A device for detecting and cleaning power cable pipelines in a transmission and distribution network

Abstract

The invention relates to a device for detecting and cleaning power cable pipelines in a power transmission and distribution network, comprising an adaptive walking mechanism and a pipeline positioning support mechanism, a foreign matter cleaning mechanism is arranged on the left side of the adaptive walking mechanism, the adaptive walking mechanism is axially connected to the foreign matter cleaning mechanism, a dirt removing three-finger clamp is arranged on the left side of the foreign matter cleaning mechanism; an active dual-axis following adjustment camera device is arranged in front of the adaptive walking mechanism, a pipeline positioning support mechanism is arranged on the right side of the adaptive walking mechanism, and the adaptive walking mechanism is hinged to the pipeline positioning support mechanism; the device has the advantages of reasonable and compact structure, convenient use, reduced working difficulty, active following adjustment function, and strong practicality.

Description

Technical Field

[0001] The invention belongs to the technical field of power cable pipeline detection, and in particular relates to a power cable pipeline detection and cleaning device for a transmission and distribution network. Background Art

[0002] There are many power cable pipelines for distribution networks in cities. Power cable pipelines are generally buried underground or under roads, so they are concealed and not easy to detect manually. Foreign objects in some pipelines cause the pipelines to age faster or crack, which can easily bring hidden dangers to power safety and affect people's quality of life. In addition, in daily work, pipelines may be damaged by improper construction by other units. Therefore, it is necessary to inspect the pipelines to avoid cancellation or delay of planned projects due to pipeline damage. At present, there are the following problems with power cable pipeline detection devices: First, the detection of pipeline blockage is done by visual observation or tentative detection through pipe penetration, which is difficult, time-consuming, troublesome, and time-consuming; second, cameras are generally used to detect pipeline blockage. The camera collects images and displays and records them, and then analyzes them to detect the pipeline conditions. However, it does not have an adjustment function, which limits the camera shooting angle and the range of the pipeline interior that can be detected. Third, it does not have the function of cleaning foreign objects, and cannot guarantee the clarity of the camera shooting picture and unobstructed shooting. Fourth, it cannot be applied to pipelines of different diameters and does not have the pipeline positioning detection function. It can only rely on the brakes of the walking wheels, and cannot guarantee stable and reliable pipeline positioning shooting or videography. Therefore, it is very necessary to provide a power cable pipeline detection and cleaning device for the transmission and distribution network, which has a reasonable and compact structure, is easy to use, reduces the difficulty of work, has an active follow-up adjustment function, and is highly practical. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a device for detecting and cleaning power cable pipelines in a transmission and distribution network, which has a reasonable and compact structure, is easy to use, reduces working difficulty, has an active follow-up adjustment function, and is highly practical.

[0004] The objective of the present invention is achieved in this way: a device for detecting and cleaning power cable pipelines in a power transmission and distribution network, comprising an adaptive walking mechanism and a pipeline positioning support mechanism, a foreign matter cleaning mechanism is arranged on the left side of the adaptive walking mechanism, the adaptive walking mechanism is connected to the shaft of the foreign matter cleaning mechanism, a three-finger clamp for removing dirt is arranged on the left side of the foreign matter cleaning mechanism; an active dual-axis following adjustment camera device is arranged in front of the adaptive walking mechanism, a pipeline positioning support mechanism is arranged on the right side of the adaptive walking mechanism, and the adaptive walking mechanism is hinged to the pipeline positioning support mechanism.

[0005] The adaptive walking mechanism includes a cage bracket, which is a hexagonal structure. A mounting plate for mounting an active dual-axis following adjustment camera device is arranged in front of the cage bracket, and a mounting seat for connecting to a pipeline positioning support mechanism is arranged on the right side of the cage bracket.

[0006] A driver is arranged inside the cage bracket, and the driver is connected to the foreign matter cleaning mechanism through a coupling. A hinge seat is arranged on the outside of the cage bracket, and wheel frames are arranged on both sides of the hinge seat. Traveling wheels are arranged on the wheel frames, and the wheel frames are connected by adjusting springs. A bottom plate is arranged at the bottom of the wheel frames, and openings matching the bottom plate are arranged on both sides of the outside of the cage bracket.

[0007] The foreign matter cleaning mechanism comprises a rotating frame connected to a coupling, an outer frame is arranged outside the rotating frame, a plurality of cleaning plates are evenly arranged on the outer periphery of the outer frame, and the cleaning plates are arranged in a spiral shape on the outer periphery of the outer frame.

[0008] The three-finger dirt removal clamp comprises a driving motor, a shell is arranged above the driving motor, a triangular hinge frame is arranged above the shell, an L-shaped hinge plate is arranged inside the hinge frame, and a clamp is arranged above the inner side of the hinge plate.

[0009] A movable chuck is arranged at the lower inner side of the hinged plate, a pull rod seat is connected to the lower part of the movable chuck, the pull rod seat is arranged inside the shell and is connected to the movable chuck through a hinge joint at the top, a rod sleeve is arranged outside the pull rod seat, a screw rod is arranged inside the pull rod seat, the screw rod is threadedly connected to the pull rod seat and the end of the screw rod is connected to the driving motor.

[0010] The active dual-axis following adjustment camera device includes a Y-axis mounting base, a first harmonic reduction motor is arranged inside the Y-axis mounting base, a first output gear seat is arranged below the Y-axis mounting base, a first output spur gear connected to the power of the first harmonic reduction motor is arranged inside the first output gear seat, an X-axis steering gear is arranged on the left side of the first output spur gear, and a base is arranged below the X-axis steering gear.

[0011] Y-axis brackets are arranged on both sides above the Y-axis mounting base, a second harmonic reduction motor is arranged on the outer side of the Y-axis bracket, a second output gear seat is arranged on the inner side of the Y-axis bracket, a second output spur gear connected to the power of the second harmonic reduction motor is arranged inside the second output gear seat, a Y-axis steering gear is arranged above the second output spur gear, a Y-axis steering shaft is arranged inside the Y-axis steering gear, a steering bracket is arranged on the inner side of the Y-axis bracket, the steering bracket is connected to the Y-axis bracket shaft through both ends of the Y-axis steering shaft, and a camera assembly is arranged above the steering bracket.

[0012] The pipeline positioning support mechanism includes a support bracket, a plurality of frame plates are evenly arranged on the outside of the support bracket, both ends of the frame plates are connected to the support bracket through fixed seats, cylinders are arranged on the outside of the frame plates, and traction-type dynamic support components are arranged on the outside above the frame plates. The traction-type dynamic support components are connected to the frame plates through a group of connecting short arms.

[0013] A slide groove is arranged inside one side of the frame plate; one end of the cylinder is connected to the frame plate through a connecting seat, and the other end is slidably connected to the slide groove through a slide seat; the slide seat is connected to the traction type dynamic support component through a group of spring connecting rod arms; and a supporting positioning toothed belt is arranged outside the traction type dynamic support component.

[0014] The beneficial effects of the invention are as follows: the invention is a device for detecting and cleaning power cable pipelines in a power transmission and distribution network. In use, the invention adapts to pipelines of different specifications through an adaptive walking mechanism, and travels in the pipeline by providing power through walking wheels; the foreign matter cleaning mechanism is connected to the adaptive walking mechanism through a coupling, and cleans foreign matters on the inner wall of the pipeline through a cleaning plate arranged in a spiral structure; a three-finger clamp for removing dirt is arranged in front of the foreign matter cleaning mechanism, and cooperates with the foreign matter cleaning mechanism to comprehensively clean foreign matters or dirt in the pipeline; the invention completes the collection of image information inside the pipeline through an active dual-axis following and adjusting camera device, and the active dual-axis following and adjusting camera device can be actively followed and adjusted according to needs to realize multi-angle and multi-directional adjustment functions, so that the situation inside the pipeline can be photographed from multiple angles, the shooting area can be increased, and the detection range can be improved; when fixed-point shooting is required, the pipeline positioning support mechanism can be closely contacted with the inner wall of the pipeline and pressed against the inner wall of the pipeline, so as to realize the positioning inspection shooting function of the device of the invention, and greatly improve the practicality; the invention has the advantages of reasonable and compact structure, convenient use, reduced working difficulty, active following adjustment function, and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view of the present invention.

[0016] Figure 2It is a left view of the present invention.

[0017] Figure 3 It is a structural schematic diagram of the adaptive walking mechanism of the present invention.

[0018] Figure 4 For the present invention Figure 3 Stereoscopic diagram.

[0019] Figure 5 It is a schematic structural diagram of the dirt removing three-finger gripper of the present invention.

[0020] Figure 6 For the present invention Figure 5 Schematic diagram of the internal structure.

[0021] Figure 7 For the present invention Figure 5 Schematic diagram of the open state.

[0022] Figure 8 For the present invention Figure 7 Schematic diagram of the internal structure.

[0023] Fig. 9 It is a structural schematic diagram of the active dual-axis following adjustment camera device of the present invention.

[0024] Fig.10 For the present invention Fig. 9 Front view of .

[0025] Fig.11 It is a structural schematic diagram of the pipeline positioning support mechanism of the present invention.

[0026] Fig.12 For the present invention Fig.11 Front view of .

[0027] In the figure: 1, adaptive walking mechanism 11, cage bracket 12, mounting plate 13, mounting seat 14, driver 15, coupling 16, hinge seat 17, wheel frame 18, walking wheel 19, adjusting spring 101, bottom plate 102, opening 2, foreign matter cleaning mechanism 21, rotating frame 22, outer frame 23, cleaning plate 3, dirt removal three-finger clamp 31, driving motor 32, housing 33, hinge frame 34, hinge plate 35, fixture 36, movable chuck 37, rod sleeve 38, pull rod seat 39, hinge head 301, screw rod 4, active dual-axis follow-up adjustment camera device 41, Y-axis mounting base 42, first harmonic Harmonic reduction motor 43, first output gear seat 44, first output spur gear 45, X-axis steering gear 46, base 47, Y-axis bracket 48, second harmonic reduction motor 49, second output gear seat 401, second output spur gear 402, Y-axis steering gear 403, Y-axis steering shaft 404, steering bracket 405, camera assembly 5, pipeline positioning support mechanism 51, support bracket 52, frame plate 53, fixed seat 54, cylinder 55, connecting seat 56, traction type dynamic support assembly 57, connecting short arm 58, support positioning toothed belt 59, spring connecting rod arm 501, slide seat 502, slide groove. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings. Example

[0029] like Figure 1-12 As shown, a device for detecting and cleaning power cable pipelines in a power transmission and distribution network comprises an adaptive walking mechanism 1 and a pipeline positioning support mechanism 5. A foreign matter cleaning mechanism 2 is arranged on the left side of the adaptive walking mechanism 1, and the adaptive walking mechanism 1 is axially connected to the foreign matter cleaning mechanism 2. A three-finger gripper 3 for removing dirt is arranged on the left side of the foreign matter cleaning mechanism 2; an active dual-axis following adjustment camera device 4 is arranged in front of the adaptive walking mechanism 1, and a pipeline positioning support mechanism 5 is arranged on the right side of the adaptive walking mechanism 1, and the adaptive walking mechanism 1 is hinged to the pipeline positioning support mechanism 5.

[0030] The adaptive walking mechanism 1 includes a cage bracket 11, which is a hexagonal structure. A mounting plate 12 for mounting an active dual-axis following adjustment camera device 4 is arranged in front of the cage bracket 11, and a mounting seat 13 for connecting to a pipeline positioning support mechanism 5 is arranged on the right side of the cage bracket 11.

[0031] A driver 14 is provided inside the cage bracket 11, and the driver 14 is connected to the foreign matter cleaning mechanism 2 through a coupling 15. A hinge seat 16 is provided on the outer side of the cage bracket 11, and wheel frames 17 are provided on both sides of the hinge seat 16. Traveling wheels 18 are provided on the wheel frames 17, and the wheel frames 17 are connected by adjusting springs 19. A bottom plate 101 is provided at the bottom of the wheel frames 17, and openings 102 matching the bottom plate 101 are provided on both sides of the outer side of the cage bracket 11.

[0032] In this embodiment, the working principle of the adaptive walking mechanism is: since one end of the wheel frame is connected to the hinge seat and the wheel frames are connected by adjusting springs, the wheel frames can be adjusted, and the adjustment range is: the wheel frames are on both sides of the hinge seat and the two wheel frames are in a far state, at this time the two wheel frames are in an unfolded state, at this time the walking wheel is in "eight" shape contact with the inner wall of the pipe, and the stability is good, such as Figure 4 As shown; or the two wheel frames move inward and are in a close state, at this time the two wheel frames are in a retracted state; the diameter is changed by adjusting the wheel frames, so that the adaptive walking mechanism is suitable for pipes of different specifications. At this time, the walking wheels are in "||" shape contact with the inner wall of the pipe, the contact surface with the inner wall of the pipe is large, and the power is sufficient.

[0033] The foreign matter cleaning mechanism 2 includes a rotating frame 21 connected to the coupling 15, an outer frame 22 is arranged outside the rotating frame 21, and a plurality of cleaning plates 23 are evenly arranged on the outer periphery of the outer frame 22. The cleaning plates 23 are arranged in a spiral shape on the outer periphery of the outer frame 22.

[0034] In this embodiment, the driver of the adaptive walking mechanism drives the rotating frame to rotate through the coupling, and the rotating frame drives the cleaning plate to rotate through the outer frame, thereby cleaning the inside of the pipeline.

[0035] The three-finger dirt removal clamp 3 includes a driving motor 31, a shell 32 is arranged above the driving motor 31, a triangular hinge frame 33 is arranged above the shell 32, an L-shaped hinge plate 34 is arranged on the inner side of the hinge frame 33, and a clamp 35 is arranged on the inner side and above the hinge plate 34.

[0036] A movable chuck 36 is provided at the lower inner side of the hinged plate 34, a tie rod seat 38 is connected at the lower part of the movable chuck 36, the tie rod seat 38 is provided inside the shell 32 and is connected to the movable chuck 36 at the upper part through a hinge head 39, a rod sleeve 37 is provided outside the tie rod seat 38, a screw rod 301 is provided inside the tie rod seat 38, the screw rod 301 is threadedly connected to the tie rod seat 38 and the end of the screw rod 301 is connected to the drive motor 31.

[0037] In this embodiment, the working principle of the three-finger dirt removal clamp is: the driving motor drives the pull rod seat to move up and down through the screw rod, and the pull rod seat drives the movable clamp to move up and down through the hinge joint, thereby driving the clamp to move in and out, realizing the clamping action, thereby removing the dirt on the inner wall of the pipe.

[0038] The present invention is a device for detecting and cleaning power cable pipelines in a power transmission and distribution network. In use, the present invention adapts to pipelines of different specifications through an adaptive walking mechanism 1, and travels in the pipeline by providing power through a walking wheel 18; a foreign matter cleaning mechanism 2 is connected to the adaptive walking mechanism 1 through a coupling 15, and cleans foreign matters on the inner wall of the pipeline through a cleaning plate 23 arranged in a spiral structure; a dirt removal three-finger clamp 3 is arranged in front of the foreign matter cleaning mechanism 2, and cooperates with the foreign matter cleaning mechanism 2 to clean foreign matters or dirt in the pipeline in all aspects; the present invention completes the collection of image information inside the pipeline through an active dual-axis following adjustment camera device 4, and the active dual-axis following adjustment camera device 4 can be actively followed and adjusted according to needs to realize multi-angle and multi-directional adjustment functions, so that the situation inside the pipeline can be photographed from multiple angles, the shooting area can be increased, and the detection range can be improved; when fixed-point shooting is required, the pipeline positioning support mechanism 5 can be closely contacted with the inner wall of the pipeline and pressed against the inner wall of the pipeline, so as to realize the positioning inspection shooting function of the device of the present invention, and greatly improve the practicality; the present invention has the advantages of reasonable and compact structure, convenient use, reduced working difficulty, active following adjustment function, and strong practicality. Example

[0039] like Figure 1-12 As shown, a device for detecting and cleaning power cable pipelines in a power transmission and distribution network comprises an adaptive walking mechanism 1 and a pipeline positioning support mechanism 5. A foreign matter cleaning mechanism 2 is arranged on the left side of the adaptive walking mechanism 1, and the adaptive walking mechanism 1 is axially connected to the foreign matter cleaning mechanism 2. A three-finger gripper 3 for removing dirt is arranged on the left side of the foreign matter cleaning mechanism 2; an active dual-axis following adjustment camera device 4 is arranged in front of the adaptive walking mechanism 1, and a pipeline positioning support mechanism 5 is arranged on the right side of the adaptive walking mechanism 1, and the adaptive walking mechanism 1 is hinged to the pipeline positioning support mechanism 5.

[0040] The active dual-axis following adjustment camera device 4 includes a Y-axis mounting base 41, a first harmonic reduction motor 42 is arranged inside the Y-axis mounting base 41, a first output gear seat 43 is arranged below the Y-axis mounting base 41, a first output spur gear 44 connected to the power of the first harmonic reduction motor 42 is arranged inside the first output gear seat 43, an X-axis steering gear 45 is arranged on the left side of the first output spur gear 44, and a base 46 is arranged below the X-axis steering gear 45.

[0041] Y-axis brackets 47 are arranged on both sides above the Y-axis mounting base 41, a second harmonic reduction motor 48 is arranged on the outer side of the Y-axis bracket 47, a second output gear seat 49 is arranged on the inner side of the Y-axis bracket 47, a second output spur gear 401 connected to the power of the second harmonic reduction motor 48 is arranged inside the second output gear seat 49, a Y-axis steering gear 402 is arranged above the second output spur gear 401, a Y-axis steering shaft 403 is arranged inside the Y-axis steering gear 402, a steering bracket 404 is arranged on the inner side of the Y-axis bracket 47, the steering bracket 404 is connected to the Y-axis bracket 47 axis through the two ends of the Y-axis steering shaft 403, and a camera assembly 405 is arranged above the steering bracket 404.

[0042] In this embodiment, the working principle of the active dual-axis following adjustment camera device is as follows: the first harmonic reduction motor drives the first output spur gear to rotate around the X-axis steering gear to realize the X-axis rotation of the Y-axis mounting base, thereby realizing the horizontal plane rotation function of the camera assembly; the second harmonic reduction motor drives the second output spur gear to rotate, the second output spur gear drives the Y-axis steering gear to rotate, and the Y-axis steering gear drives the steering bracket to rotate through the Y-axis steering shaft, thereby realizing the vertical plane rotation function of the camera assembly; through the cooperation of the first harmonic reduction motor and the second harmonic reduction motor, the multi-angle and multi-directional adjustment of the camera assembly can be realized, so that the camera assembly can shoot the top, bottom, left and right sides of the pipeline, increase the shooting area, and improve the detection range.

[0043] The pipeline positioning support mechanism 5 includes a support bracket 51, and a plurality of frame plates 52 are evenly arranged on the outside of the support bracket 51. Both ends of the frame plates 52 are connected to the support bracket 51 through fixed seats 53. Cylinders 54 are arranged on the outside of the frame plates 52. A traction-type dynamic support component 56 is arranged on the outside above the frame plates 52. The traction-type dynamic support components 56 are connected to the frame plates 52 through a group of connecting short arms 57.

[0044] A slide groove 502 is provided inside one side of the frame plate 52; one end of the cylinder 54 is connected to the frame plate 52 through a connecting seat 55, and the other end is slidably connected to the slide groove 502 through a slide seat 501. The slide seat 501 is connected to the traction type dynamic support component 56 through a group of spring connecting rod arms 59, and the outside of the traction type dynamic support component 56 is provided with a supporting positioning toothed belt 58.

[0045] In this embodiment, the working principle of the pipeline positioning support mechanism is as follows: when fixed-point shooting is required, positioning can be performed through the pipeline positioning support mechanism, the cylinder drives the slide to slide in the slide groove, and the slide drives the traction-type dynamic support component to move through a group of spring connecting rod arms, thereby realizing the outward propping up and inward contraction of the traction-type dynamic support component, thereby realizing the close contact and pressing of the inner wall of the pipeline by the supporting positioning toothed belt outside the traction-type dynamic support component, thereby realizing the positioning, inspection and shooting function of the device of the present invention, greatly improving practicality; The functions of the pipeline positioning support mechanism: ① The positioning and shooting function is realized by the close contact and pressing of the inner wall of the pipeline by the supporting positioning toothed belt outside the traction-type dynamic support component; ② When the device of the present invention moves upward in a vertical or inclined pipeline, the traction-type dynamic support can be realized by the action of the cylinder The supporting positioning toothed belt outside the support assembly contacts with the inner wall of the pipe, and the dynamic supporting assembly drives the supporting positioning toothed belt to move, thereby realizing providing a certain power source for the device of the present invention, so that the device of the present invention can move upward stably and reliably to avoid falling; ③ When the device of the present invention moves downward in a vertical or inclined pipe, the supporting positioning toothed belt outside the traction-type dynamic supporting assembly can be further contacted with the inner wall of the pipe through the action of the cylinder, so that friction is generated between the supporting positioning toothed belt and the inner wall of the pipe, thereby realizing providing a certain source of resistance / friction for the device of the present invention, so that the device of the present invention can move downward stably and slowly, avoiding rapid falling due to excessive speed or insufficient friction, resulting in damage to the device, and can also ensure the collection effect of the image information of the internal situation of the pipeline by the active dual-axis following adjustment camera device, greatly improving practicality.

[0046] The present invention is a device for detecting and cleaning power cable pipelines in a power transmission and distribution network. In use, the present invention adapts to pipelines of different specifications through an adaptive walking mechanism 1, and travels in the pipeline by providing power through a walking wheel 18; a foreign matter cleaning mechanism 2 is connected to the adaptive walking mechanism 1 through a coupling 15, and cleans foreign matters on the inner wall of the pipeline through a cleaning plate 23 arranged in a spiral structure; a dirt removal three-finger clamp 3 is arranged in front of the foreign matter cleaning mechanism 2, and cooperates with the foreign matter cleaning mechanism 2 to clean foreign matters or dirt in the pipeline in all aspects; the present invention completes the collection of image information inside the pipeline through an active dual-axis following adjustment camera device 4, and the active dual-axis following adjustment camera device 4 can be actively followed and adjusted according to needs to realize multi-angle and multi-directional adjustment functions, so that the situation inside the pipeline can be photographed from multiple angles, the shooting area can be increased, and the detection range can be improved; when fixed-point shooting is required, the pipeline positioning support mechanism 5 can be closely contacted with the inner wall of the pipeline and pressed against the inner wall of the pipeline, so as to realize the positioning inspection shooting function of the device of the present invention, and greatly improve the practicality; the present invention has the advantages of reasonable and compact structure, convenient use, reduced working difficulty, active following adjustment function, and strong practicality.

Claims

1. A device for detecting and cleaning power cable pipelines in a power transmission and distribution network, comprising an adaptive walking mechanism and a pipeline positioning support mechanism, characterized in that: A foreign object cleaning mechanism is arranged on the left side of the adaptive walking mechanism, the adaptive walking mechanism is connected to the shaft of the foreign object cleaning mechanism, and a three-finger clamp for removing dirt is arranged on the left side of the foreign object cleaning mechanism; an active dual-axis following adjustment camera device is arranged in front of the adaptive walking mechanism, a pipeline positioning support mechanism is arranged on the right side of the adaptive walking mechanism, and the adaptive walking mechanism is hinged to the pipeline positioning support mechanism.

2. A device for detecting and cleaning power cable pipelines in a power transmission and distribution network as claimed in claim 1, characterized in that: The adaptive walking mechanism includes a cage bracket, which is a hexagonal structure. A mounting plate for mounting an active dual-axis following adjustment camera device is arranged in front of the cage bracket, and a mounting seat for connecting to a pipeline positioning support mechanism is arranged on the right side of the cage bracket.

3. A device for detecting and cleaning power cable pipelines in a power transmission and distribution network as claimed in claim 2, characterized in that: A driver is arranged inside the cage bracket, and the driver is connected to the foreign matter cleaning mechanism through a coupling. A hinge seat is arranged on the outside of the cage bracket, and wheel frames are arranged on both sides of the hinge seat. Traveling wheels are arranged on the wheel frames, and the wheel frames are connected by adjusting springs. A bottom plate is arranged at the bottom of the wheel frames, and openings matching the bottom plate are arranged on both sides of the outside of the cage bracket.

4. A device for detecting and cleaning power cable pipelines in a power transmission and distribution network as claimed in claim 3, characterized in that: The foreign matter cleaning mechanism comprises a rotating frame connected to a coupling, an outer frame is arranged outside the rotating frame, a plurality of cleaning plates are evenly arranged on the outer periphery of the outer frame, and the cleaning plates are arranged in a spiral shape on the outer periphery of the outer frame.

5. The device for detecting and cleaning power cable pipelines in a power transmission and distribution network according to claim 1, characterized in that: The three-finger dirt removal clamp comprises a driving motor, a shell is arranged above the driving motor, a triangular hinge frame is arranged above the shell, an L-shaped hinge plate is arranged inside the hinge frame, and a clamp is arranged above the inner side of the hinge plate.

6. A device for detecting and cleaning power cable pipelines in a power transmission and distribution network as claimed in claim 5, characterized in that: A movable chuck is arranged at the lower inner side of the hinged plate, a pull rod seat is connected to the lower part of the movable chuck, the pull rod seat is arranged inside the shell and is connected to the movable chuck through a hinge joint at the top, a rod sleeve is arranged outside the pull rod seat, a screw rod is arranged inside the pull rod seat, the screw rod is threadedly connected to the pull rod seat and the end of the screw rod is connected to the driving motor.

7. The device for detecting and cleaning power cable pipelines in a power transmission and distribution network according to claim 1, characterized in that: The active dual-axis following adjustment camera device includes a Y-axis mounting base, a first harmonic reduction motor is arranged inside the Y-axis mounting base, a first output gear seat is arranged below the Y-axis mounting base, a first output spur gear connected to the power of the first harmonic reduction motor is arranged inside the first output gear seat, an X-axis steering gear is arranged on the left side of the first output spur gear, and a base is arranged below the X-axis steering gear.

8. A device for detecting and cleaning power cable pipelines in a power transmission and distribution network as claimed in claim 7, characterized in that: Y-axis brackets are arranged on both sides above the Y-axis mounting base, a second harmonic reduction motor is arranged on the outer side of the Y-axis bracket, a second output gear seat is arranged on the inner side of the Y-axis bracket, a second output spur gear connected to the power of the second harmonic reduction motor is arranged inside the second output gear seat, a Y-axis steering gear is arranged above the second output spur gear, a Y-axis steering shaft is arranged inside the Y-axis steering gear, a steering bracket is arranged on the inner side of the Y-axis bracket, the steering bracket is connected to the Y-axis bracket shaft through both ends of the Y-axis steering shaft, and a camera assembly is arranged above the steering bracket.

9. The device for detecting and cleaning power cable pipelines in a power transmission and distribution network according to claim 1, characterized in that: The pipeline positioning support mechanism includes a support bracket, a plurality of frame plates are evenly arranged on the outside of the support bracket, both ends of the frame plates are connected to the support bracket through fixed seats, cylinders are arranged on the outside of the frame plates, and traction-type dynamic support components are arranged on the outside above the frame plates. The traction-type dynamic support components are connected to the frame plates through a group of connecting short arms.

10. A device for detecting and cleaning power cable pipelines in a power transmission and distribution network as claimed in claim 9, characterized in that: A slide groove is arranged inside one side of the frame plate; one end of the cylinder is connected to the frame plate through a connecting seat, and the other end is slidably connected to the slide groove through a slide seat; the slide seat is connected to the traction type dynamic support component through a group of spring connecting rod arms; and a supporting positioning toothed belt is arranged outside the traction type dynamic support component.

Images