CN115576240B - High tension switchgear trouble discernment, intelligent danger-removing and fire-fighting linked system - Google Patents

Abstract

The invention relates to a high-voltage switch cabinet fault identification and intelligent danger-relief and fire-fighting linkage system, which comprises a high-voltage switch cabinet in a high-voltage chamber, a fault identification danger-relief robot, a fire-fighting robot, a signal switching module and a central control module in an operation chamber, wherein the high-voltage switch cabinet is used for switching information through the signal switching module and feeding back the information to the central control module, the fault identification danger-relief robot is used for switching the information to the central control module through the signal switching module and feeding back the information of the identified fault to the central control module, and the central control module is used for controlling the fault identification danger-relief robot and the fire-fighting robot to operate after switching through the signal switching module according to the fed-back information and a program set in the central control module; the fault identification danger elimination and the fire fighting are realized by two robots, the precision of the Mecanum wheels is not affected, the algorithm program in the fault danger elimination process can be simplified, and the cost of high-precision specific route distance movement is reduced.

Description

High tension switchgear trouble discernment, intelligent danger-removing and fire-fighting linked system

Technical Field

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

Background

The high-voltage switch cabinet is used as complete electrical equipment in the power system, bears the switching and protection tasks of a switch in the power system distribution and electric energy conversion process, and is the last gateway for supplying power to citizens, so that the daily maintenance of the equipment is particularly important; the 10kV switch cabinet consists of a circuit breaker, an isolating switch, a load switch, an operating mechanism and a transformer; 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 can cause huge social loss and economic loss, and because the switch cabinet is compact in internal structure, various in parts and small in insulation distance, the 10kV switch cabinet is more prone to break down than other electric equipment.

Especially, various abnormal phenomena and faults of a control loop in 10kV switch cabinet equipment can occur due to the influence of equipment aging or environmental change and the like; normally, if the high-voltage switch cabinets need to be overhauled, a worker of a power supply company can remotely control the high-voltage switch cabinets through a computer, but when the remote control fails, the high-voltage switch cabinets are powered off manually, and in consideration of safety problems, the worker is strictly forbidden to perform on-site tripping on site, and only the power failure of a bus at the upper stage can be performed, so that the large-area large-range power failure condition occurs. In recent years, accidents of personal casualties of workers caused by faults of switch cabinets of national network companies are frequently out of freshness, so that the safety of the operation of a power grid is greatly threatened, and very bad social influence is caused. For example, a 220kV transformer substation of a certain power supply company fails together with a 10kV switch cabinet, so that two operators on duty performing field inspection outside the switch cabinet are burned by an electric arc, and one of the operators dies. When a certain 220kV transformer substation 10kV high-voltage switch cabinet (GGX 2 type) fails due to feeder line faults and a switch is refused, and an operator pulls the switch open to confirm that the switch position indication is at a switch-off position in the process of handling the refused switch, arc short circuit occurs when the isolation switch is pulled open, so that 1 person is lightly injured by 2 persons; a certain 220kV transformer substation is subjected to three-phase short circuit in a 10kV switch cabinet, and high-temperature and high-pressure air waves generated by electric arcs rush out of the cabinet door, so that 2 operators on duty for field inspection outside the switch cabinet are burnt by the electric arcs. Meanwhile, such explosion accidents of the high-voltage switch cabinet usually cause fire disaster together, and further cause greater damage to operation and maintenance safety of power equipment and a power grid.

Based on potential safety hazards, the switch cabinets are subjected to key operation (emergency closing, mode replacement and the like) and fire-fighting and fire-extinguishing operation by using the mechanical arm and the intelligent robot, the mechanical arm still needs to be manually operated, only the switch cabinets are far away, the risk is reduced to a certain extent, the potential safety hazards still exist, the intelligent robot does not need to be manually participated in the whole process, the potential safety hazards can be completely eliminated, the intelligent robot needs to be moved to the designated high-voltage switch cabinet by matching with the walking mechanism of the robot through radar and machine vision and is accurately abutted to the positions of the switch cabinets, and because the number of the high-voltage switch cabinets (or different cabinet bodies of a single high-voltage switch cabinet) in the high-voltage chamber is certainly more than one, even if the robot is designed side by side, the robot cannot reciprocate on a straight line, and needs to be matched with a navigation path to perform actions such as turning, in the moving process, the robot can be ensured to be accurately walked to the designated positions through radar and vision, however, the complex algorithm program is easy to fail, and the computer is easy to cause dead-time operation due to the fact that the serious fault is caused by the fact that the emergency fault is caused by the high-voltage switch cabinets, and the emergency fault is even if the emergency switch cabinet is not closed; aiming at the situation, at present, the robot integrating fault danger elimination and fire protection carries out distance movement according to a specific route, algorithm programs are reduced, the route and distance movement need to ensure movement precision, generally only two vertical directions of movement are needed, operations such as turning and the like are avoided, four Mecanum wheels are adopted as a main structure capable of realizing the two vertical directions of movement under the condition of not turning, however, the Mecanum wheels have certain defects when in use, the precision is very low when the load is overweight, the precision of the Mecanum wheels can be seriously influenced by the load of the robot integrating danger elimination and fire protection, and therefore, a complex mechanical structure needs to be designed to ensure that the robot integrating danger elimination and fire protection can move along the vertical directions, and the design cost and the control cost can be greatly improved.

Disclosure of Invention

The invention aims to provide a high-voltage switch cabinet fault identification, intelligent danger elimination and fire-fighting linkage system, which is characterized in that fault identification danger elimination and fire-fighting are realized by two robots, the precision of the fault identification danger elimination requirement is high, the precision of the fire-fighting requirement is low, the fault identification and danger elimination is small in volume and low in weight, the precision of a Mecanum wheel is not influenced, so that the algorithm program in the fault danger elimination process can be simplified, and the cost of high-precision specific route distance movement can be reduced.

In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a high tension switchgear trouble discernment, intelligent danger and fire control linked system, including the indoor high tension switchgear of high tension, trouble discernment danger robot, fire control robot and signal transfer module and the indoor well accuse module of operation, the high tension switchgear is with the information feedback to well accuse module after the signal transfer module transfer, trouble discernment danger robot is with the trouble information feedback of discernment to well accuse module after the signal transfer module transfer, well accuse module is used for controlling trouble discernment danger robot and fire control robot operation after the signal transfer module transfer according to the information of feedback and the procedure of inside settlement, trouble discernment danger robot uses four cooperation driving motor's Mecanum wheels as running gear.

The method has the advantages that the fault identification danger elimination and the fire protection are realized by two robots, the precision of the fault identification danger elimination requirement is high, the precision of the fire protection requirement is low, the size of the fault identification danger elimination is small, the weight is low, the precision of the Mecanum wheels cannot be influenced, the algorithm program in the fault danger elimination process can be simplified, and meanwhile, the cost of high-precision specific route distance movement can be reduced.

Preferably, the fault identification danger-removing robot comprises a danger-removing robot main body, wherein a Mecanum wheel is arranged at the lower part of the danger-removing robot main body, walking cameras are arranged on four sides of the danger-removing robot main body, a danger-removing rotary table is arranged on the danger-removing robot main body, a first rotary arm is connected to the danger-removing rotary table through a first rotary arm motor, a second rotary arm is connected to the other end of the first rotary arm through a second rotary arm motor, a third rotary arm is connected to the other end of the second rotary arm through a third rotary arm motor, a key telescopic rod is connected to the other end of the third rotary arm, an insulating sleeve for a key is sleeved at the outer end of the key telescopic rod, and rotary shafts of the first rotary arm, the second rotary arm and the third rotary arm are parallel.

The fault identification danger-removing robot adopts the Mecanum wheel to realize accurate vertical movement, and the walking camera can identify whether sudden barriers appear on a walking path, the height adjustment of the key telescopic rod is realized by adopting three rotating arms, the angle adjustment of the key telescopic rod is realized by the danger-removing turntable, the three rotating arms can be contracted in the moving process, the gravity center of the whole robot is low, and side turning can not appear in the moving process.

Preferably, the third rotating arm keeps the horizontal trend when working, the upper part and the lower part of one end of the third rotating arm provided with the key telescopic rod are both provided with the danger-removing cameras with inclined trend, and the third rotating arm is also provided with the danger-removing distance measuring device with the trend consistent with that of the key telescopic rod.

The design of the danger-eliminating camera and the danger-eliminating distance meter is that whether the third rotating arm is horizontal and vertical to the high-voltage switch cabinet is judged through the danger-eliminating distance meter, and whether the height of the key telescopic rod is qualified can be judged through the photographed information by the danger-eliminating camera.

Preferably, the high-voltage switch cabinet comprises a cabinet body, the upper part of the front side of the cabinet body is a switch cabinet display screen and a switch cabinet button, the lower part of the front side of the cabinet body is a cabinet door, 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 for opening and closing the cabinet door is arranged on the outer side of the cabinet body, the cabinet opening device can enable the cabinet door to be automatically opened in the power-off state, an air suction pump communicated with the inner cavity of the cabinet body is arranged on the cabinet door, and a smoke alarm is arranged at the air outlet of the air suction pump.

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

Preferably, the locking device comprises a lock seat arranged on the inner side of the cabinet and a cabinet lock installation block arranged in the cabinet body, the cabinet lock installation block is provided with a lock block in a matched mode through a lock block lifting guide rail, the lock block is inserted into the lock seat to realize locking, the upper portion of the lock block is connected with a lock block lifting rope, the lock block lifting 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 rope is connected with a metal weight, the cabinet lock installation block is provided with an electromagnet block which is magnetically adsorbed and matched with the metal weight and a weight limiting block arranged below the electromagnet block, and the lock block is inserted into the lock seat when the metal weight is adsorbed by the electromagnet block.

The locking device adopts the mode of metal pouring weight cooperation electromagnet piece to control the height of locking piece, and then can control the state of opening and shutting of locking piece and lock seat, when the conflagration appears and leads to high tension switchgear outage, metal pouring weight can descend naturally and make the locking piece rise, and then separate with the lock seat, realizes outage automatic unlocking's function.

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

The pulley lifting pull rod is designed, so that the locking piece can be lifted when the metal weight is adsorbed to the electromagnet block, and the normal opening and closing of the cabinet door can not be influenced.

Preferably, the cabinet opening device comprises a cabinet door and a cabinet body hinged one end fixedly connected cabinet opening connecting block, the cabinet opening connecting block is hinged to be connected with a cabinet opening connecting seat, a cabinet opening installation seat is arranged on the outer side of the cabinet body, a cabinet opening spring which is in stretching is arranged between the cabinet opening installation seat and the cabinet opening connecting seat, a cabinet opening electric pull rod which is consistent with the direction of the cabinet opening spring is arranged on the cabinet opening installation seat, and the cabinet opening connecting seat is fixedly connected with a cabinet opening plug bush which is in sleeve connection with the push-pull rod of the cabinet opening electric pull rod.

When the cabinet door needs to be closed, the electric pull rod of the cabinet opening device stretches, so that the push-pull rod is partially inserted into the cabinet opening plug bush and continuously stretches, the cabinet door can be further closed, after the cabinet door is locked by the locking device, the electric pull rod of the cabinet opening device can be restored to the original position, and when the cabinet needs to be opened, the cabinet door can be automatically opened in a mode that the cabinet opening spring in a stretching state stretches.

Preferably, the fire-fighting robot comprises a fire-fighting robot main body and a fire-fighting walking device, wherein the fire-fighting robot main body is divided into two areas through a partition board, one area is provided with a power distribution control box, the other area is provided with a fire-fighting memory, 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, the spray head rotating motor 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 memory through a hose, and the front side of the fire-fighting robot main body is provided with a fire-fighting camera which inclines upwards and downwards and a fire-fighting range finder which moves horizontally; the upper side plate of the fire-fighting robot main body is an inclined surface inclined forwards and downwards, the spray head mounting seat is matched with a sliding rail on the fire-fighting robot main body, the spray head mounting seat is connected with a spray head adjusting pull rope, the other end of the spray head adjusting pull rope is connected with a spray head adjusting block, and the spray head adjusting block is matched with a spray head adjusting electric pull rod which vertically runs on the rear side plate of the fire-fighting robot main body.

The upper side plate of the fire-fighting robot main body is set to be an inclined plane, the upper side plate is matched with the spray head adjusting pull rope structure, the position of the spray head installing seat on the upper side plate can be adjusted, the position of the spray head can be adjusted, the design of the spray head rotating motor can be matched, and the position and the angle of the spray head can be adjusted, so that the defect of fire-fighting position caused by inaccurate walking of the fire-fighting robot can be overcome.

Preferably, the fire control storage includes in the fire control robot main part and the vertical ascending jar body rotation motor of output shaft, jar body rotation motor is connected with jar body installation piece, and jar body installation piece lower part and the tangent cooperation of support column in the fire control robot main part and by its support, jar body installation piece on offer the mounting hole that is used for loading the fire extinguishing jar, the fire extinguishing substance export of fire extinguishing jar communicates with the interface pipe in the fire control robot main part through hose and interface cover, the outer end of interface pipe communicates with the shower nozzle control valve through the hose, still is provided with the safety cock in the fire control robot main part and pulls out the seat, the safety cock pull out the seat on demountable installation have the safety cock to pull out the round pin and pass the annular portion of the safety cock of fire extinguishing jar.

The fire control memory can deposit the jar body of current fire extinguisher, compares current jar body, has only changed the structure of spray tube, and consequently the fire extinguishing jar obtains simply, when needs use, can rotate the fire extinguishing jar (be equivalent to the shake when manual operation), in the rotation in-process, still can pull out the safety cock of fire extinguishing jar through the safety cock pull-out pin, so can realize safe fire extinguishing jar storage, and does not influence fire extinguishing operation.

Drawings

FIG. 1 is a schematic diagram of a high voltage switchgear fault identification, intelligent danger elimination and fire protection linkage system.

Fig. 2 is a front view of the high voltage switchgear.

Fig. 3 is a cross-sectional view of A-A in 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 a locking device automatically unlocking in a power-off state.

Fig. 7 is a top view of the fault identification risk-dissipating robot.

Fig. 8 is a bottom view of the failure identification risk-removing robot.

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

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

Fig. 11 is a schematic diagram of a fire extinguishing reservoir.

The text labels shown in the figures are expressed as: 1. a cabinet body; 2. a switch cabinet display screen; 3. a switch cabinet button; 4. a cabinet door; 5. an air extracting pump; 6. a smoke alarm; 7. a cabinet opening connecting block; 8. a cabinet opening connecting seat; 9. opening the cabinet plug bush; 10. a cabinet opening spring; 11. a cabinet opening electric pull rod; 12. a cabinet opening mounting seat; 13. a lock base; 14. a cabinet lock mounting block; 15. a locking piece; 16. a locking block lifting guide rail; 17. a locking piece 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. an evacuation robot body; 32. mecanum wheel; 33. a walking camera; 34. an evacuation turntable; 35. a first rotating 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 expansion link; 42. an insulating sleeve; 43. an escape distance meter; 44. an evacuation camera; 49. a fire camera; 50. a fire-fighting range finder; 51. a fire-fighting robot body; 52. a fire-fighting walking device; 53. a partition plate; 54. a power distribution control box; 55. a fire fighting memory; 56. a spray head mounting seat; 57. a head rotating motor; 58. a spray head control valve; 59. a spray head; 60. a spray head adjusting pull rope; 61. a spray head adjusting block; 62. the spray head adjusts the electric pull rod; 62. a support column; 63. a tank body rotating motor; 64. a tank body mounting block; 65. a fire extinguishing tank; 66. a safety bolt; 67. an interface sleeve; 68. the safety bolt is pulled out of the seat; 69. the safety bolt pulls out the pin.

Description of the embodiments

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1, the high-voltage switch cabinet fault identification, intelligent risk elimination and fire protection linkage system comprises a high-voltage switch cabinet in a high-voltage chamber, a fault identification risk elimination robot, a fire protection robot, a signal switching module and a central control module in an operation chamber, wherein the high-voltage switch cabinet feeds information back to the central control module after being switched by the signal switching module, the fault identification risk 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 instructions according to the fed-back information and an internally set program, the instructions are used for controlling the fault identification risk elimination robot and the fire protection robot to operate after being switched by the signal switching module, and the fault identification risk elimination robot takes four Mecanum wheels 32 matched with driving motors as a running mechanism.

The utility model provides a switch cabinet trouble is discerned, intelligence is arranged danger and fire control linked system can be with the operation instruction input who sets for to well accuse module when specifically using, well accuse module can send operation instruction to signal transfer module, and then control trouble recognition is arranged danger robot and carry out trouble inspection, and the result of inspection and the trouble information or the conflagration information that high-voltage switch cabinet itself fed back can be transmitted to signal transfer module, and then feedback to well accuse module, well accuse module carries out analysis back according to inspection and the information that high-voltage switch cabinet itself fed back, send out the instruction once more, be used for controlling trouble recognition and arrange danger robot and carry out danger (button) operation or be used for controlling fire control robot and carry out fire control operation, in whole system, with trouble recognition arrange danger and fire control and divide into two robots, the accuracy requirement that advances of unwieldy fire control robot is not high, as long as high-voltage switch cabinet is in the within range of shower nozzle, and the accuracy requirement that advances of trouble recognition arranges danger robot is high, need can be with the accurate cooperation of button on the high-voltage switch cabinet, adopt the microphone wheel to make trouble recognition can not rotate down the robot main part of danger robot and carry out the operation or be used for controlling the fire control robot to carry out danger operation, the accuracy is accomplished because the complicated problem that the robot need not to move down to realize the accuracy of complicated danger can not need to move down, the complicated sound-absorbing robot, can not have such complicated danger-handling algorithm, can be accomplished by the complicated sound down, because of the complicated sound-handling robot has such a complicated problem.

As shown in fig. 7-9, the fault identification evacuation robot comprises an evacuation robot main body 31, a mecanum wheel 32 is arranged at the lower part of the evacuation robot main body 31, four sides of the evacuation robot main body 31 are respectively provided with a walking camera 33, the evacuation robot main body 31 is provided with an evacuation turntable 34, the evacuation 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 telescopic rod 41, the outer end of the key telescopic rod 41 is sleeved with an insulating sleeve 42 for keys, the 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 horizontal trend when in operation, one end upper part and lower part of the third rotating arm 40, on which the key telescopic rod 41 is installed, are respectively provided with an inclined evacuation camera 44, and the third rotating arm 40 is also provided with a distance measuring device 41, and the key telescopic rod 41 is arranged on the third rotating arm 40.

The fault identification risk-removing robot mainly comprises two operation modes, wherein the first operation mode is fault identification (inspection), the second operation mode is fault risk-removing, the fault identification operation is simple, the whole fault identification risk-removing robot is driven by the Mecanum wheel to travel according to a specific route, the first rotating arm motor 35, the second rotating arm motor 37 and the third rotating arm motor 39 are driven by the specific angle of rotation instructions to pick up the images, so that the fault information of some simple high-voltage switch cabinets can be inspected, the fault risk-removing robot is known to have faults in a certain high-voltage switch cabinet (or a certain cabinet body of a group of high-voltage switch cabinets), key operation is needed, such as emergency stop, conversion and the like, still the high-voltage switch cabinets to be operated are driven by the Mecanum wheel according to the specific route, then the first rotating arm motor 35, the second rotating arm motor 37 and the third rotating arm motor 39 are driven by the specific angle of rotation instructions, the third rotating arm 40 is kept to be at the required to be at the same time, the required height of the key through the distance measuring device 43, the distance measuring is needed when the two high-voltage switch cabinets (or the two high-voltage switch cabinets) are inspected, and the distance measuring device is required to be tested by the distance measuring device is required to be in the state of the high-voltage switch cabinet 40, and the high-voltage switch 40 is required to be detected by the corresponding to be in the state, and the high-voltage switch cabinet is required to be detected by the high-level, and the distance is required to be detected by the high and the distance, and the high-voltage switch 40 is required to be in the high level, and the state, if the device is required to be high and has high level.

As shown in fig. 2, the high-voltage switch cabinet comprises a cabinet body 1, a switch cabinet display screen 2 and a switch cabinet button 3 are arranged on the upper portion of the front side of the cabinet body 1, a cabinet door 4 is arranged on the lower portion of the front side of the cabinet body 1, a locking device matched with the cabinet door 4 is arranged in the cabinet body 1, the locking device can be automatically unlocked in a power-off state, a cabinet opening device for opening and closing the cabinet door 4 is arranged on the outer side of the cabinet body 1, the cabinet opening device can automatically open the cabinet door 4 in the power-off state, an air pump 5 communicated with the inner cavity of the cabinet body 1 is arranged on the cabinet door 4, and a smoke alarm 6 is arranged at the air outlet of the air pump 5.

In-process at the operation of high tension switchgear, aspiration pump 5 can be continuous bleed, if appear on fire in the high tension switchgear, produced smog can be taken out and directly carry to smog alarm 6 department, make smog alarm 6 produce alarm signal, compare current in the high tension switchgear indoor or the mode of smog alarm outside the high tension switchgear, this application is through the design of aspiration pump 5, the timely production alarm signal of smoking that can be as early as possible, both just accomplish the smog warning when the conflagration takes place, and locking device unblock, the cabinet opening device opens cabinet door 4, make things convenient for fire control robot to fire control to put out a fire.

As shown in fig. 4-6, the locking device comprises a lock seat 13 arranged on the inner side of the cabinets 4 and a cabinet lock mounting block 14 arranged in the cabinet body 1, the lock seat 14 is matched with the lock seat 15 through a lock lifting guide rail 16, the lock seat 13 is inserted into the lock seat 15 to realize locking, the upper part of the lock seat 15 is connected with a lock lifting rope 17, the lock lifting rope 17 falls to the other side of the cabinet lock mounting block 14 after passing through a lock lifting pulley 18, the end part of the lock lifting 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 arranged below the electromagnet block 22, when the metal weight 21 is adsorbed by the electromagnet block 22, the lock seat 15 is inserted into the lock seat 13, the lock lifting pulley 18 is arranged on a pulley mounting block 19, and the pulley mounting block 19 is connected with a vertically arranged pulley lifting pull rod 20 in the cabinet body 1.

Fig. 4 shows that the locking device is in a locked state, under the condition of normal power on, when unlocking is needed, the pulley mounting block 19 is driven to rise by the pulley lifting pull rod 20, and then the locking block lifting pulley 18 can be driven to rise, because the metal weight block 21 is adsorbed by the electromagnet block 22, only the locking block 15 can rise to achieve the state shown in fig. 5, unlocking is achieved, if the high-voltage switch cabinet is powered off due to fire, the pulley lifting pull rod 20 cannot rise and fall under the condition of no power, the electromagnet block 22 is also in the non-power state, the metal weight block 21 at the moment falls under the action of gravity until being intercepted by the weight block 23, and the locking block 15 at the moment is pulled up by the falling of the metal weight block 21, so that the metal weight block 21 is separated from the locking seat 13, and the state is as shown in fig. 6, and the automatic unlocking operation of power off is achieved.

As shown in fig. 2-3, the cabinet opening device comprises a cabinet opening connection block 7 fixedly connected with one hinged end of a cabinet door 4 and a cabinet body 1, the cabinet opening connection block 7 is hinged with a cabinet opening connection seat 8, a cabinet opening installation seat 12 is arranged on the outer side of the cabinet body 1, a cabinet opening spring 10 which is stretched is arranged between the cabinet opening installation seat 12 and the cabinet opening connection seat 8, a cabinet opening electric pull rod 11 which is consistent with the trend of the cabinet opening spring 10 is arranged on the cabinet opening installation seat 12, and a cabinet opening plug bush 9 which is sleeved and matched with a push-pull rod part of the cabinet opening electric pull rod 11 is fixedly connected with the cabinet opening connection seat 8.

When the cabinet door 4 is in a locking state, the electric pull rod 11 of the cabinet opening is in a retraction state, only part of the electric pull rod 11 of the cabinet opening is in the cabinet opening plug bush 9, after the locking device is unlocked, the stretched cabinet opening spring 10 can be elastically restored, the cabinet opening connecting seat 8 can be driven to move towards the cabinet opening mounting seat 12, the cabinet opening connecting seat 7 can be driven to rotate relative to the cabinet opening connecting seat 8, the cabinet door 4 is further opened, the automatic cabinet door in a power-off state is completed to be opened, the cabinet door can be closed by manual operation, and the cabinet opening connecting seat 8 can be pushed by the electric pull rod 11 of the cabinet opening after the power is electrified, so that the cabinet opening spring 10 is in a stretching state again, and the cabinet door is closed again.

As shown in fig. 10, the fire-fighting robot comprises a fire-fighting robot main body 51 and a fire-fighting walking device 52, wherein the fire-fighting robot main body 51 is divided into two areas by a partition 53, one area is provided with a power distribution control box 54, the other area is provided with a fire-fighting storage 55, the upper part of the fire-fighting robot main body 51 is provided with a spray head mounting seat 56, the spray head mounting seat 56 is internally provided with a spray head rotating motor 57, the spray head rotating motor 57 is connected with a spray head control valve 58, an outlet of the spray head control valve 58 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 51 is provided with a fire-fighting camera 49 which inclines upwards and downwards and a fire-fighting range finder 50 which runs horizontally; the upper side plate of the fire-fighting robot main body 51 is an inclined surface which is inclined forwards and downwards, the spray head mounting seat 56 is matched with a sliding rail on the fire-fighting robot main body 51, the spray head mounting seat 56 is connected with a spray head adjusting pull rope 60, the other end of the spray head adjusting pull rope 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 which vertically runs on the rear side plate of the fire-fighting robot main body 51.

After receiving the instruction, the fire-fighting robot walks according to the instruction by the fire-fighting walking device 52, after the completion, the fire-fighting robot walks according to the instruction, the fire-fighting distance measuring device 50 and the fire-fighting camera 49 are used for measuring and shooting, the distribution control box can calculate the approximate angle of the spray head 59 and the approximate position of the spray head 59 according to the distance measuring condition of the fire-fighting distance measuring device 50 and the fire condition shot by the fire-fighting camera 49, then the position of the spray head mounting seat 56 is adjusted by the spray head adjusting electric pull rod 62 in combination with the upper side plate of the inclined fire-fighting robot main body 51, then the spray head control valve 58 and the spray head 59 are adjusted by the spray head rotating motor 57, then the spray head control valve 58 is started to spray fire-extinguishing substances, and then the spray head 59 can be gradually moved to the high-voltage switch cabinet along with the progress of fire extinguishing, and the process can be realized by the spray head adjusting electric pull rod 62 and the spray head adjusting pull rope 60.

As shown in fig. 10-11, the fire-fighting storage 55 comprises a tank rotating motor 63 with an upright output shaft in the fire-fighting robot main body 51, the tank rotating motor 63 is connected with a tank mounting block 64, the lower part of the tank mounting block 64 is tangentially matched with and supported by a supporting column 62 in the fire-fighting robot main body 51, a mounting hole for loading a fire-extinguishing tank 65 is formed in the tank mounting block 64, a fire-extinguishing substance outlet of the fire-extinguishing tank 65 is communicated with an interface tube in the fire-fighting robot main body 51 through a hose and an interface sleeve 67, the outer end of the interface tube is communicated with a spray head control valve 58 through a hose, a safety plug extracting seat 68 is further arranged in the fire-fighting robot main body 51, a safety plug extracting pin 69 is detachably mounted on the safety plug extracting seat 68, and the safety plug extracting pin 69 penetrates through an annular part of the safety plug 66 of the fire-extinguishing tank 65.

Initially, the fire extinguishing pot 65 is installed in the installation hole of the pot body installation block 64 (the fire extinguishing pot 65 and the pot body installation block 64 are connected into a whole by means of air suction and negative pressure), the annular part of the safety bolt 66 of the fire extinguishing pot 65 is positioned in the safety bolt pulling seat 68, then the safety bolt pulling pin 69 passes through the annular part of the safety bolt 66 and is locked on the safety bolt pulling seat 68, when fire extinguishing is needed, the pot body installation block 64 and the fire extinguishing pot 65 therein are driven to rotate by the pot body rotation motor 63, so that the stirring effect on substances in the fire extinguishing pot 65 can be achieved, and meanwhile, the safety bolt 66 can be pulled out by the safety bolt pulling pin 69 in the rotation process, so that good ejection of fire extinguishing substances can be ensured.

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 with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. The foregoing is merely illustrative of the preferred embodiments of this invention, and it is noted that there is objectively no limit to the specific structure disclosed herein, since numerous modifications, adaptations and variations can be made by those skilled in the art without departing from the principles of the invention, and the above-described features can be combined in any suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present invention.

Claims (5)

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 operation chamber, wherein the high-voltage switch cabinet is used for switching information through the signal switching module and feeding back the information to the central control module, the fault identification danger elimination robot is used for switching the information of the identified faults through the signal switching module and feeding back to the central control module, the central control module is used for controlling the fault identification danger elimination robot and the fire-fighting robot to operate after switching through the signal switching module according to the fed-back information and an internally set program, the fault identification danger elimination robot takes four Mecanum wheels matched with driving motors as a traveling mechanism, so that the traveling mechanism only has two movements in the vertical direction, high-precision specific route distance movement is realized, the algorithm program in the fault evacuation process is simplified, the fault identification evacuation robot comprises an evacuation robot main body, a Mecanum wheel is arranged at the lower part of the evacuation robot main body, walking cameras are arranged on four sides of the evacuation robot main body, an evacuation turntable is arranged on the evacuation robot main body, a first rotating arm is connected to the evacuation turntable through a first rotating arm motor, the other end of the first rotating arm is connected with a second rotating arm through a second rotating arm motor, the other end of the second rotating arm is connected with a third rotating arm through a third rotating arm motor, the other end of the third rotating arm is connected with a key telescopic rod, the outer end of the key telescopic rod is sleeved with an insulating sleeve for a key, the rotating shafts of the first rotating arm, the second rotating arm and the third rotating arm are parallel, the high-voltage switch cabinet comprises a cabinet body, the upper part of the front side of the cabinet body is provided with a switch cabinet display screen and a switch cabinet button, the front side lower part of the cabinet body is the cabinet door, the cabinet body is internally provided with the locking device with cabinet door complex, locking device can automatic unblock under the outage state, and the outside of the cabinet body is provided with the opening device that makes the cabinet door open and shut, and opening device enables the cabinet door to open automatically under the outage state, be provided with the aspiration pump with the internal chamber intercommunication of cabinet on the cabinet door, the smog alarm is installed to the gas outlet department of aspiration pump, locking device is including setting up the cabinet lock installation piece that sets up in the inboard lock seat of cabinet and cabinet body, have the locking piece through locking piece lift rail cooperation on the cabinet lock installation piece, and the locking piece inserts in the lock seat and realize locking, the upper portion of locking piece is connected with the locking piece lift stay cord, and the locking piece lift stay cord is provided with the electromagnetism piece with the cooperation of magnetism of metal weight on the cabinet lock installation piece and the stopper that is in the electromagnetism piece below, and when the metal is adsorbed by the electromagnetism piece, the locking piece inserts in the lock seat, and the locking piece is gone up and is gone up to the pulley setting up in the lock seat, and is connected with the pulley in the setting up and is gone up to the pulley of the lift pulley.

2. The high-voltage switch cabinet fault identification, intelligent danger elimination and fire protection linkage system according to claim 1, wherein the third rotating arm keeps a horizontal trend during operation, the upper part and the lower part of one end of the third rotating arm provided with the key telescopic rod are both provided with danger elimination cameras with inclined trend, and the third rotating arm is also provided with danger elimination distance measuring devices with the trend consistent with that of the key telescopic rod.

3. The high-voltage switch cabinet fault identification, intelligent danger elimination and fire control linkage system according to claim 1, wherein the cabinet opening device comprises a cabinet opening connecting block fixedly connected with one end of a cabinet door hinged with a cabinet body, the cabinet opening connecting block is hinged with a cabinet opening connecting seat, a cabinet opening mounting seat is arranged on the outer side of the cabinet body, a cabinet opening spring which is in stretching is arranged between the cabinet opening mounting seat and the cabinet opening connecting seat, a cabinet opening electric pull rod which is consistent with the direction of the cabinet opening spring is arranged on the cabinet opening mounting seat, and a cabinet opening plug bush which is in sleeve fit with a push-pull rod part of the cabinet opening electric pull rod is fixedly connected with the cabinet opening connecting seat.

4. The high-voltage switch cabinet fault identification, intelligent danger elimination and fire-fighting linkage system according to claim 1, wherein 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 through a partition board, an electric distribution control box is installed in one area, a fire-fighting memory is installed in the other area, a spray head installation seat is arranged at the upper part of the fire-fighting robot main body, a spray head rotating motor is arranged in the spray head installation seat, the spray head rotating motor 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 memory through a hose, and a fire-fighting camera which inclines upwards and downwards and a fire-fighting range finder which runs horizontally are arranged at the front side of the fire-fighting robot main body; the upper side plate of the fire-fighting robot main body is an inclined surface inclined forwards and downwards, the spray head mounting seat is matched with a sliding rail on the fire-fighting robot main body, the spray head mounting seat is connected with a spray head adjusting pull rope, the other end of the spray head adjusting pull rope is connected with a spray head adjusting block, and the spray head adjusting block is matched with a spray head adjusting electric pull rod which vertically runs on the rear side plate of the fire-fighting robot main body.

5. The high-voltage switch cabinet fault identification and intelligent danger elimination and fire-fighting linkage system according to claim 4, wherein the fire-fighting storage comprises a tank rotating motor which is arranged in a fire-fighting robot main body and has an output shaft vertically upwards, the tank rotating motor is connected with a tank mounting block, the lower part of the tank mounting block is tangentially matched with and supported by a support column in the fire-fighting robot main body, the tank mounting block is provided with a mounting hole for loading a fire-extinguishing tank, 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 pulling seat is further arranged in the fire-fighting robot main body, a safety plug pulling pin is detachably arranged on the safety plug pulling seat, and penetrates through an annular part of a safety plug of the fire-extinguishing tank.

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