Pipe bus maintenance robot and its operation method

Abstract

The application belongs to the technical field of maintenance robots, and provides a pipe bus maintenance robot and a working method thereof. The pipe bus maintenance robot comprises a rack, first and second holding mechanisms arranged at two ends of the rack, and adhesive tape winding mechanisms arranged on the first and second holding mechanisms respectively. The first and second holding mechanisms are respectively provided with first and second range finders for detecting the distance of support insulators. The first and second holding mechanisms are further respectively provided with drive wheel sets through springs. The adhesive tape winding mechanism comprises a third connecting frame, and adhesive tape fixing wheels, first and second rollers, and a protective film recycling wheel arranged on the third connecting frame. The pipe bus maintenance robot can realize the peeling of the protective film, the drive wheel sets can be suitable for pipe buses with different outer diameters through the springs, and the distance of the support insulators can be detected through the first and second range finders. The overall robot has small volume, low control cost and strong versatility.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of maintenance robots, and particularly relates to a pipe bus maintenance robot and a working method thereof. BACKGROUND

[0002] The maintenance of the pipe bus is usually to wrap the insulating tape on the surface of the pipe bus to ensure that the insulation performance meets the safety requirements of operation. The traditional tape winding method adopts manual holding of the insulating tape for spiral winding, and the protective film needs to be peeled off before the insulating tape is tightly wound on the pipe bus. The working efficiency is low, the labor intensity is large, the winding quality is greatly affected by personal skills, and there are certain safety hazards in high-altitude operation.

[0003] The use of automatic tape winding equipment can avoid the shortcomings of manual operation method. However, the environment around the pipe bus is complex, there are many supporting insulators, which are easy to collide with the automatic winding equipment, the diameter of the pipe bus changes frequently, the automatic tape winding equipment cannot tightly hold the pipe bus, and the adaptability is poor. Moreover, the general insulating tape for electric power is composed of insulating tape and protective film. The current equipment cannot peel off the protective film when used for pipe bus tape winding. The ideas of setting up obstacle avoidance, adding holding control system and adding protective film peeling mechanism will increase the volume and cost of the whole device. In summary, there is no small-size, low-cost and highly universal automatic winding equipment suitable for pipe bus insulation recovery at present. SUMMARY

[0004] In order to solve the above problems, the present application provides a pipe bus maintenance robot and a working method thereof. The insulating tape of the tape is wound on the pipe bus through the second roller, and the protective film of the tape is wound on the protective film recovery wheel through the first roller. A conveying assembly is arranged between the second roller and the protective film recovery wheel. The protective film recovery wheel is driven to rotate by the conveying assembly when the second roller rotates, so as to realize the peeling of the protective film. The driving wheel set can be applied to pipe buses with different diameters by means of springs. The distance from the robot to the supporting insulator is detected by means of the first and second range finders. The overall robot has small size, does not need to increase the control cost, and has high universality.

[0005] In order to achieve the above purpose, in the first aspect, the present application provides a pipe bus maintenance robot adopting the following technical scheme:

[0006] A pipe bus maintenance robot, comprising a rack, a first holding mechanism and a second holding mechanism arranged at both ends of the rack, and a tape winding mechanism arranged on the first holding mechanism and the second holding mechanism, respectively.

[0007] The first clamping mechanism and the second clamping mechanism are respectively equipped with a first distance measuring instrument and a second distance measuring instrument for detecting the distance between the supporting insulators; the first clamping mechanism and the second clamping mechanism are also respectively equipped with drive wheel sets via springs;

[0008] The tape winding mechanism includes a third connecting frame, and a tape fixing wheel, a first roller, a second roller, and a protective film recycling wheel disposed on the third connecting frame; the insulating tape wraps around the second roller and is wound onto the busbar, and the protective film of the tape wraps around the first roller and is wound onto the protective film recycling wheel; a conveying assembly is disposed between the second roller and the protective film recycling wheel, and the protective film recycling wheel is driven to rotate by the conveying assembly when the second roller rotates.

[0009] Furthermore, the frame includes a central rod, a first inclined rod and a second inclined rod at both ends of the central rod, and a first connecting rod and a second connecting rod respectively disposed at the ends of the first inclined rod and the second inclined rod away from the central rod; the first connecting rod and the second connecting rod are arranged in parallel, and the first clamping mechanism and the second clamping mechanism are respectively disposed on the first connecting rod and the second connecting rod.

[0010] Furthermore, the first clamping mechanism includes a first connecting post for connecting to the frame, a first telescopic member disposed on the first connecting post, a first connecting frame disposed on the first telescopic member, a first pin disposed on the first connecting frame, a first drive frame disposed on the first connecting frame via the first pin, and a first spring sleeved on the first pin.

[0011] Furthermore, the second clamping mechanism includes a second connecting column for connecting to the frame, a second telescopic member disposed on the second connecting column, a second connecting frame disposed on the second telescopic member, a second pin disposed on the second connecting frame, a second drive frame disposed on the second connecting frame via the second pin, and a second spring sleeved on the second pin; the first drive frame is symmetrically provided with a first drive wheel set and a second drive wheel set, and the second drive frame is symmetrically provided with a third drive wheel set and a fourth drive wheel set.

[0012] Furthermore, the tape winding mechanism on the first clamping mechanism is arranged crosswise with the tape winding mechanism on the second clamping mechanism.

[0013] Furthermore, the tape fixing wheel is disposed at one end of the third connecting frame, and the first roller, the second roller and the protective film recycling wheel are disposed at the other end of the third connecting frame.

[0014] Furthermore, the conveying assembly includes a first pulley disposed on the second roller, a second pulley disposed on the protective film recycling wheel, and a belt disposed between the first pulley and the second pulley.

[0015] Furthermore, the first and second rangefinders detect the insulators of the support tube busbar, and a certain detection distance is set as a switching signal. When the robot moves, it detects the insulators of the support tube busbar and stops moving to avoid the robot colliding with the support insulators.

[0016] To achieve the above objectives, in a second aspect, the present invention also provides a method for operating a busbar maintenance robot, employing the following technical solution:

[0017] A method for operating a busbar maintenance robot, using the busbar maintenance robot as described in the first aspect, includes: an insulating tape wrapped around a second roller and onto the busbar, and a protective film wrapped around a first roller and onto a protective film recovery wheel; a conveying assembly is provided between the second roller and the protective film recovery wheel, and when the second roller rotates, the conveying assembly drives the protective film recovery wheel to rotate, thereby peeling off the protective film.

[0018] Furthermore, force sensors are installed between each drive wheel and axle. When the force difference between two drive wheels in the same drive wheel set reaches a preset value within a preset time, the corresponding drive motor is controlled to generate a speed difference between drive wheel sets at different positions, thereby reducing the local deformation of the tube busbar by relying on friction. If the force difference between the two drive wheels decreases within the preset time, the local deformation of the tube busbar continues to be reduced by friction. If the force difference between the two drive wheels remains unchanged within the preset time, the original speed of the corresponding drive motor is restored.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. This invention includes a frame, a first clamping mechanism and a second clamping mechanism disposed at both ends of the frame, and a tape winding mechanism disposed on the first clamping mechanism and the second clamping mechanism respectively; the first clamping mechanism and the second clamping mechanism are respectively provided with a first rangefinder and a second rangefinder for detecting the distance to the supporting insulator; the first clamping mechanism and the second clamping mechanism are also respectively provided with a drive wheel assembly via springs; the tape winding mechanism includes a third connecting frame, and a tape fixing wheel, a first roller, a second roller and a protective film recovery wheel disposed on the third connecting frame; during operation, the insulating tape wraps around the second roller and winds onto the tube busbar, and the protective film of the tape wraps around the first roller and winds onto the protective film recovery wheel; a conveying assembly is disposed between the second roller and the protective film recovery wheel, and when the second roller rotates, the protective film recovery wheel is driven to rotate through the conveying assembly to peel off the protective film; the drive wheel assembly can be adapted to tube busbars of different outer diameters by means of springs, and the distance to the supporting insulator is detected by means of the first rangefinder and the second rangefinder; the overall robot is small in size, does not require additional control costs and has strong versatility.

[0021] 2. In this invention, the conveying assembly includes a first pulley mounted on a second roller, a second pulley mounted on a protective film recycling wheel, and a belt positioned between the first and second pulleys. When the insulating tape is wound around the tube busbar, it drives the second roller to rotate. The rotation of the second roller drives the first pulley to rotate, thereby driving the protective film recycling wheel to rotate via the belt and the second pulley, achieving the peeling of the protective film. This avoids the need for a separate drive for the protective film recycling wheel, resulting in a simple, compact, and low-cost structure. Attached Figure Description

[0022] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0023] Figure 1 This is a schematic diagram of the robot structure according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a schematic diagram of the frame structure of Embodiment 1 of the present invention;

[0025] Figure 3 This is a schematic diagram of the first clamping mechanism in Embodiment 1 of the present invention;

[0026] Figure 4 This is a schematic diagram of the second clamping mechanism in Embodiment 1 of the present invention;

[0027] Figure 5 This is a schematic diagram of the laser beam in Embodiment 1 of the present invention;

[0028] Figure 6This is a schematic diagram of the tape winding mechanism of Embodiment 1 of the present invention;

[0029] Figure 7 This is a schematic diagram of the transmission component according to Embodiment 1 of the present invention;

[0030] Figure 8 This is a schematic diagram of the robot's working state according to Embodiment 1 of the present invention;

[0031] Among them, 1. Frame; 11. Intermediate rod; 12. First diagonal rod; 13. Second diagonal rod; 14. First connecting rod; 15. Second connecting rod; 2. First clamping mechanism; 21. First connecting column; 22. First telescopic component; 23. First connecting frame; 24. First pin; 25. First spring; 26. First drive frame; 27. First drive wheel set; 28. Second drive wheel set; 29. ​​First drive motor; 210. Second drive motor; 211. First rangefinder; 3. Second clamping mechanism; 31. Second connecting column; 32. Second telescopic component; 33. Second connecting frame; 34. Second pin; 35. Second spring; 36. Second drive frame; 37. 38. Third drive wheel assembly; 39. Fourth drive wheel assembly; 310. Third drive motor; 311. Fourth drive motor; 312. Second rangefinder; 4. Tape winding mechanism; 41. Third connecting frame; 42. Tape fixing wheel; 43. First roller; 44. Second roller; 45. Protective film recycling wheel; 46. Conveying assembly; 4601. First pulley; 4602. Second pulley; 4603. Belt; 5. Busbar; 6. Tape; 61. Insulating tape; 62. Protective film. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0034] Example 1:

[0035] like Figure 1 As shown, this embodiment provides a busbar maintenance robot, including a frame 1, a first clamping mechanism 2 and a second clamping mechanism 3 disposed at both ends of the frame 1, and a tape wrapping mechanism 4 disposed on the first clamping mechanism 2 and the second clamping mechanism 3 respectively; it also includes a battery for providing power to all power sources, etc., which will not be described in detail here.

[0036] like Figure 2As shown, the frame 1 includes a central rod 11, a first inclined rod 12 and a second inclined rod 13 at both ends of the central rod 11, and a first connecting rod 14 and a second connecting rod 15 respectively disposed at the ends of the first inclined rod 12 and the second inclined rod 13 away from the central rod 11; the first connecting rod 14 and the second connecting rod 15 are arranged in parallel, and the first clamping mechanism 2 and the second clamping mechanism 3 are respectively disposed on the first connecting rod 14 and the second connecting rod 15.

[0037] Specifically, by setting the first inclined rod 12 and the second inclined rod 13, sufficient space is left at the middle rod 11 to accommodate the first clamping mechanism 2, the second clamping mechanism 3 and the busbar 5, resulting in a simple and compact overall structure.

[0038] The first clamping mechanism 2 and the second clamping mechanism 3 are respectively equipped with a first rangefinder 211 and a second rangefinder 311 for detecting the distance between the supporting insulators; the first clamping mechanism 2 and the second clamping mechanism 3 are also respectively equipped with drive wheel sets via springs;

[0039] The tape winding mechanism 4 installed on the first clamping mechanism 2 is arranged crosswise with the tape winding mechanism 4 on the second clamping mechanism 3. The crosswise arrangement of the two tape winding mechanisms 4 increases the area of ​​tape wound in one revolution on the busbar 5, thereby improving work efficiency.

[0040] like Figure 3 and Figure 5 As shown, the first clamping mechanism 2 includes a first connecting post 21 for connecting to the frame 1, a first telescopic member 22 disposed on the first connecting post 21, a first connecting frame 23 disposed on the first telescopic member 22, a first pin 24 disposed on the first connecting frame 23, a first drive frame 26 disposed on the first connecting frame 23 via the first pin 24, and a first spring 25 sleeved on the first pin 24. A first drive wheel set 27 and a second drive wheel set 28 are symmetrically disposed on the first drive frame 26, and the first drive wheel set 27 and the second drive wheel set 28 are respectively connected to a first drive motor 29 and a second drive motor 210; a first rangefinder 211 is also disposed on the frame 1.

[0041] The first connecting column 21 can be detachably installed at one end of the frame 1 by means of bolts or other connection methods; the first telescopic member 22 can be a linear motor, electric telescopic rod, pneumatic telescopic rod or other telescopic device. By extending and retracting the first telescopic member 22, the clamping and loosening of the first clamping mechanism 2 and the second clamping mechanism 3 on the busbar 5 can be controlled; the first connecting frame 23 is installed at the telescopic end of the first telescopic member 22 and is used to drive the first clamping mechanism 2 to perform telescopic actions. The two ends of the first connecting frame 23 are respectively provided with a first pin 24 and a first spring 25; the first pin 24 is slidably sleeved in the preset hole of the first connecting frame 23. When the first spring 25 is compressed, the first pin 24 can slide relative to the first connecting frame 23; the first One end of the pin 24 is fixedly connected to the first drive frame 26, and the first spring 25 is sleeved on the first pin 24, located between the first connecting frame 23 and the first drive frame 26; the first drive wheel set 27 and the second drive wheel set 28 each include two drive wheels for gripping the busbar 5; the first drive motor 29 and the second drive motor 210 are connected to the first drive wheel set 27 and the second drive wheel set 28 respectively through a gearbox, gears and other structures, realizing independent drive of the first drive wheel set 27 and the second drive wheel set 28, and providing the possibility for independent control of the rotation speed of the first drive wheel set 27 and the second drive wheel set 28; the first rangefinder 211 is used to detect the distance between the robot and other objects to avoid collision problems.

[0042] like Figure 4 and Figure 5 As shown, the second clamping mechanism 3 includes a second connecting post 31 for connecting to the frame 1, a second telescopic member 32 disposed on the second connecting post 31, a second connecting frame 33 disposed on the second telescopic member 32, a second pin 34 disposed on the second connecting frame 33, a second drive frame 36 disposed on the second connecting frame 33 via the second pin 34, and a second spring 35 sleeved on the second pin 34. A third drive wheel set 37 and a fourth drive wheel set 38 are symmetrically disposed on the second drive frame 36, and the third drive wheel set 37 and the fourth drive wheel set 38 are respectively connected to a third drive motor 39 and a fourth drive motor 310; a second rangefinder 311 is also disposed on the frame 1.

[0043] The second connecting column 31 can be detachably installed at the other end of the frame 1 by means of bolts or other connection methods; the second telescopic member 32 can be a linear motor, electric telescopic rod, pneumatic telescopic rod or other telescopic device. By extending and retracting the second telescopic member 32, the clamping mechanism 3 and the clamping and loosening of the busbar 5 by the clamping mechanism 3 can be controlled; the second connecting frame 33 is installed at the telescopic end of the second telescopic member 32 and is used to drive the clamping mechanism 3 to perform telescopic actions. The two ends of the second connecting frame 33 are respectively provided with a second pin 34 and a second spring 35; the second pin 34 is slidably sleeved in the preset hole of the second connecting frame 33. When the second spring 35 is compressed, the second pin 34 can slide relative to the second connecting frame 33; the second connecting frame 33 is detachably sleeved in the preset hole of the second connecting frame 33. One end of the second pin 34 is fixedly connected to the second drive frame 36, and the second spring 35 is sleeved on the second pin 34, located between the second connecting frame 33 and the second drive frame 36; the third drive wheel set 37 and the fourth drive wheel set 38 each include two drive wheels for gripping the busbar 5; the third drive motor 39 and the fourth drive motor 310 are connected to the third drive wheel set 37 and the fourth drive wheel set 38 respectively through gearboxes, gears and other structures, realizing independent drive of the third drive wheel set 37 and the fourth drive wheel set 38, and providing the possibility for independent control of the rotation speed of the third drive wheel set 37 and the fourth drive wheel set 38; the second rangefinder 311 is used to detect the distance between the robot and other objects to avoid collision problems.

[0044] The first rangefinder 211 and the second rangefinder 311 detect the insulators of the support tube bus 5, set a certain detection distance as a switch signal, and detect the insulators of the support tube bus 5 during the robot's movement and stop the movement to avoid the robot from colliding with the support insulators.

[0045] like Figure 6 and Figure 7 As shown, the tape winding mechanism 4 includes a third connecting frame 41, and a tape fixing wheel 42, a first roller 43, a second roller 44, and a protective film recovery wheel 45 disposed on the third connecting frame 41; the insulating tape 61 of the tape 6 is wound around the second roller 44 and onto the busbar 5, and the protective film 62 of the tape 6 is wound around the first roller 43 and onto the protective film recovery wheel 45; a conveying assembly 46 is disposed between the second roller 44 and the protective film recovery wheel 45, and the protective film recovery wheel 45 is driven to rotate by the conveying assembly 46 when the second roller 44 rotates.

[0046] Optionally, the tape fixing wheel 42 is disposed at one end of the third connecting frame 41, and the first roller 43, the second roller 44 and the protective film recycling wheel 45 are disposed at the other end of the third connecting frame 41.

[0047] The conveying assembly 46 includes a first pulley 4601 disposed on the second roller 44, a second pulley 4602 disposed on the protective film recycling wheel 45, and a belt 4603 disposed between the first pulley 4601 and the second pulley 4602.

[0048] When the insulating tape 61 is wrapped around the busbar 5, it drives the second roller 44 to rotate. The rotation of the second roller 44 drives the first pulley 4601 to rotate, thereby driving the second pulley 4602 to rotate through the belt 4603 and the second pulley 4602, thus achieving the peeling of the protective film 62. This avoids the need for a separate drive source for the protective film recycling wheel 45. The structure is simple, compact, and low in cost.

[0049] Example 2:

[0050] This embodiment provides a method for operating a busbar maintenance robot, which uses the busbar maintenance robot as described in Embodiment 1, including: the insulating tape 61 of the tape 6 is wrapped around the second roller 44 and onto the busbar 5, and the protective film 62 of the tape 6 is wrapped around the first roller 43 and onto the protective film recovery wheel 45; a conveying assembly 46 is provided between the second roller 44 and the protective film recovery wheel 45, and when the second roller 44 rotates, the protective film recovery wheel 45 is driven to rotate through the conveying assembly 46 to peel off the protective film 62.

[0051] Example 3:

[0052] This embodiment provides a method for operating a busbar maintenance robot, which uses the busbar maintenance robot as described in Embodiment 1, including:

[0053] Force sensors are installed between each drive wheel and axle. When a sudden surge in the force difference between two drive wheels in the same drive wheel set is detected, for example, if the force difference reaches a preset value within a preset time, it indicates that the drive wheel set is passing through a local deformation area of ​​the busbar. At this time, the corresponding drive motor is controlled to create a speed difference between the drive wheel sets at different positions. This reduces the degree of local deformation of the busbar through friction, and the elastic deformation of the springs themselves allows the two drive wheel sets to adapt to the local deformation of the busbar. If the force difference between the two drive wheels decreases within a preset time, it indicates that the local deformation of the busbar can be reduced by friction, and the busbar is a flexible busbar. In this case, the local deformation of the busbar is further reduced by friction. If the force difference between the two drive wheels remains unchanged within a preset time, it indicates that the local deformation of the busbar cannot be reduced by friction, and the busbar is a rigid busbar. In this case, the original speed of the corresponding drive motor is restored, and the two drive wheel sets adapt to the local deformation of the busbar solely through the elastic deformation of the springs themselves.

[0054] Understandably, when the object to be wrapped with tape is a soft busbar, and the robot passes through a local deformation area of ​​the busbar, by controlling the corresponding drive motor, the drive wheel sets at different positions will have a speed difference. The friction will reduce the degree of local deformation of the busbar, and the elastic deformation of the springs will allow the two drive wheel sets to adapt to the local deformation of the busbar. This can avoid problems such as loose tape wrapping or tape deformation leading to poor wrapping effect when the busbar is locally deformed.

[0055] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A method for operating a busbar maintenance robot, characterized in that, The busbar is a flexible busbar, and a busbar maintenance robot is used. The busbar maintenance robot includes a frame (1), a first clamping mechanism (2) and a second clamping mechanism (3) set at both ends of the frame (1), and a tape wrapping mechanism (4) respectively set on the first clamping mechanism (2) and the second clamping mechanism (3). The first clamping mechanism (2) and the second clamping mechanism (3) are respectively equipped with a first distance measuring instrument (211) and a second distance measuring instrument (311) for detecting the distance between the supporting insulators; the first clamping mechanism (2) and the second clamping mechanism (3) are also respectively equipped with drive wheel sets via springs; The tape winding mechanism (4) includes a third connecting frame (41), and a tape fixing wheel (42), a first roller (43), a second roller (44), and a protective film recycling wheel (45) disposed on the third connecting frame (41); the insulating tape (61) of the tape (6) passes around the second roller (44) and is wound onto the busbar (5), and the protective film (62) of the tape (6) passes around the first roller (43) and is wound onto the protective film recycling wheel (45); a conveying assembly (46) is disposed between the second roller (44) and the protective film recycling wheel (45), and the protective film recycling wheel (45) is driven to rotate by the conveying assembly (46) when the second roller (44) rotates; The operation method of the busbar maintenance robot includes: the insulating tape (61) of the tape (6) is wrapped around the second roller (44) and onto the busbar (5); the protective film (62) of the tape (6) is wrapped around the first roller (43) and onto the protective film recovery wheel (45); a conveying assembly (46) is provided between the second roller (44) and the protective film recovery wheel (45); when the second roller (44) rotates, the protective film recovery wheel (45) is driven to rotate through the conveying assembly (46) to peel off the protective film (62); at each drive wheel A force sensor is installed between the wheel and the axle. When the force difference between two drive wheels in the same drive wheel set is detected to reach a preset difference value within a preset time, the corresponding drive motor is controlled to generate a speed difference between drive wheel sets at different positions, thereby reducing the local deformation of the tube busbar (5) by friction. If the force difference between the two drive wheels decreases within a preset time, the local deformation of the tube busbar (5) continues to be reduced by friction. If the force difference between the two drive wheels remains unchanged within a preset time, the original speed of the corresponding drive motor is restored.

2. The method for operating a busbar maintenance robot as described in claim 1, characterized in that, The frame (1) of the busbar maintenance robot includes a central rod (11), a first inclined rod (12) and a second inclined rod (13) at both ends of the central rod (11), and a first connecting rod (14) and a second connecting rod (15) respectively disposed at the ends of the first inclined rod (12) and the second inclined rod (13) away from the central rod (11); the first connecting rod (14) and the second connecting rod (15) are arranged in parallel, and the first clamping mechanism (2) and the second clamping mechanism (3) are respectively disposed on the first connecting rod (14) and the second connecting rod (15).

3. The busbar maintenance robot operation method as described in claim 1, characterized in that, The first clamping mechanism (2) of the busbar maintenance robot includes a first connecting column (21) for connecting to the frame (1), a first telescopic member (22) disposed on the first connecting column (21), a first connecting frame (23) disposed on the first telescopic member (22), a first pin (24) disposed on the first connecting frame (23), a first drive frame (26) disposed on the first connecting frame (23) via the first pin (24), and a first spring (25) sleeved on the first pin (24).

4. The busbar maintenance robot operation method as described in claim 3, characterized in that, The second clamping mechanism (3) of the busbar maintenance robot includes a second connecting column (31) for connecting with the frame (1), a second telescopic member (32) disposed on the second connecting column (31), a second connecting frame (33) disposed on the second telescopic member (32), a second pin (34) disposed on the second connecting frame (33), a second drive frame (36) disposed on the second connecting frame (33) via the second pin (34), and a second spring (35) sleeved on the second pin (34); a first drive wheel set (27) and a second drive wheel set (28) are symmetrically disposed on the first drive frame (26), and a third drive wheel set (37) and a fourth drive wheel set (38) are symmetrically disposed on the second drive frame (36).

5. The method for operating a busbar maintenance robot as described in claim 1, characterized in that, The tape winding mechanism (4) on the first clamping mechanism (2) of the busbar maintenance robot is arranged crosswise with the tape winding mechanism (4) on the second clamping mechanism (3).

6. The method for operating a busbar maintenance robot as described in claim 1, characterized in that, The tape fixing wheel (42) of the busbar maintenance robot is located at one end of the third connecting frame (41), and the first roller (43), the second roller (44) and the protective film recycling wheel (45) are located at the other end of the third connecting frame (41).

7. The method for operating a busbar maintenance robot as described in claim 1, characterized in that, The conveying assembly (46) of the busbar maintenance robot includes a first pulley (4601) disposed on the second roller (44), a second pulley (4602) disposed on the protective film recycling wheel (45), and a belt (4603) disposed between the first pulley (4601) and the second pulley (4602).

8. The method for operating a busbar maintenance robot as described in claim 1, characterized in that, The first rangefinder (211) and the second rangefinder (311) of the busbar maintenance robot detect the insulators of the supporting busbar (5), and set a certain detection distance as a switch signal. During the robot's movement, the robot detects the insulators of the supporting busbar (5) and stops moving to avoid the robot from colliding with the supporting insulators.

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