Plugging robot for internal fire of transformer and use method

Abstract

The invention discloses a plugging robot for a fire disaster in a transformer and a using method, and belongs to the technical field of transformer fire-fighting robots. A plugging module lifting arm frame is mounted at the top of a power chassis of the plugging robot for the fire disaster in the transformer, and a plug connector is arranged at the top of the plugging module lifting arm frame; the plug connector is in plug-in connection with the ridge tearing plugging module, and the middle of the ridge tearing plugging module is connected with the automatic fire extinguishing device; the two sides of the peripheral face of a vertical pitch shaft of the ridge line tearing blocking module are connected with a 3Y-TZP ceramic blocking baffle, the middle of the vertical pitch shaft is connected with an automatic fire extinguishing device, the vertical pitch shaft is connected with a connector clip in an inserted mode through an inserting rod, and the opening and closing degree of the 3Y-TZP ceramic blocking baffle is adjusted through forward and reverse rotation of the vertical pitch shaft to block a transformer tearing opening. And meanwhile, the polyimide sealing layer is coated on the opposite side of the 3Y-TZP ceramic blocking baffle, and the polyimide sealing layer is automatically softened at high temperature to fill a gap between the 3Y-TZP ceramic blocking baffle and the tearing opening, so that the tearing opening of the transformer is further blocked.

Description

Technical Field

[0001] The invention belongs to the technical field of transformer fire fighting robots, and in particular relates to a blocking robot for internal fire of a transformer and a use method thereof. Background Art

[0002] Against the backdrop of national energy security and intelligent development of the power industry, electricity has become an indispensable part of people's daily lives. Substations transform voltage and current in power systems, and UHV power stations are technologies that transmit electricity at voltage levels of 1000 kV or above. As key energy conversion and transmission nodes, UHV power stations may cause significant economic losses and grid interruptions once a fire occurs.

[0003] Large oil-filled equipment such as transformers have large oil storage capacity, high fire risk, long combustion duration, and are prone to tearing during the combustion process. Three types of tearing are typical scenarios: one is the vertical ridge tear on the side of the oil tank at Qilian Station in 2022; the second is the horizontal ridge tear on the top of the oil tank at Shaanxi Station in 2021; the third is the tear on the riser on the side of the oil tank at Quancheng Station in 2019. The current fire protection system of UHV power stations still has many shortcomings. The traditional fixed fire protection system is limited by factors such as power and layout, and cannot effectively cover the tear. Although mobile fire trucks and fire robots can reach the tear, the fire extinguishing method is still to spray the fire extinguishing medium from the outside to the inside through the tear. However, both fire extinguishing methods can only be used to extinguish the transformer locally or at a specific angle on the outside. The fire is extinguished as a whole, but due to the complex internal structure of the transformer, external spraying cannot continuously control and extinguish the oil fire inside the transformer, and the internal fire of the transformer is often helpless. Therefore, after the external fire is extinguished, the internal fire often still exists. If the transformer explodes, the fire will reignite, and the fire can only be extinguished after the internal combustibles are completely burned out. At the same time, during the fire extinguishing process, since the above-mentioned fire extinguishing means are based on the principle of cooling and suffocation covering, the boiling point of the transformer oil is relatively low, so after contacting the fire extinguishing medium, the transformer oil fire will boil and splash. If it is sprayed from the tear, it will cause casualties and equipment damage, making the fire extinguishing more difficult. Therefore, it is very important to develop an efficient equipment specifically for internal fires of transformers. Summary of the invention

[0004] In order to solve the deficiencies in the prior art, the present invention provides a blocking robot for internal fires in transformers. The present invention solves the problem that fixed and mobile fire extinguishing systems in large substations are unable to cope with internal fires in transformers. The present invention can specifically search for fires and extinguish fires inside the tear holes, and the blocking module can also specifically block various types of tear holes to prevent the internal fire or oil of the transformer from spraying to the outside, thereby greatly improving the safety of personnel.

[0005] The present invention adopts the following technical solution.

[0006] The first aspect of the present invention discloses a blocking robot for internal fire of a transformer, comprising: an edge tear blocking module, an automatic fire extinguishing device, a blocking module lifting arm and a power chassis, wherein the blocking module lifting arm is installed on the top of the power chassis, a plug-in is arranged on the top of the blocking module lifting arm, the plug-in is plugged into the edge tear blocking module, and the middle of the edge tear blocking module is connected to the automatic fire extinguishing device;

[0007] The ridge tear blocking module includes: a 3Y-TZP ceramic blocking baffle and a vertical pitch axis. Both sides of the outer circumference of the vertical pitch axis are connected to two 3Y-TZP ceramic blocking baffles and the middle is connected to an automatic fire extinguishing device. The vertical pitch axis is plugged through a plug-in rod and a plug-in component. The two 3Y-TZP ceramic blocking baffles are opened and closed by the forward and reverse rotation of the vertical pitch axis. The transformer tear is blocked by adjusting the opening and closing degree of the 3Y-TZP ceramic blocking baffles. At the same time, a polyimide sealing layer is applied to the opposite side of the 3Y-TZP ceramic blocking baffle. The polyimide sealing layer automatically softens at high temperature to fill the gap between the 3Y-TZP ceramic blocking baffle and the transformer tear, thereby blocking the transformer tear.

[0008] Preferably, the sealing robot for internal fire of transformer also includes: a tear sealing module of the oil tank side raised seat, the tear sealing module of the oil tank side raised seat includes: a 3Y-TZP ceramic sealing box-type baffle, the 3Y-TZP ceramic sealing box-type baffle is a box structure with an opening on one side, the connector and the tear sealing module of the oil tank side raised seat are plugged in on the closed side, and the 3Y-TZP ceramic sealing box-type baffle is coated with a polyimide sealing layer.

[0009] Preferably, the lifting arm of the sealing module includes: a pitch axis, a connector, a lifting arm and a turntable. The bottom of the turntable is connected to the top of the power chassis, the turntable can rotate horizontally 360°, and a lifting arm is arranged on the top of the turntable. The pitch axis is arranged at the upper end of the lifting arm. A connector is provided at one end of the pitch axis, which is connected with the tear sealing module of the lifting seat on the side of the oil tank or the ridge tear sealing module through the connector to cope with different types of transformer tear holes. A telescopic hydraulic cylinder and a water pipeline are arranged inside the lifting arm.

[0010] Preferably, the automatic fire extinguishing device includes: a horizontal rotating shaft, a fire-seeking camera and a fine water mist fire cannon, wherein one end of the horizontal rotating shaft is connected to the vertical pitch shaft, and the other end of the horizontal rotating shaft is connected to the fine water mist fire cannon, a fire-seeking camera is arranged on the fine water mist fire cannon, the fire-seeking camera has a built-in automatic fire extinguishing control system, and the automatic fire extinguishing control system is electrically connected to the vertical pitch shaft and the horizontal rotating shaft.

[0011] Preferably, the horizontal rotating shaft comprises: an external motor fixing protection tube, an inner ring gear, a gear and a motor, the inner ring gear is arranged at the outermost side of the horizontal rotating shaft, the inner circumference of the inner ring gear is evenly provided with ratchet teeth, and an external motor fixing protection tube is arranged inside the inner ring gear, the motor is located between the inner ring gear and the external motor fixing protection tube, one side of the motor is fixedly connected to the inner circumference of the inner ring gear, the bottom of the motor is connected to the gear, the gear and the inner circumference of the inner ring gear are snap-connected, one end of the inner ring gear is connected to the fine water mist fire monitor, and then the gear and the inner ring gear are rotated in coordination. The direction of the fine water mist fire monitor can be automatically adjusted. At the same time, the pitch axis has the same structure as the horizontal rotation axis. One side of the outer circumference of the inner ring gear of the pitch axis is connected to the connector. The inner ring gear is rotated by the motor to drive the connector to rotate around the pitch axis, thereby adjusting the pitch angle of the connector; and the vertical pitch axis has the same structure as the horizontal rotation axis. Both sides of the outer circumference of the inner ring gear of the vertical pitch axis are connected to the 3Y-TZP ceramic sealing baffles. The opening and closing degree of the two 3Y-TZP ceramic sealing baffles are adjusted by controlling the positive and negative rotation of the inner ring gear.

[0012] Preferably, the horizontal rotating shaft also includes: a water pipe, a water pipe is arranged inside the external motor fixing protection tube to prevent the motor from contacting the water mist, one end of the water pipe is connected to the inside of the fine water mist fire cannon and the other end is connected to the water supply pipeline on the lifting arm.

[0013] Preferably, the power chassis has a built-in battery and an automatic driving system, and the power chassis includes: a body, legs, wheels and a water inlet. Four legs are provided at the four corners of the bottom of the body, and the legs extend vertically downward to prop up the device to maintain balance during the blocking and fire extinguishing process. At the same time, wheels are provided on the inner sides of the legs corresponding to the four corners of the bottom of the body, and the wheels are connected to the automatic driving system. The automatic driving system controls the wheels to move the device to a specified position. A water inlet is provided on one side of the body, and the outside of the water inlet is connected to a fire hose and the inside is connected to a water pipeline on the lifting arm.

[0014] The second aspect of the present invention discloses a method for using a blocking robot for a fire inside a transformer. Based on the blocking robot for a fire inside a transformer, the method comprises the following steps:

[0015] After receiving the fire alarm signal, the connector on the lifting arm of the blocking module is plugged into the edge tear blocking module or the tear blocking module of the lifting seat on the side of the oil tank;

[0016] After the power chassis drives the wheels to the fire extinguishing position through the automatic driving system, the legs are operated to extend and retract to support and fix the device, and the water supply port is connected to a fire hose;

[0017] Control the device to seal the tear in the transformer oil tank;

[0018] After blocking, the fire-seeking camera is activated, and the elevation angle and rotation direction of the water mist fire monitor are adjusted to aim the water mist fire monitor at the fire point with the highest temperature to extinguish the fire;

[0019] After the fire alarm signal ends, the fine water mist fire monitor returns to the center, the lifting arm of the blocking device descends, the legs are retracted, and the device returns to the docking position through the automatic driving system, and the fire extinguishing operation is completed.

[0020] The third aspect of the present invention discloses an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when loaded into the processor, implements a method for using a blocking robot for internal fire of a transformer.

[0021] A fourth aspect of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements a method for using a blocking robot for internal fire of a transformer.

[0022] The beneficial effect of the present invention is that, compared with the prior art, the present invention plugs the connector and the ridge tear plugging module with the oil tank side raised seat tear plugging module, so that it is convenient to replace different plugging modules according to different types of transformer oil tank tear openings, so as to achieve targeted plugging and fire extinguishing; at the same time, the surfaces of the ridge tear plugging module and the oil tank side raised seat tear plugging module are coated with a polyimide sealing layer, which automatically softens at high temperature and automatically fills the gap of the transformer tear opening, so as to better plug the tear opening, eliminate the possibility of transformer oil fire spraying, prevent the fire source from expanding, improve safety, and avoid casualties;

[0023] At the same time, the automatic fire extinguishing device of the present invention can directly locate the fire source inside the transformer after the plugging is completed and spray water mist to extinguish the fire, which can directly and effectively extinguish the fire inside the transformer, avoid explosion caused by long-term burning inside the transformer, reduce the possibility of fire re-ignition, and improve the safety of fire extinguishing.

[0024] Moreover, the lifting arm of the blocking module of the present invention can drive the blocking module to rotate 360° in the horizontal direction through the turntable, and the lifting arm drives the blocking module to perform lifting movement through the hydraulic cylinder. At the same time, the motor on the pitch axis is started to adjust the pitch angle of the blocking module, and then the lifting arm of the blocking module can be adjusted in three degrees of freedom: horizontal direction, vertical direction and pitch angle, so that the edge tearing blocking module or the tank side lifting seat tearing blocking module can adjust the position and direction according to the fire. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1It is a side view of a blocking robot for internal fire of a transformer according to the present invention;

[0026] Figure 2 It is a side view of the tear blocking module of the fuel tank side elevation seat of the present invention;

[0027] Figure 3 1. is a front view of the tear-blocking module of the oil tank side elevation seat of the present invention;

[0028] Figure 4 is a front view of the ridge tear blocking module of the present invention;

[0029] Figure 5 is a top view of the ridge tear blocking module of the present invention;

[0030] Figure 6 is a side view of the ridge tear blocking module of the present invention;

[0031] Figure 7 is a side view of the automatic fire extinguishing device of the present invention;

[0032] Figure 8 is a side view of the plugging module lifting arm of the present invention;

[0033] Fig. 9 is a structural diagram of the power chassis of the present invention;

[0034] Fig.10 is a cross-sectional view of the horizontal rotation axis of the present invention;

[0035] In the figure: 10, edge tear sealing module; 11, 3Y-TZP ceramic sealing baffle; 12, polyimide sealing layer; 13, vertical pitch axis; 14, plug-in rod; 15, plug-in; 20, oil tank side lifting seat tear sealing module; 21, 3Y-TZP ceramic sealing box-type baffle; 30, automatic fire extinguishing device; 31, fine water mist fire monitor; 32, horizontal rotating axis; 320, water pipe; 321, external motor fixed protection tube; 322, inner ring gear; 323, gear; 324, motor; 33, fire-seeking camera; 40, sealing module lifting arm; 41, pitch axis; 42, lifting arm; 43, turntable; 50, power chassis; 51, body; 52, outrigger; 53, wheel; 54, water inlet. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0037] like Figure 1-10 As shown, embodiment 1 of the present invention provides a blocking robot for internal fire of a transformer, the device comprising: an edge tear blocking module 10, an automatic fire extinguishing device 30, a blocking module lifting arm 40 and a power chassis 50, wherein the blocking module lifting arm 40 is installed on the top of the power chassis 50, a pitch axis 41 is installed on the top of the blocking module lifting arm 40, a plug-in 15 is provided on the outer surface of one side of the pitch axis 41, and the plug-in 15 is fixedly connected with the plug-in rod 14 on the edge tear blocking module 10;

[0038] The ridge tear plugging module 10 is used to block the vertical ridge tearing on the side and the horizontal tearing on the top of the oil tank caused by fire. The ridge tear plugging module 10 includes: a 3Y-TZP ceramic plugging baffle 11, a vertical pitch axis 13 and a plug-in rod 14. One end of the plug-in rod 14 is movably connected to the vertical pitch axis 13 and the other end is plugged and fixed to the plug-in piece 15. The two sides of the outer circumference of the vertical pitch axis 13 are connected to two 3Y-TZP ceramic plugging baffles 11. The forward or reverse rotation enables the two 3Y-TZP ceramic blocking baffles 11 to rotate around the vertical pitch axis 13 and then perform opening and closing movements. The fitting distance between the two 3Y-TZP ceramic blocking baffles 11 is adjusted by the vertical pitch axis 13, so that the 3Y-TZP ceramic blocking baffles 11 can adjust the opening and closing degree according to the type of the tearing hole of the transformer box, perform comprehensive blocking, prevent the spread of fire, and improve safety. At the same time, the middle of the vertical pitch axis 13 is connected to the automatic fire extinguishing device 30;

[0039] The automatic fire extinguishing device 30 includes: a horizontal rotating shaft 32, a fire-finding camera 33 and a fine water mist fire monitor 31, wherein one end of the horizontal rotating shaft 32 is connected to the vertical pitch shaft 13, and the other end of the horizontal rotating shaft 32 is connected to the fine water mist fire monitor 31. The fine water mist fire monitor 31 is provided with a fire-finding camera 33, and the fire-finding camera 33 is a thermal imaging detection camera for sensing temperature.

[0040] The fire-finding camera 33 has a built-in automatic fire-extinguishing control system, which is electrically connected to the vertical pitch axis 13 and the horizontal rotation axis 32. The automatic fire-extinguishing control system can control the motor 324 inside the vertical pitch axis 13 and the horizontal rotation axis 32, thereby adjusting the pitch angle and rotation direction of the fine water mist fire cannon 31 to accurately locate the burning point for fire extinguishing. The fire-finding camera 33 is installed on the top of the fine water mist fire cannon 31. After the blocking is completed, the fire-finding camera 33 determines the highest temperature position according to the temperature of the infrared thermal imaging. The automatic fire-extinguishing control system controls the movement of the horizontal rotation axis 32 and the vertical pitch axis 13 to guide the fine water mist fire cannon 31 to point to the fire source for fire extinguishing. The fine water mist fire cannon 31 sprays a foam + fine water mist mixed fire extinguishing medium with a Dv0.99≤1000um, which has a stronger fire extinguishing efficiency than a single fire extinguishing medium.

[0041] A specific embodiment is that the automatic fire extinguishing control system calibrates the pixels on the image video taken by the fire-seeking camera 33 in the form of coordinates, and then analyzes the internal temperature of the transformer by the thermal infrared principle, finds the pixel point with the highest temperature, and feeds back the pixel point coordinates to the automatic fire extinguishing control system. The automatic fire extinguishing control system determines the longitudinal distance between the fire point and the camera by measuring the EPI disparity map between the binocular lenses, and at the same time determines the horizontal and vertical distances in the same horizontal plane according to the trigonometric relationship between the vertical distance and the horizontal pixel, and then calculates the horizontal angle of the fire point from the center of the camera according to the trigonometric relationship between the longitudinal distance and the horizontal distance, and calculates the vertical angle of the fire point from the center of the fire-seeking camera 33 according to the distance between the longitudinal distance and the vertical distance. Then, the automatic fire extinguishing control system sends the horizontal angle rotation command to the horizontal rotation axis 32, and the horizontal rotation axis 32 drives the fine water mist fire monitor 31 to perform a horizontal rotation action, and at the same time sends the vertical rotation angle to the vertical pitch axis 13, and the vertical pitch axis 13 drives the fine water mist fire monitor 31 to perform a pitch action, and jointly adjusts the pitch angle and rotation direction of the fine water mist fire monitor 31 to make it align with the fire point with the highest temperature, and then the fine water mist fire monitor 31 sprays the fire extinguishing medium to extinguish the fire.

[0042] like Fig.10 As shown, the horizontal rotating shaft 32 includes: an external motor fixing protection tube 321, an inner ring gear 322, a gear 323 and a motor 324. The inner ring gear 322 is arranged at the outermost side of the horizontal rotating shaft 32. The inner circumference of the inner ring gear 322 is evenly provided with ratchets. At the same time, the external motor fixing protection tube 321 is arranged on the inner side of the inner ring gear 322. The motor 324 is located between the inner ring gear 322 and the external motor fixing protection tube 321. One side of the motor 324 is fixedly connected to the inner circumference of the inner ring gear 322. The bottom of the motor 324 is connected to the gear 323. The gear 323 is engaged with the inner circumference of the inner ring gear 322. One end of the inner ring gear 322 is connected to the fine water mist fire monitor 31, and then the direction of the fine water mist fire monitor 31 is adjusted by the coordinated rotation of the gear 323 and the inner ring gear 322.

[0043] In a specific embodiment, the motor 324 is started, and the motor drives the gear 323 to rotate. The rotation of the gear 323 causes the inner ring gear 322 engaged therewith to rotate synchronously, and then the direction of the fine water mist fire monitor 31 is adjusted through the inner ring gear 322 .

[0044] The vertical pitch axis 13 has the same structure as the horizontal rotation axis 32. The vertical pitch axis 13 includes: an external motor fixing protection tube 321, an inner ring gear 322, a gear 323 and a motor 324. The inner ring gear 322 is arranged on the outermost side of the vertical pitch axis 13, wherein the outer circumferential surfaces of the inner ring gear 322 are connected to the 3Y-TZP ceramic blocking baffle 11 on both sides, and an external motor fixing protection tube 321 is arranged on the inner side of the inner ring gear 322. The motor 324 is located between the inner ring gear 322 and the external motor fixing protection tube 321. One side of the motor 324 is fixedly connected to the inner circumferential surface of the inner ring gear 322, and the bottom of the motor 324 is connected to the gear 323. The gear 323 is engaged with the inner circumferential surface of the inner ring gear 322, and then the opening and closing degree of the two 3Y-TZP ceramic blocking baffles 11 is adjusted by the coordinated rotation of the gear 323 and the inner ring gear 322, and blocking is performed according to different tearing shapes.

[0045] The pitch axis 41 and the horizontal rotation axis 32 have the same structure. The pitch axis 41 includes: an external motor fixing protection tube 321, an inner ring gear 322, a gear 323 and a motor 324. The inner ring gear 322 is arranged on the outermost side of the pitch axis 41. The outer peripheral surface of the inner ring gear 322 is connected to one end of the connector 15. At the same time, an external motor fixing protection tube 321 is arranged on the inner side of the inner ring gear 322. The motor 324 is located between the inner ring gear 322 and the external motor fixing protection tube 321. One side of the motor 324 is fixedly connected to the inner peripheral surface of the inner ring gear 322. The bottom of the motor 324 is connected to the gear 323. The gear 323 and the inner peripheral surface of the inner ring gear 322 are engaged and connected. Then, the pitch angle of the connector 15 is adjusted by rotating the gear 323 and the inner ring gear 322. The connector 15 is connected to the ridge tearing and blocking module 10 or the tank side lifting seat tearing and blocking module 20, and the pitch angle is adjusted according to different fire situations.

[0046] The horizontal rotating shaft 32 also includes: a water pipe 320. The water pipe 320 is arranged inside the external motor fixing protection tube 321 to prevent the motor 324 from contacting the water mist. The water pipe 320 is internally connected to the fine water mist fire monitor 31 so that the fine water mist fire monitor 31 can spray water mist to extinguish the fire.

[0047] The polyimide sealing layer 12 is coated on the opposite side of the 3Y-TZP ceramic sealing baffle 11. When a fire occurs, the tear is blocked by the side of the 3Y-TZP ceramic sealing baffle 11 coated with the polyimide sealing layer 12. The polyimide sealing layer 12 can automatically soften at high temperatures to fill the gap between the 3Y-TZP ceramic sealing baffle 11 and the tear of the transformer, thereby better blocking the tear and improving safety and sealing.

[0048] In another specific embodiment, the ridge tear sealing module 10 can be replaced with a tank side raised seat tear sealing module 20, and the connector 15 is plugged into one side of the tank side raised seat tear sealing module 20. The tank side raised seat tear sealing module 20 includes: a 3Y-TZP ceramic sealing box-type baffle 21, which is a square box structure with one side open. The 3Y-TZP ceramic sealing box-type baffle 21 is coated with a polyimide sealing layer 12. By aligning the open side of the 3Y-TZP ceramic sealing box-type baffle 21 with the tear opening of the transformer box for comprehensive sealing, safety is improved and fire spread is avoided.

[0049] The oil tank side lifting seat tearing and plugging module 20 and the ridge tearing and plugging module 10 are both plugged into the connector 15 on the plugging module lifting arm 40, so that different plugging modules can be easily replaced according to different situations.

[0050] The blocking module lifting arm 40 includes: a pitch axis 41, a connector 15, a lifting arm 42 and a turntable 43. The bottom of the turntable 43 is movably connected to the top of the body 51 of the power chassis 50. The turntable 43 can perform 360° horizontal rotation to adjust the horizontal rotation angle of the two blocking modules. The lifting arm 42 is arranged on the top of the turntable 43. The pitch axis 41 is arranged at the upper end of the lifting arm 42. A connector 15 is arranged at one end of the pitch axis 41, which is connected to the tearing and blocking module 20 or the ridge tearing and blocking module 10 of the oil tank side lifting seat through the connector 15. A three-stage telescopic hydraulic cylinder and a water supply pipeline are arranged inside the lifting arm 42. The top of the water supply pipeline passes through the connector 15 and the horizontal rotating shaft 32 of the fine water mist fire monitor 31. The water pipe 320 on the top is connected to carry out water mist spraying fire extinguishing, the bottom of the water supply pipeline passes through the turntable 43 and is connected to the water supply port 54 on the power chassis 50, so that water can be continuously sprayed to extinguish the fire through external water supply, and the lifting arm 40 of the blocking module can drive the blocking module to rotate 360° horizontally through the turntable 43, and the lifting arm 42 drives the blocking module to move up and down through the hydraulic cylinder, and at the same time, the motor 324 on the pitch axis 41 adjusts the pitch angle of the blocking module, and then the lifting arm 40 of the blocking module can be adjusted in three degrees of freedom: horizontal direction, vertical direction and pitch angle, so that the edge tearing blocking module 10 or the tank side lifting seat tearing blocking module 20 can adjust the position and direction according to the fire.

[0051] The power chassis 50 has a built-in battery and an automatic driving system. The power chassis 50 is used to carry the device and provide power energy for it. The power chassis 50 includes: a body 51, legs 52, wheels 53 and a water inlet 54. Four legs 52 are installed at the four corners of the bottom of the body 51. The legs 52 can be extended vertically downward to prop up the device to maintain balance during the blocking and fire extinguishing process. At the same time, wheels 53 are arranged on the inner sides of the legs 52 corresponding to the four corners of the bottom of the body 51. The wheels 53 are electrically driven independent wheels and are connected to the automatic driving system. The automatic driving system controls the wheels 53 to move the device to a specified position. A water inlet 54 is arranged on one side of the body 51. The water inlet 54 is a Cartier quick-plug interface. The water inlet 54 is connected to a fire hose, and the fire extinguishing medium is transported through the water inlet 54 connected to an external fire hose.

[0052] Embodiment 2 of the present invention provides a method for using a blocking robot for a transformer internal fire, comprising the following steps:

[0053] Step 1: After receiving the fire alarm signal, the connector 15 on the plugging module lifting arm 40 is plugged into the ridge tear plugging module 10 or the oil tank side lifting seat tear plugging module 20;

[0054] Step 2: After the power chassis 50 drives the wheels 53 to reach the fire extinguishing position through the automatic driving system, the operating legs 52 are extended and retracted to support and fix the device, and the water supply port 52 is externally connected to a fire hose;

[0055] Step 3: Control the device to seal the tear in the transformer oil tank;

[0056] Step 3.1: Control the telescopic hydraulic cylinder to slowly lift the lifting arm 42 to the fire extinguishing height;

[0057] Step 3.2: The turntable 43 rotates horizontally, and the pitch axis 41 adjusts the pitch angle of the ridge tear plugging module 10 until the ridge tear plugging module 10 is aligned with the tear opening of the transformer oil tank;

[0058] Step 3.3: Then the vertical pitch axis 13 adjusts the opening and closing degree of the two 3Y-TZP ceramic blocking baffles 11 through the cooperation of the gear 323 and the inner ring gear 322 to block the transformer oil tear. At the same time, the polyimide blocking layer 12 is attached to the transformer oil tank tear and softened by high temperature to fill the tear gap.

[0059] Step 4: After blocking, the fire-finding camera 33 is started, and the pitch angle and rotation direction of the fine water mist fire monitor 31 are adjusted to aim the fine water mist fire monitor 31 at the ignition point with the highest temperature to extinguish the fire;

[0060] Step 5: After the fire alarm signal ends, the water mist fire monitor 31 returns to the center, the lifting arm 40 of the blocking device descends, the legs 52 are retracted, and the device returns to the parking position through the automatic driving system, and the fire extinguishing operation ends.

[0061] Embodiment 3 of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is loaded into the processor, a method for using a blocking robot for internal fire of a transformer according to Embodiment 2 is implemented.

[0062] Embodiment 4 of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a method for using a blocking robot for internal fire of a transformer according to Embodiment 2.

[0063] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

[0064] The beneficial effect of the present invention is that, compared with the prior art, the present invention plugs the connector and the ridge tear plugging module with the oil tank side raised seat tear plugging module, so that it is convenient to replace different plugging modules according to different types of transformer oil tank tear openings, so as to achieve targeted plugging and fire extinguishing; at the same time, the surfaces of the ridge tear plugging module and the oil tank side raised seat tear plugging module are coated with a polyimide sealing layer, which automatically softens at high temperature and automatically fills the gap of the transformer tear opening, so as to better plug the tear opening, eliminate the possibility of transformer oil fire spraying, prevent the fire source from expanding, improve safety, and avoid casualties;

[0065] At the same time, the automatic fire extinguishing device of the present invention can directly locate the fire source inside the transformer after the plugging is completed and spray water mist to extinguish the fire, which can directly and effectively extinguish the fire inside the transformer, avoid explosion caused by long-term burning inside the transformer, reduce the possibility of fire re-ignition, and improve the safety of fire extinguishing.

[0066] Moreover, the lifting arm of the blocking module of the present invention can drive the blocking module to rotate 360° in the horizontal direction through the turntable, and the lifting arm drives the blocking module to perform lifting movement through the hydraulic cylinder. At the same time, the motor on the pitch axis is started to adjust the pitch angle of the blocking module, and then the lifting arm of the blocking module can be adjusted in three degrees of freedom: horizontal direction, vertical direction and pitch angle, so that the edge tearing blocking module or the tank side lifting seat tearing blocking module can adjust the position and direction according to the fire.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A plugging robot for transformer internal fire, comprising: The ridge tear blocking module (10), the automatic fire extinguishing device (30), the blocking module lifting arm (40) and the power chassis (50) are characterized by: A plugging module lifting arm (40) is installed on the top of the power chassis (50), a plug-in component (15) is arranged on the top of the plugging module lifting arm (40), the plug-in component (15) is plugged into the edge tear plugging module (10), and the middle of the edge tear plugging module (10) is connected to the automatic fire extinguishing device (30); The ridge tear blocking module (10) comprises: a 3Y-TZP ceramic blocking baffle (11) and a vertical pitch axis (13); the two sides of the outer peripheral surface of the vertical pitch axis (13) are connected to two 3Y-TZP ceramic blocking baffles (11), and the middle is connected to an automatic fire extinguishing device (30); the vertical pitch axis (13) is plugged in through a plug-in rod (14) and a plug-in component (15); and the two 3Y-TZP ceramic blocking baffles (11) are connected to the vertical pitch axis (13) through the forward and reverse rotation of the vertical pitch axis (13). The ZP ceramic blocking baffle (11) performs an opening and closing movement, and the tear of the transformer is blocked by adjusting the opening and closing degree of the 3Y-TZP ceramic blocking baffle (11). At the same time, a polyimide sealing layer (12) is applied to the opposite side of the 3Y-TZP ceramic blocking baffle (11). The polyimide sealing layer (12) automatically softens at high temperature to fill the gap between the 3Y-TZP ceramic blocking baffle (11) and the tear of the transformer, thereby blocking the tear of the transformer.

2. A plugging robot for transformer internal fire according to claim 1, characterized in that: It also includes: a fuel tank side lifting seat tear sealing module (20), the fuel tank side lifting seat tear sealing module (20) includes: a 3Y-TZP ceramic sealing box-type baffle (21), the 3Y-TZP ceramic sealing box-type baffle (21) is a box structure with one side open, the plug-in component (15) and the fuel tank side lifting seat tear sealing module (20) are plugged in at one closed side, and the 3Y-TZP ceramic sealing box-type baffle (21) is coated with a polyimide sealing layer (12).

3. The blocking robot for transformer internal fire according to claim 1, characterized in that: The sealing module lifting arm (40) comprises: a pitch axis (41), a connector (15), a lifting arm (42) and a turntable (43); the bottom of the turntable (43) is connected to the top of the power chassis (50); the turntable (43) can rotate horizontally 360 degrees; the lifting arm (42) is arranged on the top of the turntable (43); the pitch axis (41) is arranged at the upper end of the lifting arm (42); a connector (15) is arranged at one end of the pitch axis (41); the connector (15) is connected to the tear sealing module (20) of the lifting seat on the side of the oil tank or the ridge tear sealing module (10) to deal with different types of transformer tear holes; a telescopic hydraulic cylinder and a water supply pipeline are arranged inside the lifting arm (42).

4. The blocking robot for transformer internal fire according to claim 1, characterized in that: The automatic fire extinguishing device (30) comprises: a horizontal rotating shaft (32), a fire-finding camera (33) and a fine water mist fire monitor (31), wherein one end of the horizontal rotating shaft (32) is connected to the vertical pitch shaft (13), and the other end of the horizontal rotating shaft (32) is connected to the fine water mist fire monitor (31), a fire-finding camera (33) is arranged on the fine water mist fire monitor (31), and the fire-finding camera (33) has a built-in automatic fire extinguishing control system, and the automatic fire extinguishing control system is electrically connected to the vertical pitch shaft (13) and the horizontal rotating shaft (32).

5. The blocking robot for transformer internal fire according to claim 4, characterized in that: The horizontal rotating shaft (32) comprises: an external motor fixing protection tube (321), an inner ring gear (322), a gear (323) and a motor (324); the inner ring gear (322) is arranged at the outermost side of the horizontal rotating shaft (32); ratchet teeth are evenly arranged on the inner circumference of the inner ring gear (322); an external motor fixing protection tube (321) is arranged on the inner side of the inner ring gear (322); the motor (324) is located between the inner ring gear (322) and the external motor fixing protection tube (321); one side of the motor (324) is fixedly connected to the inner circumference of the inner ring gear (322); the bottom of the motor (324) is connected to the gear (323); the gear (323) and the inner circumference of the inner ring gear (322) are engaged and connected; one end of the inner ring gear (322) is connected to the fine water mist fire monitor (31); and then through the gear (32 3) and the inner ring gear (322) are rotated in coordination to adjust the direction of the fine water mist fire monitor (31). At the same time, the pitch axis (41) has the same structure as the horizontal rotation axis (32). One side of the outer peripheral surface of the inner ring gear (322) of the pitch axis (41) is connected to the connector (15). The inner ring gear (322) is rotated by the motor (324) to drive the connector (15) to rotate around the pitch axis (41), thereby adjusting the pitch angle of the connector (15); and the vertical pitch axis (13) also has the same structure as the horizontal rotation axis (32). Both sides of the outer peripheral surface of the inner ring gear (322) of the vertical pitch axis (13) are connected to the 3Y-TZP ceramic blocking baffle (11). The opening and closing degree of the two 3Y-TZP ceramic blocking baffles (11) are adjusted by controlling the positive and negative rotation of the inner ring gear (322).

6. The blocking robot for transformer internal fire according to claim 5, characterized in that: The horizontal rotating shaft (32) further comprises: a water pipe (320), the water pipe (320) being arranged inside the external motor fixing protection tube (321) so that the motor (324) does not come into contact with the water mist, one end of the water pipe (320) being connected to the inside of the fine water mist fire monitor (31) and the other end being connected to the water supply pipeline on the lifting arm (42).

7. The blocking robot for transformer internal fire according to claim 1, characterized in that: The power chassis (50) has a built-in battery and an automatic driving system. The power chassis (50) includes: a body (51), legs (52), wheels (53) and a water inlet (54). Four legs (52) are provided at the four corners of the bottom of the body (51). The legs (52) extend vertically downward to prop up the device to maintain balance during the blocking and fire extinguishing process. At the same time, wheels (53) are provided on the inner sides of the legs (52) corresponding to the four corners of the bottom of the body (51). The wheels (53) are connected to the automatic driving system. The automatic driving system controls the wheels (53) to move the device to a specified position. A water inlet (54) is provided on one side of the body (51). The water inlet (54) is connected to a fire hose on the outside and to a water pipeline on the lifting arm (42) on the inside.

8. A method for using a plugging robot for transformer internal fire, based on the plugging robot for transformer internal fire according to any one of claims 1 to 7, characterized in that: After receiving the fire alarm signal, the connector (15) on the plugging module lifting arm (40) is plugged into the ridge tear plugging module (10) or the oil tank side lifting seat tear plugging module (20); After the power chassis (50) drives the wheels (53) to reach the fire extinguishing position through the automatic driving system, the operating legs (52) are extended and retracted to support and fix the device, and the water supply port (52) is externally connected to a fire hose; Control the device to seal the tear in the transformer oil tank; After blocking, the fire-finding camera (33) is activated, and the pitch angle and rotation direction of the fine water mist fire monitor (31) are adjusted so that the fine water mist fire monitor (31) is aimed at the fire point with the highest temperature to extinguish the fire; After the fire alarm signal ends, the water mist fire monitor (31) returns to the normal position, the lifting arm (40) of the blocking device descends, the legs (52) are recovered, and the device returns to the parking position through the automatic driving system, and the fire extinguishing operation ends.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is loaded into a processor, the method for using a blocking robot for internal fire of a transformer according to claim 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, a method for using a blocking robot for internal fire of a transformer according to claim 8 is implemented.

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