Working method and device of substation tubular bus insulation recovery operation device

Abstract

The invention belongs to the technical field of cable or wire installation, and provides a working method and device of a transformer substation tubular bus insulation recovery operation device, a first driving mechanism and a second driving mechanism are telescopically arranged at the two ends of a middle beam, and when an adhesive tape winding object is a hard bus type and a winding device passes through a bus local deformation area, the first driving mechanism drives the second driving mechanism to rotate; the two driving wheel sets adapt to local deformation of the bus through elastic deformation of the springs; when an adhesive tape winding object is of a flexible bus type and the winding device passes through a bus local deformation area, the corresponding driving motors are controlled to enable the driving wheel sets at different positions to generate speed differences, the local deformation degree of the bus is reduced through friction force, and the two driving wheel sets adapt to local deformation of the bus through elastic deformation of springs. On the basis of realizing adhesive tape winding through the winding mechanism and ensuring the efficiency, the problems of poor winding effect and the like caused by winding looseness or adhesive tape deformation at local deformation parts of different types of buses are avoided.

Description

Technical Field

[0001] This invention belongs to the field of cable or wire installation technology, and particularly relates to a working method and apparatus for a substation busbar insulation restoration operation device. Background Technology

[0002] Substation busbars are the main equipment for transmitting power within a substation, and their insulation performance directly affects the safety of power transmission. They are also a key area requiring maintenance during substation inspections and repairs. Busbar maintenance typically involves wrapping insulating tape around their surface to ensure that their insulation performance meets operational safety requirements.

[0003] Busbars are generally divided into flexible busbars and rigid busbars (such as conduit busbars). Both types of busbars deform during transportation and installation. When wrapping insulating tape around areas of significant local deformation, problems such as loose wrapping or tape deformation leading to poor wrapping results can easily occur. Currently, the manual spiral wrapping of insulating tape is used. While this method allows for better wrapping and real-time judgment at areas of significant local deformation, it requires peeling off the protective film and tightly wrapping the insulating tape to the conduit busbar. Furthermore, the slow operation at these areas results in low work efficiency and high labor intensity. While using robots or automated tape wrapping devices can improve efficiency, the rigid wrapping motion at areas of significant local deformation can easily lead to loose wrapping or tape deformation, resulting in poor wrapping results. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a working method and apparatus for a substation busbar insulation restoration operation. When the tape is to be wrapped around a rigid busbar, as the winding device passes through a locally deformed area of ​​the busbar, the elastic deformation of the springs allows the two drive wheel sets to adapt to the local deformation of the busbar. When the tape is to be wrapped around a flexible busbar, as the winding device passes through a locally deformed area of ​​the busbar, the corresponding drive motors are 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 allows the two drive wheel sets to adapt to the local deformation of the busbar. By using the winding mechanism to wrap the tape, efficiency is ensured while avoiding problems such as loose wrapping or tape deformation leading to poor wrapping effect at different types of busbar local deformation areas, especially at areas with large local deformation.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a method for operating a substation busbar insulation restoration device, employing the following technical solution: A method for operating a substation busbar insulation restoration device, the winding device comprising a central beam, a first drive mechanism and a second drive mechanism retractably disposed at both ends of the central beam, and winding mechanisms respectively disposed on the first drive mechanism and the second drive mechanism; the first drive mechanism and the second drive mechanism each include two drive wheel sets disposed by springs, each drive wheel set being independently provided with a drive motor; the method includes: Determine the type of busbar; when the object to be wrapped with tape is a rigid busbar, as the wrapping device passes through a local deformation area of ​​the busbar, the elastic deformation of the springs themselves allows the two drive wheel sets to adapt to the local deformation of the busbar; when the object to be wrapped with tape is a flexible busbar, as the wrapping device passes through a local deformation area of ​​the busbar, control the corresponding drive motor to create a speed difference between the drive wheel sets at different positions, rely on friction to reduce the degree of local deformation of the busbar, and the elastic deformation of the springs themselves allows the two drive wheel sets to adapt to the local deformation of the busbar; the tape is then wrapped by the wrapping mechanism.

[0006] Furthermore, the first drive mechanism includes a first connecting column for connecting with the intermediate beam, a first telescopic member disposed on the first connecting column, 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.

[0007] Furthermore, the second drive mechanism includes a second connecting column for connecting with the intermediate beam, 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.

[0008] Furthermore, a first drive wheel set and a second drive wheel set are symmetrically arranged on the first drive frame, and a third drive wheel set and a fourth drive wheel set are symmetrically arranged on the second drive frame. When the tape is wrapped around a flexible busbar, and the winding device passes through a locally deformed area of ​​the busbar, the rotational speed of the second drive wheel set is controlled to be lower than that of the first drive wheel set, and the rotational speed of the third drive wheel set is controlled to be lower than that of the fourth drive wheel set. The degree of deformation is reduced by the compression of the locally deformed area of ​​the busbar by the second drive wheel set and the third drive wheel set.

[0009] Furthermore, the winding mechanism includes a third connecting frame disposed on the intermediate beam, a tape fixing wheel disposed at one end of the third connecting frame, and a first roller, a second roller, and a protective film recycling wheel disposed at the other end of the third connecting frame; the insulating tape of the tape is wound around the second roller and onto the busbar, and the protective film of the tape is wound around the first roller and onto the protective film recycling wheel.

[0010] To achieve the above objectives, in a second aspect, the present invention also provides a substation busbar insulation restoration device, which adopts the following technical solution: A substation busbar insulation restoration device includes a middle beam, a first drive mechanism and a second drive mechanism telescopically disposed at both ends of the middle beam, and a winding mechanism respectively disposed on the first drive mechanism and the second drive mechanism; the first drive mechanism and the second drive mechanism each include two drive wheel sets disposed by springs, and each drive wheel set is independently provided with a drive motor; When the tape is wrapped around a rigid busbar, as the winding device passes through a localized deformation area of ​​the busbar, the elastic deformation of the springs allows the two drive wheel sets to adapt to the localized deformation of the busbar. When the tape is wrapped around a flexible busbar, as the winding device passes through a localized deformation area of ​​the busbar, the corresponding drive motors are controlled to create a speed difference between the drive wheel sets at different positions. This reduces the degree of localized deformation of the busbar through friction, and the elastic deformation of the springs allows the two drive wheel sets to adapt to the localized deformation of the busbar. The tape is then wound using the winding mechanism.

[0011] Furthermore, the first drive mechanism includes a first connecting column for connecting with the intermediate beam, a first telescopic member disposed on the first connecting column, 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.

[0012] Furthermore, the second drive mechanism includes a second connecting column for connecting with the intermediate beam, 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.

[0013] Furthermore, a first drive wheel set and a second drive wheel set are symmetrically arranged on the first drive frame, and a third drive wheel set and a fourth drive wheel set are symmetrically arranged on the second drive frame. When the tape is wrapped around a flexible busbar, and the winding device passes through a locally deformed area of ​​the busbar, the rotational speed of the second drive wheel set is controlled to be lower than that of the first drive wheel set, and the rotational speed of the third drive wheel set is controlled to be lower than that of the fourth drive wheel set. The degree of deformation is reduced by the compression of the locally deformed area of ​​the busbar by the second drive wheel set and the third drive wheel set.

[0014] Furthermore, the winding mechanism includes a third connecting frame disposed on the intermediate beam, a tape fixing wheel disposed at one end of the third connecting frame, and a first roller, a second roller, and a protective film recycling wheel disposed at the other end of the third connecting frame; the insulating tape of the tape is wound around the second roller and onto the busbar, and the protective film of the tape is wound around the first roller and onto the protective film recycling wheel.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention features a first and a second drive mechanism that are retractably mounted at both ends of a central beam. Each drive mechanism includes two drive wheel sets connected by springs, and each drive wheel set is independently equipped with a drive motor. During operation, when the tape is being wound on a rigid busbar, the two drive wheel sets adapt to the local deformation of the busbar through the elastic deformation of the springs as the winding device passes through the local deformation area. When the tape is being wound on a flexible busbar, the speed difference between the drive wheel sets at different positions is created by controlling the corresponding drive motors. This reduces the degree of local deformation of the busbar through friction, and the elastic deformation of the springs allows the two drive wheel sets to adapt to the local deformation. By using the winding mechanism to wind the tape, efficiency is ensured while avoiding problems such as loose winding or tape deformation leading to poor winding results at different types of busbar local deformation areas, especially where the local deformation is significant. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a flowchart of the method in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the device structure according to Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the first driving mechanism in Embodiment 1 of the present invention; Figure 4This is a schematic diagram of the second driving mechanism in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the winding mechanism in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the working state of Embodiment 1 of the present invention; Among them, 1. intermediate beam; 2. first drive 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 drive mechanism; 31. second connecting column; 32. second telescopic component; 33. second connecting frame; 34. Second pin; 35. Second spring; 36. Second drive frame; 37. Third drive wheel set; 38. Fourth drive wheel set; 39. Third drive motor; 310. Fourth drive motor; 311. Second rangefinder; 4. Winding mechanism; 41. Third connecting frame; 42. Tape fixing wheel; 43. First roller; 44. Second roller; 45. Protective film recycling wheel; 5. Power supply; 6. Busbar; 7. Tape; 71. Insulating tape; 72. Protective film. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] 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.

[0020] Example 1: like Figure 1 As shown in the figure, this embodiment provides a working method for a substation busbar insulation restoration device. The winding device includes a middle beam 1, a first drive mechanism 2 and a second drive mechanism 3 telescopically mounted at both ends of the middle beam 1, and a winding mechanism 4 respectively mounted on the first drive mechanism 2 and the second drive mechanism 3. Both the first drive mechanism 2 and the second drive mechanism 3 include two drive wheel sets connected by springs, each drive wheel set independently equipped with a drive motor. A power supply 5 is also provided on the middle beam 1 for supplying power to the motors and other power equipment.

[0021] like Figure 2As shown, the method includes: determining the type of busbar; when the busbar to be wrapped with tape is a rigid busbar, when the wrapping device passes through a local deformation area of ​​the busbar, the two drive wheel sets adapt to the local deformation of the busbar through the elastic deformation of the spring itself; when the busbar to be wrapped with tape is a flexible busbar, when the wrapping device passes through a local deformation area of ​​the busbar, the corresponding drive motor is controlled to create a speed difference between the drive wheel sets at different positions, thereby reducing the degree of local deformation of the busbar through friction, and the two drive wheel sets adapt to the local deformation of the busbar through the elastic deformation of the spring itself; and the tape is wrapped by the wrapping mechanism 4. Through the above settings, while ensuring efficiency by wrapping tape through the wrapping mechanism 4, problems such as loose wrapping or tape deformation leading to poor wrapping effect are avoided at local deformation points of different types of busbars, especially at points with large local deformation.

[0022] The intermediate beam 1 can be a plate-like structure with both ends inclined. The inclination at both ends is beneficial for setting up the first drive mechanism 2 and the second drive mechanism 3, so that they can rotate and move on the busbar 6.

[0023] like Figure 3 As shown, the first drive mechanism 2 includes a first connecting column 21 for connecting to the intermediate beam 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. A first drive wheel set 27 and a second drive wheel set 28 are symmetrically disposed on the first drive frame 26. 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 intermediate beam 1.

[0024] The first connecting column 21 can be detachably installed at one end of the intermediate beam 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, and the extension and retraction of the first telescopic member 22 can control the clamping and loosening of the busbar 6 by the first driving mechanism 2 and the second driving mechanism 3; the first connecting frame 23 is installed at the telescopic end of the first telescopic member 22 and is used to drive the first driving 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, and 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 a 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 6; 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 device and other objects to avoid collision problems.

[0025] like Figure 4 As shown, the second drive mechanism 3 includes a second connecting column 31 for connecting to the intermediate beam 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 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 intermediate beam 1.

[0026] The second connecting column 31 can be detachably installed at the other end of the intermediate beam 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. The extension and retraction of the second telescopic member 32 can control the tightening and loosening of the second drive mechanism 3 and the busbar 6; the second connecting frame 33 is installed at the telescopic end of the second telescopic member 32 and is used to drive the second drive 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 a preset hole in 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; 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 6; 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 a gearbox, 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 device and other objects to avoid collision problems.

[0027] like Figure 5 and Figure 6 As shown, the winding mechanism 4 includes a third connecting frame 41 mounted on the intermediate beam 1, a tape fixing wheel 42 mounted at one end of the third connecting frame 41 for fixing the tape 7, and a first roller 43, a second roller 44, and a protective film recovery wheel 45 mounted at the other end of the third connecting frame 41. The insulating tape 71 of the tape 7 passes around the second roller 44 and is wound onto the busbar 6, while the protective film 72 of the tape 7 passes through the first roller 43 and is wound onto the protective film recovery wheel 45, thus achieving automatic peeling of the protective film 72. It is understood that a motor is mounted on the protective film recovery wheel 45 to drive the protective film recovery wheel 45 to rotate and recover the protective film 72; alternatively, a conveyor chain or other conveying mechanism is provided between the second roller 44 and the protective film recovery wheel 45, so that when the second roller 44 rotates under the drive of the insulating tape 71, the protective film recovery wheel 45 is driven to rotate via the conveyor chain or other conveying mechanism.

[0028] It is also understandable that during operation, the entire device can move axially on the busbar 6 with the help of other robots, control levers or other driving devices, and cooperate with the device's own rotation around the busbar 6 to achieve the spiral winding of the insulating tape 71 on the busbar.

[0029] like Figure 6 As shown, when the tape is wrapped around a soft busbar, and the winding device passes through a local deformation area of ​​the busbar, the rotation speed of the second drive wheel group 28 is controlled to be lower than that of the first drive wheel group 27, and the rotation speed of the third drive wheel group 37 is controlled to be lower than that of the fourth drive wheel group 38. The degree of deformation is reduced by the compression of the local deformation area of ​​the busbar 6 by the second drive wheel group 28 and the third drive wheel group 37.

[0030] To determine whether busbar 6 is a flexible or rigid busbar, this can be done by the operator before operation. When working on a rigid busbar, different speed controls are not allowed; when working on a flexible busbar, different speeds of the corresponding drive wheel sets are permitted. Alternatively, the type of busbar 6 can be determined by detecting the travel path. For example, if the equipment's sub-travel path remains at a constant horizontal height, it indicates that busbar 6 remains constant under pressure, classifying it as a rigid busbar. If the height of the equipment's sub-travel path changes irregularly, or changes in a regular pattern such as initially high and then low, it indicates that busbar 6 undergoes overall deformation under pressure, classifying it as a flexible busbar. The degree of local deformation of a flexible busbar can be reduced by the compression of the drive wheels.

[0031] The first rangefinder 211 and the second rangefinder 311 are configured to detect the insulators supporting the busbar. A certain detection distance is set as a switching signal. During the movement of the device, the insulators supporting the busbar will be detected and the device will stop moving to avoid the device colliding with the supporting insulators.

[0032] Example 2: This embodiment provides a substation busbar insulation restoration device, including a middle beam 1, a first drive mechanism 2 and a second drive mechanism 3 telescopically mounted at both ends of the middle beam 1, and a winding mechanism 4 respectively mounted on the first drive mechanism 2 and the second drive mechanism 3; the first drive mechanism 2 and the second drive mechanism 3 each include two drive wheel sets mounted by springs, and each drive wheel set is independently equipped with a drive motor. A power supply 5 is also provided on the middle beam 1 for supplying power to the motors and other power-providing equipment.

[0033] Specifically, when the tape is being wound on a rigid busbar, as the winding device passes through a locally deformed area of ​​the busbar, the elastic deformation of the springs allows the two drive wheel sets to adapt to the local deformation. When the tape is being wound on a flexible busbar, as the winding device passes through a locally deformed area, the corresponding drive motors are 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 allows the two drive wheel sets to adapt to the local deformation. The tape is then wound using the winding mechanism 4. Through this setup, while ensuring efficiency, the tape winding using the winding mechanism 4 avoids problems such as loose winding or tape deformation leading to poor winding results at various types of busbar local deformation areas, especially where the local deformation is significant.

[0034] The intermediate beam 1 can be a plate-like structure with both ends inclined. The inclination at both ends is beneficial for setting up the first drive mechanism 2 and the second drive mechanism 3, so that they can rotate and move on the busbar 6.

[0035] like Figure 3 As shown, the first drive mechanism 2 includes a first connecting column 21 for connecting to the intermediate beam 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. A first drive wheel set 27 and a second drive wheel set 28 are symmetrically disposed on the first drive frame 26. 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 intermediate beam 1.

[0036] The first connecting column 21 can be detachably installed at one end of the intermediate beam 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, and the extension and retraction of the first telescopic member 22 can control the clamping and loosening of the busbar 6 by the first driving mechanism 2 and the second driving mechanism 3; the first connecting frame 23 is installed at the telescopic end of the first telescopic member 22 and is used to drive the first driving 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, and 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 a 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 6; 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 device and other objects to avoid collision problems.

[0037] like Figure 4 As shown, the second drive mechanism 3 includes a second connecting column 31 for connecting to the intermediate beam 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 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 intermediate beam 1.

[0038] The second connecting column 31 can be detachably installed at the other end of the intermediate beam 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. The extension and retraction of the second telescopic member 32 can control the tightening and loosening of the second drive mechanism 3 and the busbar 6; the second connecting frame 33 is installed at the telescopic end of the second telescopic member 32 and is used to drive the second drive 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 a preset hole in 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; 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 6; 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 a gearbox, 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 device and other objects to avoid collision problems.

[0039] like Figure 5 and Figure 6 As shown, the winding mechanism 4 includes a third connecting frame 41 mounted on the intermediate beam 1, a tape fixing wheel 42 mounted at one end of the third connecting frame 41 for fixing the tape 7, and a first roller 43, a second roller 44, and a protective film recovery wheel 45 mounted at the other end of the third connecting frame 41. The insulating tape 71 of the tape 7 wraps around the second roller 44 and onto the busbar 6, while the protective film 72 of the tape 7 wraps around the first roller 43 and onto the protective film recovery wheel 45, thus achieving automatic peeling of the protective film 72. It is understood that a motor is mounted on the protective film recovery wheel 45 to drive the wheel to rotate and recover the protective film 72; alternatively, a transmission mechanism such as a conveyor belt is provided between the second roller 44 and the protective film recovery wheel 45, so that when the second roller 44 rotates under the drive of the insulating tape 71, the transmission mechanism such as the conveyor belt drives the protective film recovery wheel 45 to rotate.

[0040] It is also understandable that during operation, the entire device can move axially on the busbar 6 with the help of other robots, control levers or other driving devices, and cooperate with the device's own rotation around the busbar 6 to achieve the spiral winding of the insulating tape 71 on the busbar.

[0041] like Figure 6 As shown, when the tape is wrapped around a soft busbar, and the winding device passes through a local deformation area of ​​the busbar, the rotation speed of the second drive wheel group 28 is controlled to be lower than that of the first drive wheel group 27, and the rotation speed of the third drive wheel group 37 is controlled to be lower than that of the fourth drive wheel group 38. The degree of deformation is reduced by the compression of the local deformation area of ​​the busbar 6 by the second drive wheel group 28 and the third drive wheel group 37.

[0042] To determine whether busbar 6 is a flexible or rigid busbar, this can be done by the operator before operation. When working on a rigid busbar, different speed controls are not allowed; when working on a flexible busbar, different speeds of the corresponding drive wheel sets are permitted. Alternatively, the type of busbar 6 can be determined by detecting the travel path. For example, if the equipment's sub-travel path remains at a constant horizontal height, it indicates that busbar 6 remains constant under pressure, classifying it as a rigid busbar. If the height of the equipment's sub-travel path changes irregularly, or changes in a regular pattern such as initially high and then low, it indicates that busbar 6 undergoes overall deformation under pressure, classifying it as a flexible busbar. The degree of local deformation of a flexible busbar can be reduced by the compression of the drive wheels.

[0043] The first rangefinder 211 and the second rangefinder 311 are configured to detect the insulators supporting the busbar. A certain detection distance is set as a switching signal. During the movement of the device, the insulators supporting the busbar will be detected and the device will stop moving to avoid the device colliding with the supporting insulators.

[0044] 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 substation busbar insulation restoration device, characterized in that, The winding device includes a central beam, a first drive mechanism and a second drive mechanism telescopically disposed at both ends of the central beam, and winding mechanisms respectively disposed on the first drive mechanism and the second drive mechanism; the first drive mechanism and the second drive mechanism each include two drive wheel sets disposed by springs, and each drive wheel set is independently provided with a drive motor; the method includes: Determine the type of busbar; when the object to be wrapped with tape is a rigid busbar, as the wrapping device passes through a local deformation area of ​​the busbar, the elastic deformation of the springs themselves allows the two drive wheel sets to adapt to the local deformation of the busbar; when the object to be wrapped with tape is a flexible busbar, as the wrapping device passes through a local deformation area of ​​the busbar, control the corresponding drive motor to create a speed difference between the drive wheel sets at different positions, rely on friction to reduce the degree of local deformation of the busbar, and the elastic deformation of the springs themselves allows the two drive wheel sets to adapt to the local deformation of the busbar; the tape is then wrapped by the wrapping mechanism.

2. The working method of the substation busbar insulation restoration device as described in claim 1, characterized in that, The first drive mechanism includes a first connecting column for connecting with the intermediate beam, a first telescopic member disposed on the first connecting column, 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.

3. The working method of the substation busbar insulation restoration device as described in claim 2, characterized in that, The second drive mechanism includes a second connecting column for connecting with the intermediate beam, 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.

4. The working method of the substation busbar insulation restoration device as described in claim 3, characterized in that, The first drive frame is symmetrically equipped with a first drive wheel group and a second drive wheel group, and the second drive frame is symmetrically equipped with a third drive wheel group and a fourth drive wheel group. When the tape is wrapped around a flexible busbar, and the winding device passes through a local deformation area of ​​the busbar, the rotation speed of the second drive wheel group is controlled to be lower than that of the first drive wheel group, and the rotation speed of the third drive wheel group is controlled to be lower than that of the fourth drive wheel group. The degree of deformation is reduced by the compression of the local deformation area of ​​the busbar by the second drive wheel group and the third drive wheel group.

5. The working method of the substation busbar insulation restoration device as described in claim 1, characterized in that, The winding mechanism includes a third connecting frame disposed on the intermediate beam, a tape fixing wheel disposed at one end of the third connecting frame, and a first roller, a second roller, and a protective film recycling wheel disposed at the other end of the third connecting frame; the insulating tape of the tape is wound around the second roller onto the busbar, and the protective film of the tape is wound around the first roller onto the protective film recycling wheel.

6. A device for restoring insulation of a substation busbar, characterized in that, It includes a middle beam, a first drive mechanism and a second drive mechanism that are telescopically disposed at both ends of the middle beam, and a winding mechanism disposed on the first drive mechanism and the second drive mechanism respectively; the first drive mechanism and the second drive mechanism each include two drive wheel sets disposed by springs, and each drive wheel set is independently provided with a drive motor; When the tape is wrapped around a rigid busbar, as the winding device passes through a localized deformation area of ​​the busbar, the elastic deformation of the springs allows the two drive wheel sets to adapt to the localized deformation of the busbar. When the tape is wrapped around a flexible busbar, as the winding device passes through a localized deformation area of ​​the busbar, the corresponding drive motors are controlled to create a speed difference between the drive wheel sets at different positions. This reduces the degree of localized deformation of the busbar through friction, and the elastic deformation of the springs allows the two drive wheel sets to adapt to the localized deformation of the busbar. The tape is then wound using the winding mechanism.

7. The substation busbar insulation restoration device as described in claim 6, characterized in that, The first drive mechanism includes a first connecting column for connecting with the intermediate beam, a first telescopic member disposed on the first connecting column, 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.

8. The substation busbar insulation restoration device as described in claim 7, characterized in that, The second drive mechanism includes a second connecting column for connecting with the intermediate beam, 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.

9. The substation busbar insulation restoration device as described in claim 8, characterized in that, The first drive frame is symmetrically equipped with a first drive wheel group and a second drive wheel group, and the second drive frame is symmetrically equipped with a third drive wheel group and a fourth drive wheel group. When the tape is wrapped around a flexible busbar, and the winding device passes through a local deformation area of ​​the busbar, the rotation speed of the second drive wheel group is controlled to be lower than that of the first drive wheel group, and the rotation speed of the third drive wheel group is controlled to be lower than that of the fourth drive wheel group. The degree of deformation is reduced by the compression of the local deformation area of ​​the busbar by the second drive wheel group and the third drive wheel group.

10. A substation busbar insulation restoration device as described in claim 6, characterized in that, The winding mechanism includes a third connecting frame disposed on the intermediate beam, a tape fixing wheel disposed at one end of the third connecting frame, and a first roller, a second roller, and a protective film recycling wheel disposed at the other end of the third connecting frame; the insulating tape of the tape is wound around the second roller onto the busbar, and the protective film of the tape is wound around the first roller onto the protective film recycling wheel.

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