Power distribution network inspection device and method thereof

Abstract

The invention provides an electric power distribution network inspection device and method, and belongs to the technical field of electric power distribution network inspection. The electric power distribution network inspection device comprises two hollow end blocks; the camera is arranged between the two hollow end blocks; the reciprocating mechanism is arranged between the two hollow end blocks, is connected with the camera and is used for moving the camera, the angles between the two hollow end blocks and the two switching blocks are adjusted through the reciprocating mechanism, and the electric power distribution network inspection device is driven to move on a single electric power overhead line. The electric power distribution network inspection device is arranged on the insulating terminal and bypasses the connecting position between the electric wire and the insulating terminal, so that the electric power distribution network inspection device has a flexible steering function, the electric power distribution network inspection device can perform reciprocating inspection on a single electric power overhead line and perform close observation on the connecting point of the electric wire and the insulating terminal, and accurate inspection on the electric power overhead line is realized.

Description

Technical Field

[0001] This invention belongs to the field of power distribution network inspection technology, specifically relating to a power distribution network inspection device and method. Background Technology

[0002] The power distribution network is the part of the power system that transmits electrical energy from high-voltage transmission networks or local power plants and distributes it to end users (households, businesses, and industries). It is the "last mile" of power transmission and is directly related to the quality and reliability of electricity for thousands of households and various enterprises.

[0003] Inspection devices are specialized tools or systems used to periodically or in real-time inspect and monitor the status of specific targets (such as equipment, lines, and environment). Their core objective is to replace or assist manual inspections, thereby improving efficiency, accuracy, and safety. They are widely used in fields such as power, energy, transportation, and industry.

[0004] The authorized publication number "CN112114227B" describes "a power distribution network inspection device, including a telescopic pole, a first bracket, a second bracket, a power distribution network inspection instrument, and wireless communication. The first bracket is located at the first end of the telescopic pole and is used to install the power distribution network inspection instrument. The second bracket is located at the second end of the telescopic pole and can be used to install a mobile terminal, and the second end of the telescopic pole is provided with a grip. The power distribution network inspection instrument is used to detect the working environment of the substation and obtain environmental information, and then transmits this environmental information through a wireless communication device. When the power distribution network inspection device is in operation, the inspection personnel can hold the grip and extend the power distribution network inspection instrument into the substation to detect the working environment. After the power distribution network inspection instrument detects the working environment and obtains the environmental information, it can transmit the environmental information to the mobile terminal through the wireless communication device, thereby facilitating the staff to understand the working environment of the substation and avoid safety risks caused by the working environment."

[0005] The aforementioned patented power distribution network inspection instrument is used to detect the working environment of a power distribution room, obtain environmental information, and transmit this information via a wireless communication device. When the power distribution network inspection device is in operation, the inspector can hold the instrument and extend it into the power distribution room to detect the working environment. After obtaining the environmental information, the instrument can transmit this information to a mobile terminal via a wireless communication device, thus facilitating staff to understand the working environment of the power distribution room and avoid safety risks arising from the working environment. However, it is suitable for indoor use and cannot be applied to the most widespread power distribution lines, namely overhead lines in medium and low voltage lines. This makes it impossible to closely observe the connection tightness between the wires and insulation ends of the widely used overhead lines, creating potential connection hazards. Furthermore, due to the long span of a single overhead line, the commonly used drone inspection method is limited by its low power storage capacity and cannot perform all-weather standby inspections. Therefore, we propose a power distribution network inspection device and method. Summary of the Invention

[0006] The purpose of this invention is to provide a power distribution network inspection device and method, which aims to perform reciprocating inspections of a single overhead line by mounting a camera on the overhead line, bypassing the obstruction of the connection points between the insulated terminals and the wires, thereby enabling close observation of the connection points between the insulated terminals and the wires. At the same time, the power distribution network inspection device is equipped with a real-time charging function on the line. In addition, with the self-weight adjustment of the power distribution network inspection device, the device can perform all-weather standby inspections on the overhead line, unaffected by winds of level 4 and below.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A power distribution network inspection device includes hollow end blocks, and two hollow end blocks are provided;

[0009] A camera, wherein the camera is disposed between two hollow end blocks; and

[0010] A reciprocating mechanism is disposed between two hollow end blocks and is connected to the camera for moving the camera.

[0011] In a preferred embodiment of the present invention, the reciprocating mechanism includes a driving assembly, a positioning assembly, a connecting rod assembly, a limiting assembly, a rotating assembly, and a locking assembly. Two sets of driving assemblies are provided, positioned between two hollow end blocks. Two sets of positioning assemblies are provided, positioned between the two hollow end blocks and located on one side of the two driving assemblies. Two sets of connecting rod assemblies are provided, positioned at the top of the two hollow end blocks. Two sets of limiting assemblies are provided, positioned inside the two hollow end blocks and connected to the two connecting rod assemblies. Two sets of locking assemblies are provided, positioned between the two connecting rod assemblies. The rotating assembly is positioned between the two hollow end blocks and between the two locking assemblies.

[0012] In a preferred embodiment of the present invention, each set of positioning components includes a limiting groove, a limiting block, a lifting counterweight plate, a first electric push rod, rollers, a guide block, and a trapezoidal guide plate. The limiting groove is formed at the side end of the hollow end block, and the limiting block slides between the inner walls of the limiting groove. Two guide blocks are provided, and the two guide blocks are fixedly connected to the inner wall of the hollow end block and located on both sides of the limiting groove. The lifting counterweight plate is movably inserted into the bottom of the hollow end block, and the lifting counterweight plate is located between the two guide blocks and connected to the limiting block. The first electric push rod is fixedly connected to the bottom of the hollow end block, and the output end of the first electric push rod is connected to the lifting counterweight plate. Four rollers are provided, and the four rollers are rotatably connected to the side ends of the hollow end block and the limiting block. Two trapezoidal guide plates are provided, and the two trapezoidal guide plates are fixedly connected to the side ends of the hollow end block and located between the four rollers, and the two trapezoidal guide plates are vertically aligned.

[0013] As a preferred embodiment of the present invention, each set of driving components includes a driving wheel and a first motor. There are two driving wheels, which are rotatably connected to the side end of the hollow end block and are vertically aligned vertically. The shaft of one of the driving wheels extends to the inner wall of the hollow end block. The first motor is fixedly connected to the inner wall of the hollow end block, and the output end of the first motor is fixedly connected to the shaft extension end of the single driving wheel.

[0014] In a preferred embodiment of the present invention, each linkage assembly includes a third electric push rod, a push-pull rod, a rotating frame, and a triangular limiting block. The rotating frame is rotatably connected to the side end of the hollow end block via a shaft, and the shaft of the rotating frame extends into the hollow end block. The third electric push rod is fixedly connected to the top of the hollow end block and corresponds to the rotating frame. The push-pull rod is rotatably connected to the output end of the third electric push rod, and the other end of the push-pull rod is rotatably connected to the rotating frame. The triangular limiting block is fixedly connected to the side end of the hollow end block and is located on the lower side of the rotating frame.

[0015] In a preferred embodiment of the present invention, each linkage assembly includes a third electric push rod, a push-pull rod, a rotating frame, and a triangular limiting block. The rotating frame is rotatably connected to the side end of the hollow end block via a shaft, and the shaft of the rotating frame extends into the hollow end block. The third electric push rod is fixedly connected to the top of the hollow end block and corresponds to the rotating frame. The push-pull rod is rotatably connected to the output end of the third electric push rod, and the other end of the push-pull rod is rotatably connected to the rotating frame. The triangular limiting block is fixedly connected to the side end of the hollow end block and is located on the lower side of the rotating frame.

[0016] In a preferred embodiment of the present invention, each set of the snap-fit ​​components includes a hollow shaft, a fixed end face gear, a movable end face gear, a gear cover, and a fourth electric push rod. The hollow shaft is rotatably connected to the side end of the rotating frame, and the open end of the hollow shaft passes through the rotating frame. The fixed end face gear is sleeved on the open end of the hollow shaft and is fixedly connected to the side end of the rotating frame. The fourth electric push rod is fixedly connected between the inner walls of the hollow shaft and the output end of the fourth electric push rod extends from the open end of the hollow shaft. The gear cover wraps around the outer surface of the fixed end face gear and is fixedly connected to the output end of the fourth electric push rod. The movable end face gear is fixedly connected between the inner walls of the gear cover and corresponds to the fixed end face gear.

[0017] In a preferred embodiment of the present invention, the rotating assembly includes an adapter block, a rotating shaft, a turbine, a worm gear, a turbine cover, and a second motor. Two adapter blocks are provided, fixedly connected to the closed ends of two hollow shafts, and stacked vertically. The rotating shaft is fixedly connected to the bottom of the upper adapter block and passes through the lower adapter block. The turbine cover is fitted onto the outer surface of the rotating shaft and fixedly connected to the bottom of the lower adapter block. The turbine is fixedly connected to the bottom of the rotating shaft and located between the inner walls of the turbine cover. The worm gear is rotatably connected between the inner walls of the turbine cover and meshes with the turbine. The second motor is fixedly connected to the bottom of the lower adapter block, with its output end extending into the turbine cover and fixedly connected to the worm gear.

[0018] As a preferred embodiment of the present invention, an inductive charger is installed on the side of each hollow end block, and an integrated terminal is fixedly connected between the inner walls of each hollow end block.

[0019] A method for inspecting power distribution networks includes the following steps:

[0020] S1, Reciprocating Inspection:

[0021] When the power distribution network inspection device moves along the power line, two inductive chargers wirelessly charge it via electromagnetic coupling with the power line, providing power to the device. Simultaneously, the weight of two lifting counterweights causes two hollow end blocks to lift two rotating frames, raising the camera to the top of the device. Eight rollers, in cooperation with a single power line, secure the entire device to the line. The output ends of two third electric push rods extend to their maximum length, increasing the angle between the two rotating frames from 120 degrees to 175 degrees. Simultaneously, the output ends of two fourth electric push rods retract, engaging two movable end-face gears with two fixed end-face gears, thus increasing the angle between the two rotating frames. The angle is locked, which lowers the overall center of gravity of the power distribution network inspection device, making the center of gravity of the power distribution network inspection device 10cm lower than the power line. Then, the power is turned on and the two first motors are started. The output of the two first motors drives the two upper drive wheels to rotate synchronously. Then, the rotation of the four drive wheels propels the entire power distribution network inspection device to move on a single power line. At the same time, the rotation direction is changed by the output of the two first motors, so that the power distribution network inspection device can switch the direction of movement on a single power line. In conjunction with the camera, the actual line operating environment on the power line, such as the identification of the start and end points of the power line, is realized, so that the power distribution network inspection device can switch the direction of movement on a single power line, and the power distribution network inspection device can reciprocate to inspect a single power line.

[0022] S2. Close-up observation:

[0023] When the power distribution network inspection device approaches a single insulated terminal, and the distance between the device and the terminal is between 6cm and 10cm, the camera detects through the image that the distance is between 6cm and 15cm. At this point, the distance between the camera and the terminal is 32cm to 35cm. The camera triggers the program running in the two integrated terminals, which then power off and stop the two first motors. Simultaneously, the output ends of the two first electric push rods extend and push the four rollers on the lower side to lift, causing the eight rollers to clamp and fix the wires. This fixes the camera within a range of 32cm to 35cm on one side of the insulated terminal, bringing the camera close to the terminal and facilitating close observation of the connection between a single power pole and multiple wires.

[0024] S3. Image capture:

[0025] When the power distribution network inspection device closely observes the connection between a single insulated terminal and a wire, the camera takes pictures of multiple insulated terminals and multiple wire connections on a single power pole by rotating itself. According to the number of the power pole, the corresponding numbered pictures are packaged and transmitted to the control center through the signal transmitter built into the integrated terminal to form a cloud database of overhead power lines, realizing the image acquisition of each power pole and wire connection point of the overhead power line.

[0026] S3, Damage Marking:

[0027] During the image acquisition process, the images of each power pole connection point contain images of corrosion, breakage, and fracture. The program running in the integrated terminal marks the images, that is, it marks them with red boxes, and the damage is indicated in the image data, which facilitates the later inspection and maintenance of overhead power lines by maintenance personnel, and realizes the identification of damage at the connection points of overhead power lines.

[0028] S4, Bypass Connection:

[0029] When the power distribution network inspection device moves along the power line and encounters a single insulated terminal, the output ends of the two second electric push rods retract, pulling the two pawls to release them from the two ratchet wheels. The two third electric push rods are then energized and activated. Their output ends retract, pulling the two rotating frames upwards, reducing the distance between the two hollow end blocks to between 22cm and 25cm. Simultaneously, the angle between the two rotating frames decreases from 175 degrees to 120 degrees, shifting the overall center of gravity of the power distribution network inspection device upwards and closer to the power line, reducing the difficulty of deflecting the two hollow end blocks. The output ends of the two second electric push rods extend, pushing the two pawls to lock the two ratchet wheels, restricting the axial deflection of the two rotating frames. Then, the two third electric push rods are de-energized and stop operating. The output end of the first electric push rod in the hollow end block extends and lifts the lifting counterweight plate, causing the two lower rollers to move closer to the two upper rollers. The squeezing force generated between the four rollers clamps the rear hollow end block onto the wire. The output end of the first electric push rod in the front hollow end block retracts and presses down on the lifting counterweight plate, causing the two lower rollers to move away from the two upper rollers, releasing the clamp between the front hollow end block and the wire. Power is applied to activate the two fourth electric push rods. The output ends of the two fourth electric push rods retract and pull the two gear covers closer together, causing the two movable end face gears to engage with the two fixed end face gears. This restricts the axial rotation between the two rotating frames and limits the distance between the two hollow end blocks, ensuring that the two hollow end blocks are on the same axis. Then, the second motor is powered on and started. The output of the second motor drives the worm gear to rotate clockwise. The worm gear, through meshing with the turbine, drives the turbine to rotate the shaft axially. This causes the upper adapter block to deflect from 180 degrees counterclockwise to 190 degrees, and the hollow end block at the front to deflect from 90 degrees counterclockwise to 100 degrees. This causes the hollow end block at the front to axially deviate and bypass the single insulating terminal from one side. The first motor inside the hollow end block at the rear is powered on and started. The first motor at the rear drives the drive wheel to rotate, pushing the entire power distribution network inspection device horizontally. This causes the hollow end block at the front to move around the side of the single insulating terminal until the camera is at the axial vertical top of the single insulating terminal. The hollow end block is pushed to 11cm to 12.5cm on the other side of the single insulating terminal. The output end of the second motor is reset and rotated to drive the turbine to rotate and reset. From the top view, the upper adapter block is deflected clockwise from 190 degrees to 180 degrees, which then allows it to bypass the front hollow end block and fit with the wire. The wire is positioned between the two trapezoidal guide plates. The two trapezoidal guide plates guide the wire to the four rollers and two drive wheels. Then, the output end of the first electric push rod in the front hollow end block extends, so that the four rollers of the front hollow end block clamp and fix it to the wire again. The output end of the first electric push rod in the rear hollow end block retracts to release the clamping and fixing of the four rollers to the wire, so that the front hollow end block bypasses the single insulating terminal.

[0030] The output of the second motor drives the worm gear to rotate counterclockwise, causing the lower adapter block to deflect from 0 degrees to -10 degrees counterclockwise, and the rear hollow end block to deflect from 270 degrees to 280 degrees, as viewed from the top. Then, the first motor inside the front hollow end block starts, and the two drive wheels of the front hollow end block rotate, causing the entire power distribution network inspection device to move horizontally. This allows the rear hollow end block to move around the side of the single insulated terminal until it is on the other side. At this point, the output of the second motor resets and rotates, causing... The lower adapter block deflects from -10 degrees to 0 degrees, and the rear hollow end block deflects from 280 degrees to 270 degrees, so that the rear hollow end block is close to the wire. Under the guidance of the two trapezoidal guide plates, the rear hollow end block moves the four rear rollers and two drive wheels to the upper and lower sides of the wire. The output end of the first electric push rod inside the rear hollow end block extends, so that the four rollers of the rear hollow end block clamp the wire, so that the entire power distribution network inspection device bypasses the connection point between the power pole and the wire, realizing the overall bypass connection of the power distribution network inspection device.

[0031] S5, Center of gravity reset:

[0032] After the power distribution network inspection device is fully connected, the output ends of the two second electric push rods retract and pull the two pawls to deflect, releasing the two pawls from the two ratchet wheels. The output ends of the two fourth electric push rods extend, causing the two fixed end face gears to disengage from the two movable end face gears. The output ends of the two third electric push rods extend to their limit, causing the included angle between the two rotating frames to expand from 120 degrees to 175 degrees, increasing the distance between the two hollow end blocks to the maximum distance. This causes the center of gravity of the power distribution network inspection device to shift to the lowest side of the power line, thus resetting the center of gravity of the power distribution network inspection device.

[0033] S6, Flexible Steering:

[0034] When the insulated terminal is located at the turning pole of the overhead power line, during the bypass connection process, from the top view, the two hollow end blocks adjust their deflection to positive / negative angles according to the actual deflection angle of the power line. The deflection angle range of the front hollow end block is 45 degrees to 135 degrees, and the deflection angle range of the rear hollow end block is 225 degrees to 315 degrees. This allows both hollow end blocks to bypass the turning angle of the overhead power line, enabling the power distribution network inspection device to adapt to the turning needs of a single overhead power line and achieve flexible turning of the power distribution network inspection device.

[0035] S7, Standby Operation:

[0036] The power distribution network inspection device is held on the power line by eight rollers, with two hollow end blocks on both sides of the power line. After the power distribution network inspection device performs a reciprocating inspection of a single overhead power line, the output ends of the two first electric push rods extend, causing the eight rollers to hold the entire power distribution network inspection device on the power line. At the same time, the two first motors are de-energized and stopped, fixing the entire power distribution network inspection device on the power line, waiting for the next inspection of the overhead power line, thus realizing the standby operation of the power distribution network inspection device.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] 1. In this solution, the angle between the two hollow end blocks and the two transition blocks is adjusted by a reciprocating mechanism, which drives the power distribution network inspection device to move along a single overhead power line and bypass the connection between the wire and the insulation terminal. This gives the power distribution network inspection device the ability to turn flexibly, allowing it to perform reciprocating inspections along a single overhead power line and closely observe the connection point between the wire and the insulation terminal, thus achieving accurate inspection of the overhead power line.

[0039] 2. In this solution, two sets of limiting components lock the deflection angle of the two rotating frames. Combined with the counterweights of the two lifting counterweight plates, the overall center of gravity of the power distribution network inspection device is significantly lower than the power line. The device's own weight causes it to fall, ensuring that it returns to a vertical position even in winds of level two or below. This guarantees that the camera remains at the top of the device. Simultaneously, the lowered center of gravity, along with the two positioning components, fixes the device to a single power line, ensuring it adheres to the upper side of the line. This prevents the device from being blown by winds of level four or below when moving along the power line, reducing crosswind interference and stabilizing the images and photos captured by the camera, thus enhancing the wind resistance of the power distribution network inspection device.

[0040] 3. In this scheme, when one end of the power distribution network inspection device needs to be fixed to the power line, the output end of the first electric push rod extends to push the lifting counterweight plate up within the hollow end block. The lifting counterweight plate raises the limiting block to the highest position within the limiting groove, causing the limiting block to lift the two lower rollers closer to the two upper rollers. Subsequently, the four rollers clamp and fix the single power line. By controlling the length of the output end of the first electric push rod, gaps are created between the four rollers, allowing them to slide against the power line. Simultaneously, the friction between the four rollers and the single power line is slightly lower than that between the two lower rollers. When the drive wheel generates thrust, the two first motors in the two hollow end blocks start simultaneously, enabling the power distribution network inspection device to move along the power line. When the first electric push rod outputs its maximum length, the friction generated by the maximum squeezing force of the four rollers on one side against a single power line maintains the stable movement of the power distribution network inspection device along the power line. This, in turn, stably supports one end of the hollow end block as it passes around the insulated terminal. The clamping force of the four rollers on the single power line supports the overall movement of the power distribution network inspection device, ensuring its smooth movement along the overhead power line.

[0041] 4. In this solution, when raising the center of gravity of the power distribution network inspection device, the distance between the two hollow end blocks is reduced, thus reducing the torque required for moving a single hollow end block. This reduces the manufacturing cost of the power distribution network inspection device. When lowering the center of gravity of the power distribution network inspection device, the distance between the two hollow end blocks is increased to ensure that the power distribution network inspection device fits snugly against the hollow end blocks, reducing vibrations caused by crosswinds and ensuring stable image acquisition by the camera. This changes the center of gravity position of the power distribution network inspection device to adapt to different operational needs and increase its practicality. Attached Figure Description

[0042] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0043] Figure 1 This is a schematic diagram of the operation of a power distribution network inspection device according to the present invention;

[0044] Figure 2 This is a three-dimensional structural diagram of a power distribution network inspection device according to the present invention;

[0045] Figure 3 This is a partial first full sectional view of a power distribution network inspection device according to the present invention;

[0046] Figure 4 This is a partial second full sectional view of a power distribution network inspection device according to the present invention;

[0047] Figure 5This is a perspective view of the linkage assembly and limiting assembly of a power distribution network inspection device according to the present invention;

[0048] Figure 6 This is an exploded view of the linkage assembly and limiting assembly of a power distribution network inspection device according to the present invention;

[0049] Figure 7 This is a perspective view of the rotating component and the snap-fit ​​component of a power distribution network inspection device according to the present invention;

[0050] Figure 8 This is a half-sectional view of the rotating component and the snap-fit ​​component of a power distribution network inspection device according to the present invention.

[0051] Figure 9 This is a full sectional view of the rotating component and the snap-fit ​​component of a power distribution network inspection device according to the present invention.

[0052] Figure 10 This is an exploded view of the rotating component and the snap-fit ​​component of a power distribution network inspection device according to the present invention.

[0053] In the diagram: 1. Hollow end block; 2. Cement rod; 3. Insulated terminal; 4. Wire; 5. Limiting groove; 6. Limiting block; 7. Lifting counterweight plate; 8. First electric push rod; 9. Roller; 10. First motor; 11. Drive wheel; 12. Guide block; 13. Ratchet; 14. Pawl; 15. Second electric push rod; 16. Third electric push rod; 17. Push-pull rod; 18. Rotating frame; 19. Triangular limiting block; 20. Hollow shaft; 21. Adapter block; 22. Camera; 23. Fixed end face gear; 24. Movable end face gear; 25. Gear cover; 26. Rotating shaft; 27. Turbine; 28. Worm gear; 29. ​​Turbine cover; 30. Second motor; 31. Inductive charger; 32. Trapezoidal guide plate; 33. Metal frame; 34. Integrated terminal; 35. Fourth electric push rod. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Example 1

[0056] Reference Figure 1 - Figure 10 A power distribution network inspection device, comprising:

[0057] Hollow end block 1, there are two hollow end blocks 1;

[0058] Camera 22, camera 22 is disposed between two hollow end blocks 1; and

[0059] A reciprocating mechanism is located between two hollow end blocks 1 and is connected to the camera 22 to move the camera 22.

[0060] In this invention, two hollow end blocks 1 are disposed on both sides of the power line 4. The two hollow end blocks 1 are used to accommodate two first motors 10, two inductive chargers 31, clamping components and limiting components. At the same time, the two hollow end blocks 1 are used to support the connecting rod components, the snap-fit ​​components and the rotating components. The camera 22 is used to capture video and photos of the connection between the power line 4 and the power pole when the power distribution network inspection device moves on the power line 4 and when the power distribution network inspection device is in different angles. At the same time, taking advantage of the rotatable characteristic of the camera 22 itself, the camera 22 collects video and photos of the connection between multiple power lines 4 and multiple insulating terminals 3 from both sides of the power pole as the state between the camera 22 and the insulating terminal 3 first approaches and then moves away. The reciprocating mechanism is connected to the camera 22 to move the camera 22 and ensure that the camera 22 moves smoothly on the overhead power line. The components of the power pole are a cement pole 2, a metal frame 33 and multiple insulating terminals 3. The structure of the power pole is common knowledge in the field.

[0061] The reciprocating mechanism includes a drive assembly, a positioning assembly, a connecting rod assembly, a limiting assembly, a rotating assembly, and a locking assembly. Two sets of drive assemblies are provided, positioned between two hollow end blocks 1. Two sets of positioning assemblies are provided, positioned between two hollow end blocks 1, with the two sets of positioning assemblies located on one side of the two sets of drive assemblies. Two sets of connecting rod assemblies are provided, positioned at the top of the two hollow end blocks 1. Two sets of limiting assemblies are provided, positioned inside the two hollow end blocks 1 and connected to the two sets of connecting rod assemblies. Two sets of locking assemblies are provided, positioned between the two sets of connecting rod assemblies. The rotating assembly is positioned between the two hollow end blocks 1 and between the two sets of locking assemblies.

[0062] In this invention, two sets of driving components are used to drive the entire power distribution network inspection device to move on a single power line 4, two sets of positioning components are used to fix the entire power distribution network inspection device on the power line 4, two sets of connecting rod components are used to adjust the distance between the two hollow end blocks 1, two sets of limiting components are used to limit and lock the distance between the two hollow end blocks 1, two sets of snap-fit ​​components are used to limit the included angle between the two rotating frames 18, and the rotating component is used to deflect a single hollow end block 1.

[0063] Each positioning component includes a limiting groove 5, a limiting block 6, a lifting counterweight plate 7, a first electric push rod 8, a roller 9, a guide block 12, and a trapezoidal guide plate 32. The limiting groove 5 is located at the side end of the hollow end block 1. The limiting block 6 slides between the inner walls of the limiting groove 5. Two guide blocks 12 are provided, and the two guide blocks 12 are fixedly connected to the inner wall of the hollow end block 1, with the two guide blocks 12 located on both sides of the limiting groove 5. The lifting counterweight plate 7 is movably inserted into the bottom of the hollow end block 1, and the lifting counterweight plate 7 is located between the two guide blocks. Between 1 and 2, the lifting counterweight plate 7 is connected to the limiting block 6, the first electric push rod 8 is fixedly connected to the bottom of the hollow end block 1, and the output end of the first electric push rod 8 is connected to the lifting counterweight plate 7. There are four rollers 9, which are rotatably connected to the side ends of the hollow end block 1 and the limiting block 6. There are two trapezoidal guide plates 32, which are fixedly connected to the side ends of the hollow end block 1. The two trapezoidal guide plates 32 are located between the four rollers 9, and the two trapezoidal guide plates 32 are vertically aligned.

[0064] In this invention, in each positioning assembly, the limiting groove 5 accommodates the limiting block 6, two guide blocks 12 guide the lifting counterweight plate 7 to rise and fall, the limiting block 6 supports two rollers 9, and the limiting block 6 limits the lifting limit of the two rollers 9 through sliding cooperation with the limiting groove 5. The lifting counterweight plate 7 is made of iron block wrapped with a rubber layer. The lifting counterweight plate 7 drives the limiting block 6 and the two rollers 9 to rise and fall. The first electric push rod 8 raises and falls the two lower rollers 9 through the extension and retraction of the output end, thereby controlling the four rollers 9 located on the upper and lower sides of the wire 4. The four rollers 9 are symmetrically distributed and clamp the power distribution network inspection device onto the power wire 4. The rollers 9 are made of lightweight engineering plastic and have a rubber layer on their outer surface with a thickness greater than 4mm. The rollers 9 clamp the power wire 4. Two trapezoidal guide plates 32 guide the power wire 4 between the four rollers 9 and the two drive wheels 11. When it is necessary to fix one end of the power distribution network inspection device onto the power wire 4, the output end of the first electric push rod 8 extends to push the lifting counterweight plate 7 within the hollow end block 1. The lifting counterweight plate 7 raises the limiting block 6 to the highest position within the limiting groove 5, causing the limiting block 6 to lift the two lower rollers 9 closer to the two upper rollers 9. The four rollers 9 then clamp and fix the single wire 4. The length of the output end of the first electric push rod 8 is controlled to create a gap between the four rollers 9, allowing them to slide against the wire 4. Simultaneously, when the friction between the four rollers 9 and the single wire 4 is slightly lower than the thrust generated by the two drive wheels 11, the two first motors 1 in the two hollow end blocks 1... When started simultaneously, the entire power distribution network inspection device can be moved on the power line 4. When the first electric push rod 8 outputs its maximum length, the friction generated by the maximum squeezing force of the four rollers 9 on a single side on a single power line 4 can maintain the stable movement of the entire power distribution network inspection device on the power line 4. This, in turn, stably supports the hollow end block 1 at one end to bypass the insulating terminal 3. The clamping force of the four rollers 9 on the single power line 4 supports the overall movement of the power distribution network inspection device, ensuring the smooth movement of the entire power distribution network inspection device on the overhead power line.

[0065] Each drive assembly includes a drive wheel 11 and a first motor 10. There are two drive wheels 11, which are rotatably connected to the side of the hollow end block 1 and are vertically aligned vertically. The shaft of one of the drive wheels 11 extends to the inner wall of the hollow end block 1. The first motor 10 is fixedly connected to the inner wall of the hollow end block 1, and the output end of the first motor 10 is fixedly connected to the shaft extension end of the single drive wheel 11.

[0066] In this invention, in each set of drive components, the gap between the two drive wheels 11 is slightly wider than the diameter of the wire 4 by 0.8 mm, which facilitates the insertion of a single wire 4 between the two drive wheels 11. This also facilitates the clamping and frictional application of the two drive wheels 11 to the single wire 4. Furthermore, the circumferential surfaces of the two drive wheels 11 are covered with elastic rubber. The first motor 10 drives the individual drive wheel 11 to rotate. When the power distribution network inspection device moves as a whole, the first motor 10 is energized and starts, causing the individual drive wheel 11 to rotate, making it roll on top of the wire 4. Combined with the clamping and guiding of the four rollers 9, this propels the entire power distribution network inspection device to move smoothly on the wire 4. Simultaneously, utilizing the bidirectional rotation function of the output end of the first motor 10, the output end of the first motor 10 propels the entire power distribution network inspection device to reciprocate on the wire 4, enabling the entire power distribution network inspection device to move bidirectionally on the overhead power line, allowing the entire power distribution network inspection device to perform reciprocating inspections on the overhead power line.

[0067] Each linkage assembly includes a third electric push rod 16, a push-pull rod 17, a rotating frame 18, and a triangular limiting block 19. The rotating frame 18 is rotatably connected to the side end of the hollow end block 1 via a shaft, and the shaft of the rotating frame 18 extends into the hollow end block 1. The third electric push rod 16 is fixedly connected to the top of the hollow end block 1 and corresponds to the rotating frame 18. The push-pull rod 17 is rotatably connected to the output end of the third electric push rod 16, and the other end of the push-pull rod 17 is rotatably connected to the rotating frame 18. The triangular limiting block 19 is fixedly connected to the side end of the hollow end block 1 and is located on the lower side of the rotating frame 18.

[0068] In this invention, in each linkage assembly, the rotating frame 18 supports the adapter block 21, the third electric push rod 16 provides power for the deflection of the rotating frame 18, and the extension length of the output end of the third electric push rod 16 controls the deflection angle of the rotating frame 18. The push-pull rod 17 pushes and pulls the rotating frame 18 to deflect, and the triangular limit block 19 limits the maximum deflection angle of the rotating frame 18. When the gap between the two hollow end blocks 1 needs to be controlled, the two limit assemblies release the deflection restriction on the two rotating frames 18, the output ends of the two third electric push rods 16 extend, and the two push-pull rods 17 push the two rotating frames 18 to move away from each other, so that both rotating frames 18 are close to the wire 4, and the included angle between the two rotating frames 18 increases from 120 degrees to 175 degrees. The two hollow end blocks 1 move away from each other, and at the same time, the electric... The overall center of gravity of the power distribution network inspection device is lowered, and two sets of limiting components lock the deflection angle of the two rotating frames 18. With the counterweight of the two lifting counterweight plates 7, the overall center of gravity of the power distribution network inspection device is much lower than that of the power line 4. The power distribution network inspection device returns to a vertical state when the wind is level 2 or below, ensuring that the camera 22 is always at the top of the power distribution network inspection device. At the same time, the lower center of gravity of the power distribution network inspection device, together with the two sets of positioning components, fixes the power distribution network inspection device to the single power line 4, so that the power distribution network inspection device is close to the upper side of the single power line 4. This ensures that the power distribution network inspection device will not be blown by level 4 or below when moving on the single power line 4, reducing the interference of crosswinds on the operation of the power distribution network inspection device, and making the images and photos captured by the camera 22 stable.

[0069] Each set of limiting components includes a ratchet 13, a pawl 14, and a second electric push rod 15. The ratchet 13 is fixedly connected to the shaft extension end of the rotating frame 18. The pawl 14 is rotatably connected between the inner walls of the hollow end block 1 and the pawl 14 is engaged with the ratchet 13. The second electric push rod 15 is fixedly connected between the inner walls of the hollow end block 1 and the output end of the second electric push rod 15 is rotatably connected to the pawl 14.

[0070] In this invention, two sets of locking components release the lock between the two rotating frames 18. The ratchet 13 rotates synchronously with the rotating frame 18 via a shaft. The pawl 14 engages with the ratchet 13 to limit the deflection angle of the rotating frame 18. The second electric push rod 15 is used to push the pawl 14 to deflect the angle. When the rotating frame 18 needs to deflect, the output end of the second electric push rod 15 retracts to pull the pawl 14. The pawl 14 deflects to release the engagement with the ratchet 13, and then the rotating frame 18 can deflect. When the two rotating frames 18 deflect to the required angle, the output end of the second electric push rod 15 extends to push the pawl 14 to engage with the ratchet 13, limiting the angle of the ratchet 18. The wheel 13 rotates, thereby limiting the deflection angle of the rotating frame 18. When the center of gravity of the power distribution network inspection device is raised, the distance between the two hollow end blocks 1 is reduced, reducing the torque required for the movement of a single hollow end block 1. This reduces the manufacturing cost of the power distribution network inspection device. When the center of gravity of the power distribution network inspection device is lowered, the distance between the two hollow end blocks 1 is increased to ensure that the power distribution network inspection device fits the hollow end blocks 1, reducing the vibration caused by crosswind disturbance and ensuring the stability of the image collected by the camera 22. This changes the center of gravity position of the power distribution network inspection device to adapt to different operating needs and increase the practicality of the power distribution network inspection device.

[0071] Each set of snap-fit ​​components includes a hollow shaft 20, a fixed end face gear 23, a movable end face gear 24, a gear cover 25, and a fourth electric push rod 35. The hollow shaft 20 is rotatably connected to the side end of the rotating frame 18, and the open end of the hollow shaft 20 passes through the rotating frame 18. The fixed end face gear 23 is sleeved on the open end of the hollow shaft 20 and is fixedly connected to the side end of the rotating frame 18. The fourth electric push rod 35 is fixedly connected between the inner walls of the hollow shaft 20, and the output end of the fourth electric push rod 35 extends from the open end of the hollow shaft 20. The gear cover 25 wraps around the outer surface of the fixed end face gear 23, and the gear cover 25 is fixedly connected to the output end of the fourth electric push rod 35. The movable end face gear 24 is fixedly connected between the inner walls of the gear cover 25, and the movable end face gear 24 corresponds to the fixed end face gear 23.

[0072] In this invention, the hollow shaft 20 is used to accommodate the fourth electric push rod 35 and to support the adapter block 21. The fixed end face gear 23 restricts the rotation of the hollow shaft 20 by engaging with the movable end face gear 24. The output end of the fourth electric push rod 35 can only retract and cannot rotate, so that the fourth electric push rod 35 controls the positional relationship between the gear cover 25 and the movable end face gear 24 and the fixed end face gear 23 by telescoping. When the output end of the fourth electric push rod 35 retracts, the movable end face gear 24 engages with the fixed end face gear 23. When the output end of the fourth electric push rod 35 extends, the movable end face gear 24 disengages from the fixed end face gear 23. The gear cover 25 covers the outer surface of the fixed end face gear 23 to accommodate and connect the movable end face gear 24. The movable end face gear 24 restricts the rotation between the rotating frame 18 and the adapter block 21 by engaging with the fixed end face gear 23. When the included angle of the rotating frame 18 is adjusted, the output ends of the two fourth electric push rods 35 extend, causing the two movable end face gears 24 to move away from each other. This releases the two movable end face gears 24 from the two fixed end face gears 23, thus releasing the rotational lock between the two rotating frames 18 and the two transition blocks 21, allowing the included angle of the two rotating frames 18 to be adjusted. When it is necessary to lock the included angle of the two rotating frames 18, the output ends of the two fourth electric push rods 35 retract. The retraction of the output ends of the two fourth electric push rods 35 pulls the two movable end face gears 24 to engage with the two fixed end face gears 23, thereby locking the rotation of the two transition blocks 21 and the two rotating frames 18. This locks the included angle between the two rotating frames 18. By extending and retracting the output ends of the two fourth electric push rods 35, the expansion or contraction of the included angle between the two rotating frames 18 can be controlled, thereby controlling the distance between the two hollow end blocks 1 and improving the stability of the power distribution network inspection device.

[0073] The rotating assembly includes a transition block 21, a rotating shaft 26, a turbine 27, a worm gear 28, a turbine cover 29, and a second motor 30. There are two transition blocks 21, which are fixedly connected to the closed ends of two hollow shafts 20 and stacked one on top of the other. The rotating shaft 26 is fixedly connected to the bottom of the upper transition block 21 and passes through the lower transition block 21. The turbine cover 29 is fitted onto the outer surface of the rotating shaft 26 and is fixedly connected to the bottom of the lower transition block 21. The turbine 27 is fixedly connected to the bottom of the rotating shaft 26 and is located between the inner walls of the turbine cover 29. The worm gear 28 is rotatably connected between the inner walls of the turbine cover 29 and meshes with the turbine 27. The second motor 30 is fixedly connected to the bottom of the lower transition block 21, and the output end of the second motor 30 extends into the turbine cover 29 and is fixedly connected to the worm gear 28.

[0074] In this invention, two adapter blocks 21 are fixedly connected between two hollow shafts 20, and the other ends of both adapter blocks 21 are semi-circular. The two adapter blocks 21 are axially stacked. A rotating shaft 26 is used for the rotatable connection of the two adapter blocks 21. A turbine cover 29 is used to accommodate a turbine 27 and a worm gear 28. The turbine 27 is used to rotate synchronously with the rotating shaft 26. The worm gear 28 drives the turbine 27 to rotate through meshing with the turbine 27, which in turn drives the rotating shaft 26 to rotate, causing the two adapter blocks 21 to deflect at an angle. A second motor 30 is used to drive the worm gear 28 to rotate. When one of the two hollow end blocks 1 deflects, the second motor 30 is energized and started. The output end of the machine 30 drives the worm gear 28 to rotate. The worm gear 28, through meshing with the turbine cover 29, drives the turbine 27 and the rotating shaft 26 to rotate, thereby changing the included angle between the two transition blocks 21, providing power for the horizontal deflection of the single hollow end block 1. At the same time, the self-locking function of the worm gear 28 and the turbine 27 restricts the flexible rotation between the two transition blocks 21, so that when the single hollow end block 1 passes around the single insulating terminal 3, the crosswind does not push the deflected hollow end block 1, preventing self-vibration of the deflected hollow end block 1 in winds of level 2 and below, reducing the difficulty of connecting the two trapezoidal guide plates 32 to the single wire 4, and improving the operating accuracy of the power distribution network inspection device.

[0075] Each hollow end block 1 is equipped with an inductive charger 31 on its side, and an integrated terminal 34 is fixedly connected between the inner walls of each hollow end block 1.

[0076] In this invention, two inductive chargers 31 generate current within two hollow end blocks 1 by cutting magnetic field lines, providing power to the entire power distribution network inspection device. Two integrated terminals 34 have built-in storage units, signal receiving units, data processing units, etc., and can all be customized and purchased from the market according to actual needs. At the same time, during the operation of the power distribution network inspection device, the device itself receives weather data in real time from the cloud database through the signal receiving unit, and sends image data of the insulation terminals 3 at various locations of the overhead power line to the cloud database in real time. This enables the power distribution network inspection device to construct a spatiotemporal data point change map of the overhead power line, which facilitates the reduction of the operating cost of a single overhead power line.

[0077] A method for inspecting power distribution networks includes the following steps:

[0078] S1, Reciprocating Inspection:

[0079] When the power distribution network inspection device moves along the power line 4, the two inductive chargers 31 wirelessly charge the device through electromagnetic coupling with the power line 4, providing power to the device. Simultaneously, the weight of the two lifting counterweight plates 7 causes the two hollow end blocks 1 to lift the two rotating frames 18, thereby raising the camera 22 to the top of the device. The eight rollers 9, through their rolling engagement with the single power line 4, confine the entire device to the power line 4. The output ends of the two third electric push rods 16 extend to their maximum output length, expanding the angle between the two rotating frames 18 from 120 degrees to 175 degrees. At the same time, the output ends of the two fourth electric push rods 35 retract, pulling the two movable end face gears 24 into engagement with the two fixed end face gears 23, thus enabling the two rotating frames 18 to... The angle between them is locked, thereby lowering the overall center of gravity of the power distribution network inspection device, making the center of gravity of the power distribution network inspection device lower than the wire 410cm. Then, the power is turned on and the two first motors 10 are started. The output of the two first motors 10 drives the two upper drive wheels 11 to rotate synchronously. Then, the rotation of the four drive wheels 11 pushes the power distribution network inspection device to move on the single wire 4. At the same time, the rotation direction is changed by the output of the two first motors 10, so that the power distribution network inspection device can switch the direction of movement on the single wire 4. At the same time, the camera 22 is used to identify the actual line operation environment on the wire 4, such as the start and end points of the wire 4, so that the power distribution network inspection device can switch the direction of movement on the single wire 4, and the power distribution network inspection device can reciprocate the inspection on the single wire 4.

[0080] S2. Close-up observation:

[0081] When the power distribution network inspection device approaches a single insulated terminal 3, and the distance between the power distribution network inspection device and the single insulated terminal 3 is between 6cm and 10cm, the camera 22 detects through the image that the distance between the power distribution network inspection device and the single insulated terminal 3 is between 6cm and 15cm. At this time, the distance between the camera 22 and the single insulated terminal 3 is between 32cm and 35cm. The camera 22 triggers the running program in the two integrated terminals 34. The two integrated terminals 34 cut off the power to the two first motors 10 and stop them. At the same time, the output ends of the two first electric push rods 8 extend and push the four rollers 9 on the lower side to lift up, so that the eight rollers 9 clamp and fix the wires 4. Then, the camera 22 is fixed in the range of 32cm to 35cm on one side of the insulated terminal 3, so that the camera 22 is close to the single insulated terminal 3, which makes it convenient for the camera 22 to observe the connection between a single power pole and multiple wires 4.

[0082] S3. Image capture:

[0083] When the power distribution network inspection device closely observes the connection between a single insulated terminal 3 and a wire 4, the camera 22 takes pictures of the connection between multiple insulated terminals 3 and multiple wires 4 on a single power pole by rotating itself. According to the number of the power pole, the corresponding numbered pictures are packaged and transmitted to the control center through the signal transmitter built into the integrated terminal 34 to form a cloud database of overhead power lines, realizing the image acquisition of each power pole and wire 4 connection point of the overhead power line.

[0084] S3, Damage Marking:

[0085] During the image acquisition process, the images of each power pole connection point contain images of corrosion, breakage, and fracture. The running program in the integrated terminal 34 marks the images, that is, marks them with red boxes, and provides damage indication in the image data, which facilitates the later inspection and maintenance of overhead power lines by maintenance personnel, and realizes the identification of damage at the connection points of overhead power lines.

[0086] S4, Bypass Connection:

[0087] When the power distribution network inspection device moves along the power line 4 and encounters a single insulated terminal 3, the output ends of the two second electric push rods 15 retract, pulling the two pawls 14 to release them from the jamming of the two ratchet wheels 13. The two third electric push rods 16 are then energized and activated. Their output ends retract, pulling the two rotating frames 18 to lift them, reducing the distance between the two hollow end blocks 1 to between 22cm and 25cm. Simultaneously, the angle between the two rotating frames 18 decreases from 175 degrees to 120 degrees, causing the overall center of gravity of the power distribution network inspection device to shift upwards and closer to the power line 4, reducing the difficulty of deflecting the two hollow end blocks 1. The output end of push rod 15 extends to push the two pawls 14 and the two ratchet wheels 13 to lock together, restricting the axial deflection of the two rotating frames 18. Then, the two third electric push rods 16 are de-energized and stop the machine. The output end of the first electric push rod 8 in the rear hollow end block 1 extends to lift the lifting counterweight plate 7, so that the two lower rollers 9 move closer to the two upper rollers 9. The squeezing force generated between the four rollers 9 clamps the rear hollow end block 1 onto the wire 4. The output end of the first electric push rod 8 in the front hollow end block 1 retracts and presses down the lifting counterweight plate 7, so that the two lower rollers 9 move away from the two upper rollers 9, releasing the clamping between the front hollow end block 1 and the wire 4, allowing power to pass through. The two fourth electric actuators 35 are electrically activated. The output ends of the two fourth electric actuators 35 retract, pulling the two gear covers 25 closer together. This causes the two movable end face gears 24 to engage with the two fixed end face gears 23, thereby restricting the axial rotation between the two rotating frames 18 and limiting the distance between the two hollow end blocks 1, ensuring that the two hollow end blocks 1 are on the same axis. Then, the second motor 30 is started. The output end of the second motor 30 drives the worm gear 28 to rotate clockwise. The worm gear 28, through meshing with the turbine 27, drives the turbine 27 to drive the rotating shaft 26 to rotate axially. This makes the upper transition block 2 visible from the top view. 1. The front hollow block 1 deflects counterclockwise from 180 degrees to 190 degrees, and then deflects counterclockwise from 90 degrees to 100 degrees, causing the front hollow block 1 to axially deviate and bypass the single insulating terminal 3 from one side. The first motor 10 inside the rear hollow block 1 is then energized and started. The rear first motor 10 drives the drive wheel 11 to rotate, propelling the entire power distribution network inspection device horizontally. This causes the front hollow block 1 to move around the side of the single insulating terminal 3 until the camera 22 is at the axial vertical top of the single insulating terminal 3. The front hollow block 1 is then pushed 11cm to the other side of the single insulating terminal 3.At 5cm, the output of the second motor 30 rotates to reset the turbine 27, causing the upper adapter block 21 to deflect clockwise from 190 degrees to 180 degrees from a top viewpoint. This allows it to bypass the front hollow end block 1 and come into contact with the wire 4, placing the wire 4 between the two trapezoidal guide plates 32. The two trapezoidal guide plates 32 guide the wire 4 between the four rollers 9 and the two drive wheels 11. Then, the output of the first electric push rod 8 inside the front hollow end block 1 extends, causing the four rollers 9 of the front hollow end block 1 to clamp and fix it to the wire 4 again. The output of the first electric push rod 8 inside the rear hollow end block 1 retracts, releasing the clamping and fixing of the four rollers 9 to the wire 4, allowing the front hollow end block 1 to bypass the single insulating terminal 3.

[0088] The output of the second motor 30 rotates counterclockwise, driving the worm gear 28 to rotate. This causes the lower adapter block 21 to deflect counterclockwise from 0 degrees to -10 degrees (viewed from the top), and the rear hollow end block 1 to deflect from 270 degrees to 280 degrees. Then, the first motor 10 inside the front hollow end block 1 starts, and the two drive wheels 11 of the front hollow end block 1 rotate, causing the entire power distribution network inspection device to move horizontally. This allows the rear hollow end block 1 to move around the side of the single insulating terminal 3 until it is on the other side. At this point, the output of the second motor 30 resets and rotates, causing... The lower side adapter block 21 deflects from -10 degrees to 0 degrees, and the rear hollow end block 1 deflects from 280 degrees to 270 degrees, so that the rear hollow end block 1 is close to the wire 4. Under the guidance of the two trapezoidal guide plates 32, the rear hollow end block 1 moves the four rear rollers 9 and the two drive wheels 11 to the upper and lower sides of the wire 4. The output end of the first electric push rod 8 inside the rear hollow end block 1 extends, so that the four rollers 9 of the rear hollow end block 1 clamp the wire 4, so that the power distribution network inspection device can bypass the connection point between the power pole and the wire 4, and realize the overall bypass connection of the power distribution network inspection device.

[0089] S5, Center of gravity reset:

[0090] After the power distribution network inspection device is fully bypassed and connected, the output ends of the two second electric push rods 15 retract and pull the two pawls 14 to deflect, releasing the jamming between the two pawls 14 and the two ratchet wheels 13. The output ends of the two fourth electric push rods 35 extend, causing the two fixed end face gears 23 to disengage from the two movable end face gears 24. The output ends of the two third electric push rods 16 extend to their limit, causing the included angle between the two rotating frames 18 to expand from 120 degrees to 175 degrees, expanding the distance between the two hollow end blocks 1 to the maximum distance. This causes the center of gravity of the power distribution network inspection device to move down to the lowest side of the wire 4, realizing the reset of the center of gravity of the power distribution network inspection device.

[0091] S6, Flexible Steering:

[0092] When the insulated terminal 3 is located at the turning pole of the overhead power line, during the bypass connection process, from the top view, the two hollow end blocks 1 are adjusted to positive / negative angles according to the actual deflection angle of the wire 4. The deflection angle range of the front hollow end block 1 is 45 degrees to 135 degrees, and the deflection angle range of the rear hollow end block 1 is 225 degrees to 315 degrees. This allows both hollow end blocks 1 to bypass the turning angle of the overhead power line wire 4 as required, enabling the power distribution network inspection device to adapt to the turning needs of a single overhead power line and realize the flexible turning of the power distribution network inspection device.

[0093] S7, Standby Operation:

[0094] The power distribution network inspection device is clamped onto the power line 4 by eight rollers 9, and two hollow end blocks 1 are located on both sides of the power line 4. After the power distribution network inspection device performs a reciprocating inspection of a single overhead power line, the output ends of the two first electric push rods 8 extend, so that the eight rollers 9 clamp the entire power distribution network inspection device onto the power line 4, and the two first motors 10 are de-energized and stopped, fixing the entire power distribution network inspection device onto the power line 4, waiting for the next inspection of the overhead power line, thus realizing the standby operation of the power distribution network inspection device.

[0095] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A power distribution network inspection device, characterized in that, include; Hollow end block (1), two hollow end blocks (1) are provided; A camera (22) is disposed between two hollow end blocks (1); as well as A reciprocating mechanism is disposed between two hollow end blocks (1) and is connected to a camera (22) for moving the camera (22).

2. The power distribution network inspection device according to claim 1, characterized in that, The reciprocating mechanism includes a drive assembly, a positioning assembly, a connecting rod assembly, a limiting assembly, a rotating assembly, and a locking assembly. Two sets of drive assemblies are provided, positioned between two hollow end blocks (1). Two sets of positioning assemblies are provided, positioned between two hollow end blocks (1) and located on one side of the two drive assemblies. Two sets of connecting rod assemblies are provided, positioned at the top of the two hollow end blocks (1). Two sets of limiting assemblies are provided, positioned inside the two hollow end blocks (1) and connected to the two connecting rod assemblies. Two sets of locking assemblies are provided, positioned between the two connecting rod assemblies. The rotating assembly is positioned between the two hollow end blocks (1) and between the two locking assemblies.

3. The power distribution network inspection device according to claim 2, characterized in that, Each positioning component includes a limiting groove (5), a limiting block (6), a lifting counterweight plate (7), a first electric push rod (8), a roller (9), a guide block (12), and a trapezoidal guide plate (32). The limiting groove (5) is opened at the side end of the hollow end block (1). The limiting block (6) slides between the inner walls of the limiting groove (5). There are two guide blocks (12), which are fixedly connected to the inner wall of the hollow end block (1) and are located on both sides of the limiting groove (5). The lifting counterweight plate (7) is movably inserted into the bottom of the hollow end block (1) and is located between the two guide blocks (12). Between blocks (12), and the lifting counterweight plate (7) is connected to the limiting block (6), the first electric push rod (8) is fixedly connected to the bottom of the hollow end block (1), and the output end of the first electric push rod (8) is connected to the lifting counterweight plate (7), four rollers (9) are provided, and the four rollers (9) are rotatably connected to the side ends of the hollow end block (1) and the limiting block (6), and two trapezoidal guide plates (32) are provided, and the two trapezoidal guide plates (32) are fixedly connected to the side ends of the hollow end block (1), and the two trapezoidal guide plates (32) are located between the four rollers (9), and the two trapezoidal guide plates (32) are vertically corresponding.

4. A power distribution network inspection device according to claim 3, characterized in that, Each drive assembly includes a drive wheel (11) and a first motor (10). There are two drive wheels (11), which are rotatably connected to the side of the hollow end block (1) and are vertically aligned vertically. The shaft of one of the drive wheels (11) extends to the inner wall of the hollow end block (1). The first motor (10) is fixedly connected to the inner wall of the hollow end block (1), and the output end of the first motor (10) is fixedly connected to the shaft extension end of the single drive wheel (11).

5. A power distribution network inspection device according to claim 4, characterized in that, Each linkage assembly includes a third electric push rod (16), a push-pull rod (17), a rotating frame (18), and a triangular limiting block (19). The rotating frame (18) is rotatably connected to the side end of the hollow end block (1) via a shaft, and the shaft of the rotating frame (18) extends into the hollow end block (1). The third electric push rod (16) is fixedly connected to the top of the hollow end block (1) and corresponds to the rotating frame (18). The push-pull rod (17) is rotatably connected to the output end of the third electric push rod (16), and the other end of the push-pull rod (17) is rotatably connected to the rotating frame (18). The triangular limiting block (19) is fixedly connected to the side end of the hollow end block (1) and is located on the lower side of the rotating frame (18).

6. A power distribution network inspection device according to claim 5, characterized in that, Each of the limiting components includes a ratchet (13), a pawl (14), and a second electric push rod (15). The ratchet (13) is fixedly connected to the shaft extension end of the rotating frame (18). The pawl (14) is rotatably connected between the inner walls of the hollow end block (1) and engages with the ratchet (13). The second electric push rod (15) is fixedly connected between the inner walls of the hollow end block (1) and the output end of the second electric push rod (15) is rotatably connected to the pawl (14).

7. A power distribution network inspection device according to claim 6, characterized in that, Each set of the snap-fit ​​assembly includes a hollow shaft (20), a fixed end face gear (23), a movable end face gear (24), a gear cover (25), and a fourth electric push rod (35). The hollow shaft (20) is rotatably connected to the side end of the rotating frame (18), and the open end of the hollow shaft (20) passes through the rotating frame (18). The fixed end face gear (23) is sleeved on the open end of the hollow shaft (20), and the fixed end face gear (23) is fixedly connected to the side end of the rotating frame (18). The fourth electric push rod (35)... The movable push rod (35) is fixedly connected to the inner wall of the hollow shaft (20), and the output end of the fourth electric push rod (35) extends from the open end of the hollow shaft (20). The gear cover (25) wraps around the outer surface of the fixed end face gear (23), and the gear cover (25) is fixedly connected to the output end of the fourth electric push rod (35). The movable end face gear (24) is fixedly connected to the inner wall of the gear cover (25), and the movable end face gear (24) corresponds to the fixed end face gear (23).

8. A power distribution network inspection device according to claim 7, characterized in that, The rotating assembly includes a transition block (21), a rotating shaft (26), a turbine (27), a worm gear (28), a turbine cover (29), and a second motor (30). Two transition blocks (21) are provided, and the two transition blocks (21) are fixedly connected to the closed ends of two hollow shafts (20), and the two transition blocks (21) are stacked vertically. The rotating shaft (26) is fixedly connected to the bottom of the upper transition block (21), and the rotating shaft (26) passes through the lower transition block (21). The turbine cover (29) is fitted onto the outer surface of the rotating shaft (26). 9) The turbine (27) is fixedly connected to the bottom of the lower adapter block (21), and the turbine (27) is fixedly connected to the bottom of the rotating shaft (26). The turbine (27) is located between the inner walls of the turbine cover (29). The worm (28) is rotatably connected between the inner walls of the turbine cover (29), and the worm (28) meshes with the turbine (27). The second motor (30) is fixedly connected to the bottom of the lower adapter block (21). The output end of the second motor (30) extends into the turbine cover (29), and the output end of the second motor (30) is fixedly connected to the worm (28).

9. A power distribution network inspection device according to claim 8, characterized in that, An inductive charger (31) is installed on the side of each hollow end block (1), and an integrated terminal (34) is fixedly connected between the inner walls of each hollow end block (1).

10. A method for inspecting power distribution networks, characterized in that, When applied to a power distribution network inspection device as described in claims 1-9, the method includes the following steps: S1, Reciprocating Inspection: When the power distribution network inspection device moves on the power line (4), the two inductive chargers (31) wirelessly charge the device through electromagnetic coupling with the power line (4), providing power to the power distribution network inspection device. At the same time, the device is lowered by the weight of the two lifting counterweight plates (7), which allows the two hollow end blocks (1) to lift the two rotating frames (18), thereby raising the camera (22) to the top of the power distribution network inspection device. The eight rollers (9) restrict the entire power distribution network inspection device to the power line (4) through rolling cooperation with the single power line (4). The output ends of the two third electric push rods (16) extend to the maximum output length, which expands the included angle between the two rotating frames (18) from 120 degrees to 175 degrees. At the same time, the output ends of the two fourth electric push rods (35) retract and pull the two movable end face gears (24) to engage with the two fixed end face gears (23), which makes the two rotating frames (18) engage. The angle between 18) is locked, thereby lowering the overall center of gravity of the power distribution network inspection device, so that the center of gravity of the power distribution network inspection device is 10cm lower than the wire (4). Then, the two first motors (10) are powered on and started. The output ends of the two first motors (10) drive the two upper drive wheels (11) to rotate synchronously. Then, the rotation of the four drive wheels (11) pushes the power distribution network inspection device to move on a single wire (4). At the same time, the rotation direction is changed by the output ends of the two first motors (10), so that the power distribution network inspection device can switch the direction of movement on a single wire (4). At the same time, the camera (22) is used to identify the actual line operation environment on the wire (4), such as the starting point and ending point of the wire (4), so that the power distribution network inspection device can switch the direction of movement on a single wire (4) and perform repeated inspections on a single wire (4). S2. Close-up observation: When the power distribution network inspection device approaches a single insulated terminal (3), and the distance between the camera (22) and the single insulated terminal (3) is between 6cm and 10cm, the camera (22) detects through the image that the distance between the power distribution network inspection device and the single insulated terminal (3) is between 6cm and 15cm. At this time, the distance between the camera (22) and the single insulated terminal (3) is between 32cm and 35cm, and the camera (22) triggers the internal operation of the two integrated terminals (34). The program is executed, and the two integrated terminals (34) power off and stop the two first motors (10). At the same time, the output ends of the two first electric push rods (8) extend and push the four rollers (9) on the lower side to lift up, so that the eight rollers (9) clamp and fix the wires (4), and then fix the camera (22) in the range of 32cm to 35cm on one side of the insulating terminal (3), so that the camera (22) is close to the single insulating terminal (3), making it convenient for the camera (22) to observe the connection between the single utility pole and multiple wires (4) up close; S3. Image capture: When the power distribution network inspection device closely observes the connection between a single insulated terminal (3) and a wire (4), the camera (22) takes pictures of the connection between multiple insulated terminals (3) and multiple wires (4) on a single power pole by self-rotation. According to the number of the power pole, the corresponding numbered pictures are packaged and transmitted to the control center through the signal transmitter built into the integrated terminal (34) to form a cloud database of overhead power lines, so as to realize the image acquisition of the connection point between each power pole and the wire (4) of the overhead power line. S3, Damage Marking: During the image acquisition process, each pole connection image contains corrosion, breakage, and fracture images. The running program in the integrated terminal (34) marks the images, that is, marks them with red boxes and provides damage warnings in the image data, so as to facilitate the maintenance personnel of the overhead power line in the later stage and realize the identification of damage at the connection of the overhead power line. S4, Bypass Connection: When the power distribution network inspection device moves on the power line (4) and encounters a single insulated terminal (3), the output ends of the two second electric push rods (15) retract and pull the two pawls (14) to release the jamming with the two ratchet wheels (13). The two third electric push rods (16) are energized and started. The output ends of the two third electric push rods (16) retract and pull the two rotating frames (18) to lift them, so that the distance between the two hollow end blocks (1) is reduced to between 22cm and 25cm. At the same time, the included angle between the two rotating frames (18) is reduced from 175 degrees to 120 degrees, so that the overall center of gravity of the power distribution network inspection device moves up and closer to the power line (4), reducing the difficulty of deflecting the two hollow end blocks (1). The two second electric push rods (15) The output end extends and pushes the two pawls (14) and the two ratchet wheels (13) to lock, restricting the axial deflection of the two rotating frames (18). Then, the two third electric push rods (16) are de-energized and the machine stops. The output end of the first electric push rod (8) in the rear hollow end block (1) extends and lifts the lifting counterweight plate (7), so that the two lower rollers (9) are close to the two upper rollers (9). The squeezing force generated between the four rollers (9) clamps the rear hollow end block (1) onto the wire (4). The output end of the first electric push rod (8) in the front hollow end block (1) retracts and presses down the lifting counterweight plate (7), so that the two lower rollers (9) are away from the two upper rollers (9), releasing the clamping between the front hollow end block (1) and the wire (4). When the power is turned on, the two fourth electric push rods (35) are activated. The output ends of the two fourth electric push rods (35) retract and pull the two gear covers (25) closer to each other, so that the two movable end face gears (24) engage with the two fixed end face gears (23), thereby restricting the axial rotation between the two rotating frames (18) and restricting the distance between the two hollow end blocks (1), so that the two hollow end blocks (1) are on the same axis. Then, the power is turned on to start the second motor (30). The output end of the second motor (30) drives the worm (28) to rotate clockwise. The worm (28) drives the turbine (27) to rotate the shaft (26) axially through meshing with the turbine (27), so that from the top view, the upper transition block (21) The front hollow end block (1) is deflected from 180 degrees counterclockwise to 190 degrees, and the front hollow end block (1) is deflected from 90 degrees counterclockwise to 100 degrees. Then, the front hollow end block (1) is axially deviated and passes around the single insulating terminal (3) from one side. The first motor (10) in the rear hollow end block (1) is powered on and started. The rear first motor (10) drives the drive wheel (11) to rotate and push the power distribution network inspection device to move horizontally. This causes the front hollow end block (1) to move around the side of the single insulating terminal (3) until the camera (22) is at the axial vertical top of the single insulating terminal (3). The front hollow end block (1) is pushed to the other side of the single insulating terminal (3) by 11cm to 12cm.At 5cm, the output end of the second motor (30) rotates to reset and drive the turbine (27) to rotate and reset, so that from the top view, the upper adapter block (21) deflects clockwise from 190 degrees to 180 degrees, thereby bypassing the front hollow end block (1) and fitting with the wire (4), so that the wire (4) is located between the two trapezoidal guide plates (32), and the two trapezoidal guide plates (32) guide the wire (4) to the four rollers (9) and the two drive wheels (11). Then, the output end of the first electric push rod (8) in the front hollow end block (1) extends, so that the four rollers (9) of the front hollow end block (1) clamp and fix it on the wire (4) again. The output end of the first electric push rod (8) in the rear hollow end block (1) retracts to release the clamping and fixing of the four rollers (9) on the wire (4), so that the front hollow end block (1) bypasses the single insulating terminal (3); The output of the second motor (30) drives the worm gear (28) to rotate counterclockwise, so that from the top view, the lower adapter block (21) deflects from 0 degrees counterclockwise to -10 degrees, and the rear hollow end block (1) deflects from 270 degrees to 280 degrees. Then, the first motor (10) inside the front hollow end block (1) starts, and the two drive wheels (11) of the front hollow end block (1) drive the power distribution network inspection device to move horizontally by rotating, so that the rear hollow end block (1) moves around the side of the single insulating terminal (3) until the rear hollow end block (1) is on the other side of the single insulating terminal (3). The output of the second motor (30) resets and rotates, so that the lower... The side transition block (21) deflects from -10 degrees to 0 degrees, and the rear hollow end block (1) deflects from 280 degrees to 270 degrees, so that the rear hollow end block (1) is close to the wire (4). Under the guidance of the two trapezoidal guide plates (32), the rear hollow end block (1) moves the four rear rollers (9) and two drive wheels (11) to the upper and lower sides of the wire (4). The output end of the first electric push rod (8) inside the rear hollow end block (1) extends, so that the four rollers (9) of the rear hollow end block (1) clamp the wire (4), so that the power distribution network inspection device can bypass the connection point between the power pole and the wire (4) and realize the overall bypass connection of the power distribution network inspection device. S5, Center of gravity reset: After the power distribution network inspection device is connected, the output ends of the two second electric push rods (15) retract and pull the two pawls (14) to deflect, releasing the jamming between the two pawls (14) and the two ratchet wheels (13). The output ends of the two fourth electric push rods (35) extend, causing the two fixed end face gears (23) to disengage from the two movable end face gears (24). The output ends of the two third electric push rods (16) extend to the limit, causing the included angle between the two rotating frames (18) to expand from 120 degrees to 175 degrees, expanding the distance between the two hollow end blocks (1) to the maximum distance, thereby causing the center of gravity of the power distribution network inspection device to move down to the lowest side of the power line (4), realizing the reset of the center of gravity of the power distribution network inspection device. S6, Flexible Steering: When the insulated terminal (3) is located at the turning pole of the overhead power line, during the bypass connection process, from the top view, the two hollow end blocks (1) are adjusted to positive / negative angles according to the actual deflection angle of the wire (4). Among the two hollow end blocks (1), the deflection angle range of the front hollow end block (1) is 45 degrees to 135 degrees, and the deflection angle of the rear hollow end block (1) is 225 degrees to 315 degrees. This allows both hollow end blocks (1) to bypass the turning angle of the overhead power line wire (4), enabling the power distribution network inspection device to adapt to the turning needs of a single overhead power line and realize the flexible turning of the power distribution network inspection device. S7, Standby Operation: The power distribution network inspection device is clamped onto the power line (4) by eight rollers (9), and two hollow end blocks (1) are located on both sides of the power line (4). After the power distribution network inspection device performs a reciprocating inspection of a single overhead power line, the output ends of the two first electric push rods (8) extend, so that the eight rollers (9) clamp the entire power distribution network inspection device onto the power line (4), and the two first motors (10) are de-energized and stopped, fixing the entire power distribution network inspection device onto the power line (4) and waiting for the next inspection of the overhead power line, thus realizing the standby operation of the power distribution network inspection device.

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