 51, the tank rotating motor 63 is connected with a tank mounting block 64, and the lower portion of the tank mounting block 64 is tangentially matched with and supported by a support column 62 in the fire-fighting robot main body 51, the tank mounting block 64 is provided with a mounting hole for loading a fire extinguishing tank 65, an extinguishing substance outlet of the fire extinguishing tank 65 is communicated with a mouthpiece in the fire-fighting robot main body 51 through a hose and a mouthpiece 67, the outer end of the mouthpiece is communicated with the nozzle control valve 58 through a hose, the fire-fighting robot main body 51 is further provided with a safety hydrant drawing seat 68, the safety hydrant drawing seat 68 is detachably provided with a safety hydrant drawing pin 69, and the safety drawing pin 69 passes through an annular portion of the safety hydrant 66 of the fire-fighting tank 65.

Initially, the fire extinguishing tank 65 is installed in the installation hole of the tank body installation block 64 (the fire extinguishing tank 65 and the tank body installation block 64 can be connected into a whole in a suction negative pressure mode), the annular part of the safety bolt 66 of the fire extinguishing tank 65 is located in the safety bolt pulling-out seat 68, then the safety bolt pulling-out pin 69 penetrates through the annular part of the safety bolt 66 and is locked on the safety bolt pulling-out seat 68, when fire is required to be extinguished, the tank body installation block 64 and the fire extinguishing tank 65 in the tank body installation block are driven to rotate through the tank body rotation motor 63, so that the substances in the fire extinguishing tank 65 can be stirred, meanwhile, the safety bolt 66 can be pulled out through the safety bolt pulling-out pin 69 in the rotation process, and good spraying of fire extinguishing substances can be guaranteed.

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 are explained 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, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.

Claims (9)

1. The high-voltage switch cabinet fault identification, intelligent danger elimination and fire fighting linkage system is characterized by comprising a high-voltage switch cabinet in a high-voltage chamber, a fault identification danger elimination robot, a fire fighting robot, a signal switching module and a central control module in an operating chamber, wherein the high-voltage switch cabinet switches information through the signal switching module and feeds back the information to the central control module, the fault identification danger elimination robot switches identified fault information through the signal switching module and feeds back the identified fault information to the central control module, the central control module sends an instruction according to the fed-back information and an internally set program and is used for controlling the fault identification danger elimination robot and the fire fighting robot to operate after the information and the internally set program are switched through the signal switching module, and the fault identification danger elimination robot takes four Mecanum wheels matched with driving motors as a travelling mechanism.

2. The high-voltage switch cabinet fault identification, intelligent danger elimination and fire fighting linkage system according to claim 1, wherein the fault identification danger elimination robot comprises a danger elimination robot main body, mecanum wheels are arranged at the lower part of the danger elimination robot main body, walking cameras are arranged on four sides of the danger elimination robot main body, a danger elimination turntable is arranged on the danger elimination robot main body, a first rotating arm is connected to the danger elimination turntable through a first rotating arm motor, the other end of the first rotating arm is connected to a second rotating arm through a second rotating arm motor, the other end of the second rotating arm is connected to a third rotating arm through a third rotating arm motor, the other end of the third rotating arm is connected to a key telescopic rod, an insulating sleeve for a key is sleeved at the outer end of the key telescopic rod, and rotating shafts of the first rotating arm, the second rotating arm and the third rotating arm are parallel.

3. The high-voltage switch cabinet fault identification, intelligent danger elimination and fire protection linkage system according to claim 2, wherein the third rotating arm keeps a horizontal direction during operation, danger elimination cameras with inclined directions are arranged on the upper portion and the lower portion of one end, provided with the key telescopic rod, of the third rotating arm, and a danger elimination distance meter with the direction consistent with that of the key telescopic rod is further arranged on the third rotating arm.

4. The high-voltage switch cabinet fault identification, intelligent danger elimination and fire fighting linkage system according to claim 1, wherein the high-voltage switch cabinet comprises a cabinet body, a switch cabinet display screen and a switch cabinet button are arranged on the upper portion of the front side of the cabinet body, a cabinet door is arranged on the lower portion of the front side of the cabinet body, a locking device matched with the cabinet door is arranged in the cabinet body, the locking device can be automatically unlocked in a power-off state, a cabinet opening device enabling the cabinet door to be opened and closed is arranged on the outer side of the cabinet body, the cabinet opening device enables the cabinet door to be automatically opened in the power-off state, an air pump communicated with the inner cavity of the cabinet body is arranged on the cabinet door, and a smoke alarm is installed at an air outlet of the air pump.

5. The system of claim 4, wherein the locking device comprises a lock seat arranged inside the cabinets and a cabinet lock installation block arranged inside the cabinets, the cabinet lock installation block is provided with a lock block matched with a lock block through a lock block lifting guide rail, the lock block is inserted into the lock seat to achieve locking, the upper portion of the lock block is connected with a lock block lifting pull rope, the lock block lifting pull rope falls to the other side of the cabinet lock installation block after passing through a lock block lifting pulley, the end portion of the lock block lifting pull rope is connected with a metal weight, the cabinet lock installation block is provided with an electromagnet block matched with the metal weight in a magnetic adsorption manner and a weight limiting block located below the electromagnet block, and when the metal weight is adsorbed by the electromagnet block, the lock block is inserted into the lock seat.

6. The system of claim 5, wherein the lock block lifting pulley is disposed on a pulley mounting block, and the pulley mounting block is connected to a vertically-oriented pulley lifting rod disposed in the cabinet body.

7. The system according to claim 4, wherein the cabinet opening device comprises a cabinet opening connecting block fixedly connected with one end of the cabinet door hinged to the cabinet body, the switch connecting block is hinged to a cabinet opening connecting seat, a cabinet opening mounting seat is arranged on the outer side of the cabinet body, a cabinet opening spring in tension is arranged between the cabinet opening mounting seat and the cabinet opening connecting seat, a cabinet opening electric pull rod in the same direction as the direction of the cabinet opening spring is arranged on the cabinet opening mounting seat, and a cabinet opening insertion sleeve matched with the push-pull rod part of the cabinet opening electric pull rod is fixedly connected to the cabinet opening connecting seat in a sleeved mode.

8. The system of claim 1, wherein the fire-fighting robot comprises a fire-fighting robot body and a fire-fighting walking device, the fire-fighting robot body is divided into two regions by a partition plate, one region is provided with a power distribution control box, the other region is provided with a fire-fighting storage, the upper part of the fire-fighting robot body is provided with a spray head mounting seat, a spray head rotating motor is arranged in the spray head mounting seat and connected with a spray head control valve, an outlet of the spray head control valve is connected with a spray head, an inlet of the spray head control valve is connected with the fire-fighting storage through a hose, and the front side of the fire-fighting robot body is provided with an upward-inclined fire-fighting camera and a downward-inclined fire-fighting range finder in a horizontal direction; the upper side plate of the fire-fighting robot main body is an inclined plane which inclines forwards downwards, the spray nozzle mounting seat is matched with a slide rail on the fire-fighting robot main body, the spray nozzle mounting seat is connected with a spray nozzle adjusting stay cord, the other end of the spray nozzle adjusting stay cord is connected with a spray nozzle adjusting block, and the spray nozzle adjusting block is matched with a spray nozzle adjusting electric pull rod in the vertical direction on the rear side plate of the fire-fighting robot main body.

9. The high-voltage switch cabinet fault identification, intelligent danger elimination and fire fighting linkage system according to claim 8, wherein the fire fighting storage comprises a tank body rotating motor which is arranged in the fire fighting robot main body and has an output shaft which is vertically upward, the tank body rotating motor is connected with a tank body mounting block, the lower part of the tank body mounting block is in tangential fit with and supported by a support column in the fire fighting robot main body, a mounting hole for loading a fire extinguishing tank is formed in the tank body mounting block, a fire extinguishing substance outlet of the fire extinguishing tank is communicated with a connector pipe in the fire fighting robot main body through a hose and a connector sleeve, the outer end of the connector pipe is communicated with a nozzle control valve through a hose, a safety plug pulling-out seat is further arranged in the fire fighting robot main body, a safety plug pulling-out pin is detachably mounted on the safety plug pulling-out seat, and the safety plug pulling-out pin penetrates through an annular part of a safety plug of the fire extinguishing tank.

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