Power transmission line detection device and detection method thereof

Abstract

The invention discloses a power transmission line detection device and a detection method thereof, and belongs to the technical field of power transmission line detection. Turnover mounting structures are symmetrically mounted on the connecting frame; an adjustable moving mechanism used for walking on the power transmission line is mounted at the moving end of the turnover mounting structure; a detection mechanism for detecting the state of the power transmission line is mounted on the turnover mounting structure and the connecting frame; the adjusting type moving mechanism comprises adjusting type moving assemblies and a driving assembly, the two adjusting type moving assemblies are symmetrically mounted at the moving end of the overturning mounting structure, and the driving assembly is mounted at the moving end of the overturning mounting structure; the detection mechanism comprises an environment detection assembly, a comprehensive detection assembly and an inclination detection module, the environment detection assembly is installed on the connecting frame, the comprehensive detection assembly is installed on the connecting frame and the moving end of the overturning installation structure, and the inclination detection module is installed on the lower side of the connecting frame. In this way, the device can continuously move on the power transmission line.

Description

Technical Field

[0001] This invention relates to the field of power transmission line testing technology, and specifically to a power transmission line testing device and its testing method. Background Technology

[0002] Transmission lines are exposed to the natural environment for a long time, and their surfaces are prone to minor broken wires and cracks. At the same time, the connecting bolts at some connection points may be loose. These defects can deteriorate rapidly over time, leading to safety accidents in the transmission lines. Moreover, such defects are usually subtle and hidden, and cannot be accurately identified by remote monitoring or drone aerial photography alone. Therefore, close-range observation through line inspection is necessary.

[0003] For example, Chinese patent CN110970830B discloses a power transmission line obstacle detection device, which moves along the power transmission line through a walking system and uses a camera, thermal imager and multiple sensors to collaboratively identify various obstacles such as wire wear, foreign objects, tree obstructions, and organisms.

[0004] However, there are some support structures between transmission lines to prevent the transmission lines from galloping. When encountering these support structures, the device has difficulty automatically crossing them, resulting in a shorter single detection distance.

[0005] Based on this, the present invention designs a power transmission line detection device and its detection method to solve the above problems. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a power transmission line testing device and testing method.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A power transmission line testing device includes a connecting frame and a flip-mounting structure; The connecting frame is symmetrically equipped with a flip-mounting structure; the movable end of the flip-mounting structure is equipped with an adjustable moving mechanism for moving on the transmission line; the flip-mounting structure and the connecting frame are equipped with a detection mechanism for detecting the status of the transmission line. The adjustable moving mechanism includes an adjustable moving component and a driving component. Two sets of adjustable moving components are symmetrically installed on the moving end of the flip-mounted structure, and a driving component for driving one set of adjustable moving components is installed on the moving end of the flip-mounted structure. The testing mechanism includes an environmental testing component, a comprehensive testing component, and a tilt testing module. The environmental testing component is mounted on a connecting frame, the comprehensive testing component is mounted on the connecting frame and the moving end of the flip-mounted structure, and the tilt testing module is mounted on the lower side of the connecting frame.

[0008] Furthermore, the flipping installation structure includes a fixed frame, a winding motor, a winding wheel, a guide wheel, a winding rope, and a flipping frame. The fixed frame is fixedly installed on the lower side of the connecting frame, and the winding motor is fixedly installed on the fixed frame. The winding wheel is fixedly installed on the output end of the winding motor, and the guide wheel is rotatably installed at the end of the fixed frame. The upper end of the flipping frame is rotatably installed on the lower side of the connecting frame. One end of the winding rope is fixedly connected to the winding wheel, and the winding rope passes through the guide wheel and is fixedly connected to the lower end of the flipping frame. The rotation center line of the flipping frame is located inside the rotation center line of the guide wheel.

[0009] Furthermore, the adjustable moving assembly includes a rotating frame, connecting rods, a synchronizing block, a hydraulic cylinder, and a drive wheel. Two rotating frames are symmetrically distributed inside the tilting frame. The middle of the rotating frame is rotatably mounted on the connecting frame, and the lower end of the rotating frame is rotatably connected to one end of the connecting rod. The other ends of the two connecting rods are respectively rotatably connected to the ends of the synchronizing blocks. The hydraulic cylinder is fixedly mounted on the tilting frame, and the output end of the hydraulic cylinder is fixedly connected to the synchronizing block. A drive wheel is rotatably mounted on the upper end of the rotating frame, and a wheel groove is provided in the middle of the drive wheel to facilitate movement on the power transmission line.

[0010] Furthermore, the drive assembly includes a drive gear, a driven gear, a support frame, a motor, and a follower transmission assembly. The support frame is fixedly installed on the outside of the tilting frame, and the motor is fixedly installed on the support frame. The drive gear and the driven gear are rotatably installed on the tilting frame, and the output end of the motor is fixedly connected to the drive gear. The drive gear and the driven gear are meshed together. Two sets of follower transmission assemblies are installed on the tilting frame. Furthermore, the driving gear and the upper drive wheel are connected by a set of follower transmission components, and the driven gear and the lower drive wheel are connected by another set of follower transmission components.

[0011] Furthermore, the follow-up transmission assembly includes a first transmission structure and a second drive structure. The power input end of one set of the second drive structure is fixedly connected to the driving gear, and the power input end of the other set of the second drive structure is fixedly connected to the driven gear. The power output end of the second drive structure is fixedly connected to the power input end of the first transmission structure, and the power output end of the first transmission structure is fixedly connected to the drive wheel. Furthermore, the rotation center of the power input end of the first transmission structure coincides with the rotation center of the middle part of the rotating frame.

[0012] Furthermore, the environmental detection component includes a rotating platform, a laser rangefinder, and a first high-definition camera. The rotating platform, driven by a servo motor, is rotatably mounted on the connecting frame. The laser rangefinder and the first high-definition camera are fixedly mounted on the rotating platform.

[0013] Furthermore, the tilt detection module includes a protective box, a rotating rod, a counterweight ball, and a tilt sensor. The protective box is fixedly installed on the lower side of the connecting frame. An arc-shaped groove is opened at the bottom of the protective box. The upper end of the rotating rod is rotatably installed inside the protective box, and a counterweight ball is fixedly installed at the lower end of the rotating rod. The counterweight ball moves within the arc-shaped groove. A tilt sensor for detecting the tilt angle of the rotating rod is fixedly installed inside the protective box.

[0014] To better achieve the objectives of this invention, the present invention also provides a method for detecting power transmission lines, comprising the following steps: Step 1: Adjust the adjustable moving component so that its posture does not obstruct the transmission line, and then retract the adjustable moving component so that it is limited to the transmission line. Step Two: The drive component drives the adjustable moving component, causing it to move along the transmission line. This, in turn, moves the connecting frame, the flip-mounted structure, the environmental detection component, the comprehensive detection component, and the tilt detection module along the transmission line. The comprehensive detection component performs a comprehensive inspection of the transmission line to confirm its normal operation. The tilt detection module detects the sag of the transmission line to ensure its safety. Simultaneously, the environmental detection component monitors the surrounding environment. Step 3: When encountering anti-galloping spacers between transmission lines, adjust the attitude of the adjustable moving component so that it can roll over the anti-galloping spacers.

[0015] Compared with the prior art, the beneficial effects of this invention are as follows: 1. Adjust the adjustable moving component to ensure its posture does not obstruct the transmission line, then retract it to limit its position on the transmission line. The drive component moves the adjustable moving component along the transmission line, thereby moving the connecting frame, flip-mounted structure, environmental detection component, integrated detection component, and tilt detection module along the transmission line. When encountering anti-galloping spacers between transmission lines, adjust the posture of the adjustable moving component to allow it to roll over the spacers. This allows the device to move continuously along the transmission line, extending the single detection distance. During this process, the integrated detection component performs a comprehensive inspection of the transmission line to confirm its normal operation. The tilt detection module detects the sag of the transmission line to prevent leakage, short circuits, or other issues caused by insufficient distance between the transmission line and the ground due to excessive sag, ensuring the safety of the transmission line. 2. Environmental monitoring components detect the surrounding environment; for some power transmission lines that cross mountains and forests, environmental monitoring components can detect the distance between the surrounding trees and other environmental plants and the power transmission lines in a timely manner; this allows staff to easily identify risks and resolve them promptly, preventing trees from coming into contact with the power transmission lines and causing short circuits, thus further ensuring the safety of the power transmission lines. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0017] Figure 1 A three-dimensional representation of a power transmission line testing device according to the present invention. Figure 1 ; Figure 2 This is a front view of a power transmission line detection device according to the present invention; Figure 3 A three-dimensional representation of a power transmission line testing device according to the present invention. Figure 2 ; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 for Figure 3 Enlarged view of point B in the middle; Figure 6 This is a schematic diagram of the counterweight ball and its connecting structure.

[0018] The labels in the diagram represent: 1. Connecting frame; 2. Tilting installation structure; 21. Fixing frame; 22. Winding motor; 23. Winding wheel; 24. Guide wheel; 25. Winding rope; 26. Tilting frame; 4. Adjustable moving mechanism; 41. Adjustable moving assembly; 411. Rotating frame; 412. Connecting rod; 413. Synchronizing block; 414. Hydraulic cylinder; 415. Drive wheel; 416. Wheel groove; 42. Drive assembly; 421. First transmission structure; 422. Second drive structure; 423. Driving gear; 424. Driven gear; 425. 426. Support frame; 5. Motor; 5. Detection mechanism; 51. Environmental detection component; 511. Rotating table; 512. Laser rangefinder; 513. First high-definition camera; 52. Integrated detection component; 521. Infrared thermal imager; 522. Temperature and humidity detector; 523. Ultraviolet imager; 524. Ultrasonic thickness gauge; 525. Second high-definition camera; 53. Tilt detection module; 531. Protective box; 532. Arc groove; 533. Rotating rod; 534. Counterweight ball; 535. Tilt sensor. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0021] Example 1: In some embodiments, please refer to the accompanying drawings. Figures 1-3 A power transmission line testing device includes a connecting frame 1 and a flip-mounting structure 2; A flip-mounting structure 2 is symmetrically installed on the connecting frame 1; an adjustable moving mechanism 4 for moving on the transmission line is installed on the moving end of the flip-mounting structure 2; a detection mechanism 5 for detecting the status of the transmission line is installed on the flip-mounting structure 2 and the connecting frame 1. like Figure 2 As shown, the adjustable moving mechanism 4 includes an adjustable moving component 41 and a driving component 42. Two sets of adjustable moving components 41 are symmetrically installed on the moving end of the flip-mounted structure 2, and a driving component 42 for driving one set of adjustable moving components 41 is installed on the moving end of the flip-mounted structure 2. like Figure 2 and 3 As shown, the detection mechanism 5 includes an environmental detection component 51, a comprehensive detection component 52, and a tilt detection module 53. The environmental detection component 51 is mounted on the connecting frame 1, the comprehensive detection component 52 is mounted on the moving end of the connecting frame 1 and the flip-mounting structure 2, and the tilt detection module 53 is mounted on the lower side of the connecting frame 1.

[0022] In this embodiment, when the transmission line detection device is working normally, the adjustable moving component 41 is adjusted so that its posture does not obstruct the transmission line, and then the adjustable moving component 41 is retracted, thereby limiting its position on the transmission line. The driving component 42 drives the adjustable moving component 41 to move on the transmission line, thereby moving the connecting frame 1, the flip-mounting structure 2, the environmental detection component 51, the comprehensive detection component 52, and the tilt detection module 53 on the transmission line. When encountering anti-galloping spacers between transmission lines, the posture of the adjustable moving component 41 is adjusted so that it flips over the anti-galloping spacers. This allows the device to operate within the transmission line. The device moves continuously along the line, extending the single detection distance. During this process, the comprehensive detection component 52 performs a full-range inspection of the transmission line to confirm its normal operation. The tilt detection module 53 detects the sag of the transmission line to prevent leakage, short circuits, or other issues caused by insufficient distance between the transmission line and the ground due to excessive sag. This ensures the safety of the transmission line. Simultaneously, the environmental detection component 51 detects the surrounding environment. For transmission lines crossing mountains and forests, the environmental detection component 51 promptly detects the distance between surrounding trees and other environmental plants and the transmission line. This allows staff to promptly identify and resolve risks, preventing short circuits caused by trees contacting the transmission line and further ensuring the safety of the transmission line.

[0023] Example 2: In some embodiments, as a preferred embodiment of the present invention, such as... Figure 2 and 3 As shown, the flipping installation structure 2 includes a fixed frame 21, a winding motor 22, a winding wheel 23, a guide wheel 24, a winding rope 25, and a flipping frame 26. The fixed frame 21 is fixedly installed on the lower side of the connecting frame 1. The winding motor 22 is fixedly installed on the fixed frame 21. The winding wheel 23 is fixedly installed at the output end of the winding motor 22. The guide wheel 24 is rotatably installed at the end of the fixed frame 21. The upper end of the flipping frame 26 is rotatably installed on the lower side of the connecting frame 1. One end of the winding rope 25 is fixedly connected to the winding wheel 23. After passing through the guide wheel 24, the winding rope 25 is fixedly connected to the lower end of the flipping frame 26. The rotation center line of the flipping frame 26 is located inside the rotation center line of the guide wheel 24.

[0024] like Figure 3 and 4As shown, the adjustable moving assembly 41 includes a rotating frame 411, a connecting rod 412, a synchronizing block 413, a hydraulic cylinder 414, and a drive wheel 415. Two rotating frames 411 are symmetrically distributed inside the tilting frame 26. The middle part of the rotating frame 411 is rotatably mounted on the connecting frame 1, and the lower end of the rotating frame 411 is rotatably connected to one end of the connecting rod 412. The other ends of the two connecting rods 412 are respectively rotatably connected to the ends of the synchronizing block 413. The hydraulic cylinder 414 is fixedly mounted on the tilting frame 26, and the output end of the hydraulic cylinder 414 is fixedly connected to the synchronizing block 413. The upper end of the rotating frame 411 is rotatably mounted with a drive wheel 415, and the middle part of the drive wheel 415 has a wheel groove 416 to facilitate movement on the power transmission line. The upper drive wheel 415 is in contact with the upper side of the upper transmission line, and the lower drive wheel 415 is in contact with the lower side of the lower transmission line. The drive assembly 42 includes a drive gear 423, a driven gear 424, a support frame 425, a motor 426, and a follower transmission assembly. The support frame 425 is fixedly installed on the outside of the tilting frame 26, and the motor 426 is fixedly installed on the support frame 425. The drive gear 423 and the driven gear 424 are rotatably installed on the tilting frame 26, and the output end of the motor 426 is fixedly connected to the drive gear 423. The drive gear 423 and the driven gear 424 are meshed together. Two sets of follower transmission assemblies are installed on the tilting frame 26. The drive gear 423 and the upper drive wheel 415 are connected by a follower transmission assembly, and the driven gear 424 and the lower drive wheel 415 are connected by another follower transmission assembly. The follower transmission assembly includes a first transmission structure 421 and a second drive structure 422. The power input end of one set of second drive structures 422 is fixedly connected to the driving gear 423, and the power input end of the other set of second drive structures 422 is fixedly connected to the driven gear 424. The power output end of the second drive structure 422 is fixedly connected to the power input end of the first transmission structure 421, and the power output end of the first transmission structure 421 is fixedly connected to the drive wheel 415. The rotation center of the power input end of the first transmission structure 421 coincides with the rotation center of the middle part of the rotating frame 411. Both the first transmission structure 421 and the second drive structure 422 are belt and pulley transmission structures, and the power input end and the power output end of the first transmission structure 421 and the second drive structure 422 are pulleys.

[0025] like Figure 3 , Figure 5 and Figure 6As shown, the environmental detection component 51 includes a rotating platform 511, a laser rangefinder 512, and a first high-definition camera 5513. The rotating platform 511 driven by a servo motor is rotatably mounted on the connecting frame 1. The laser rangefinder 512 is fixedly mounted on the rotating platform 511. The first high-definition camera 513 is fixedly mounted on the rotating platform 511. The integrated detection component 52 includes an infrared thermal imager 521, a temperature and humidity detector 522, an ultraviolet imager 523, an ultrasonic thickness gauge 524, and multiple sets of second high-definition cameras 525. The infrared thermal imager 521, the temperature and humidity detector 522, the ultraviolet imager 523, and the ultrasonic thickness gauge 524 are fixedly mounted on the connecting frame 1; multiple sets of second high-definition cameras 525 aligned with the power transmission line are fixedly mounted on the inner side of the flip frame 26. The tilt detection module 53 includes a protective box 531, a rotating rod 533, a counterweight ball 534, and a tilt sensor 535. The protective box 531 is fixedly installed on the lower side of the connecting frame 1. An arc-shaped groove 532 is opened at the bottom of the protective box 531. The upper end of the rotating rod 533 is rotatably installed inside the protective box 531, and the lower end of the rotating rod 533 is fixedly installed with a counterweight ball 534. The counterweight ball 534 moves within the arc-shaped groove 532. A tilt sensor 535 for detecting the tilt angle of the rotating rod 533 is fixedly installed inside the protective box 531.

[0026] In this embodiment, when the flip-mounting structure 2, the adjustable moving mechanism 4, and the detection mechanism 5 are working normally, the hydraulic cylinder 414 drives the synchronizing block 413 to move. The synchronizing block 413, through the connecting rod 412, synchronously drives the rotating frames 411 on both sides to rotate, thereby driving the drive wheels 415 on both sides to move, so that the drive wheels 415 on both sides grip the power transmission line. The motor 426 drives the driving gear 423 to rotate. The driving gear 423, through a set of second driving structures 422 and first transmission structures 421, drives the upper drive wheel 415 to rotate. The driving gear 423, through the driven gear 424 and another set of second driving structures 422 and first transmission structures 421, drives the lower drive wheel 415 to rotate, thereby causing the drive wheels 415 to move on the power transmission line. The device can move along the power transmission line. When it encounters an anti-galling spacer, the front hydraulic cylinder 414 drives the rotating frame 411 to rotate via the synchronizing block 413 and connecting rod 412, thereby causing the drive wheel 415 to detach from the power transmission line and pass over the anti-galling spacer from the top and bottom before re-hugging the power transmission line. Through the cooperation of the first transmission structure 421 and the second drive structure 422, it is ensured that the first transmission structure 421 can still drive the drive wheel 415 to rotate when the rotating frame 411 flips. Then, after the drive wheel 415 moves forward a certain distance, the rear hydraulic cylinder 414 and synchronizing block 413 drive the connecting rod 412 to move, causing the rear rotating frame 411 to drive the drive wheel 415 to flip over the anti-galling spacer from the top and bottom. This allows the device to continue moving along the power transmission line. During the movement, the rotating platform 511 drives the laser ranging device 512 and the first high-definition camera 513 to rotate. The laser ranging device 512 detects the distance between the surrounding environment and the power transmission line, and the first high-definition camera 513 captures the impact of the surrounding environment. This facilitates subsequent analysis of the impact of the surrounding environment on the power transmission line, determining whether to take action and the timeframe for action. For example, if the object close to the power transmission line is determined to be a rock or a plant, the type of plant and its growth rate are considered. If a plant is close to the power transmission line and is a fast-growing plant such as bamboo, then relevant ground personnel need to take immediate action. If the object close to the line is a rock, then it can be decided whether to remove it based on the situation. Infrared thermal imager 521 detects overheating defects in the transmission line; temperature and humidity detector 522 detects ambient temperature and humidity; ultraviolet imager 523 detects corona discharge in the insulators; and ultrasonic thickness gauge 524 detects severe tensile deformation that causes dimensional non-compliance. Multiple sets of secondary high-definition cameras 525 collect images of the transmission line to facilitate subsequent inspection for appearance defects such as burrs and broken wires, thereby comprehensively judging the operating status of the transmission line. Meanwhile, under the action of gravity, the counterweight ball 534 drives the rotating rod 533 to remain vertically downward in the arc groove 532, and the protective box 531 isolates it from the influence of the external environment. If the inclination of the transmission line is large, the protective box 531 tilts with the connecting frame 1, and the tilt sensor 535 inside the protective box 531 moves accordingly. The tilt angle of the rotating rod 533 is detected by the tilt sensor 535, which makes it easier to judge the tilt state of the transmission line and thus facilitates the detection of the sag of the transmission line.

[0027] Example 3: In some embodiments, such as Figures 1-6 As shown, in a preferred embodiment of the present invention, a method for detecting transmission lines includes the following steps: Step 1: Adjust the adjustable moving component 41 so that its posture does not obstruct the transmission line, and then retract the adjustable moving component 41 so that it is limited to the transmission line. Step Two: The drive component 42 drives the adjustable moving component 41, causing the adjustable moving component 41 to move on the transmission line, thereby moving the connecting frame 1, the flip-mounting structure 2, the environmental detection component 51, the comprehensive detection component 52, and the tilt detection module 53 on the transmission line; the comprehensive detection component 52 performs a comprehensive inspection of the transmission line to confirm whether the transmission line is normal; the tilt detection module 53 detects the sag of the transmission line to ensure the safety of the transmission line; at the same time, the environmental detection component 51 detects the surrounding environment. Step 3: When encountering anti-galloping spacers between transmission lines, adjust the attitude of the adjustable moving component 41 so that the adjustable moving component 41 can flip over the anti-galloping spacers.

[0028] Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and not intended to limit it. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the specific embodiments of the present invention, but such modifications or alterations are all within the scope of protection of the pending claims.

Claims

1. A power transmission line detection device, comprising a connecting frame (1) and a turnover mounting structure (2), characterized in that, the connecting frame (1) is symmetrically provided with the turnover mounting structure (2); the moving end of the turnover mounting structure (2) is provided with an adjustable moving mechanism (4) for walking on the power transmission line; the turnover mounting structure (2) and the connecting frame (1) are provided with a detection mechanism (5) for detecting the state of the power transmission line; the adjustable moving mechanism (4) comprises an adjustable moving assembly (41) and a driving assembly (42), and the moving end of the turnover mounting structure (2) is symmetrically provided with two groups of the adjustable moving assembly (41), and the moving end of the turnover mounting structure (2) is provided with the driving assembly (42) for driving one group of the adjustable moving assembly (41); the detection mechanism (5) comprises an environment detection assembly (51), a comprehensive detection assembly (52) and an inclination detection module (53), the environment detection assembly (51) is installed on the connecting frame (1), the comprehensive detection assembly (52) is installed on the connecting frame (1) and the moving end of the turnover mounting structure (2), and the inclination detection module (53) is installed on the lower side of the connecting frame (1).

2. A power line detection apparatus according to claim 1, wherein the turnover mounting structure (2) comprises a fixed frame (21), a winding motor (22), a winding wheel (23), a guide wheel (24), a winding rope (25) and a turnover frame (26), the fixed frame (21) is fixedly installed on the lower side of the connecting frame (1), the fixed frame (21) is fixedly provided with the winding motor (22), the output end of the winding motor (22) is fixedly provided with the winding wheel (23), and the guide wheel (24) is rotatably installed on the end of the fixed frame (21); the upper end of the turnover frame (26) is rotatably installed on the lower side of the connecting frame (1); one end of the winding rope (25) is fixedly connected with the winding wheel (23), the winding rope (25) passes through the guide wheel (24) and is fixedly connected with the lower end of the turnover frame (26); and the rotation center line of the turnover frame (26) is located on the inner side of the rotation center line of the guide wheel (24).

3. A power line detection apparatus according to claim 2, wherein The adjustable moving assembly (41) comprises rotating frames (411), connecting rods (412), synchronous blocks (413), hydraulic cylinders (414) and drive wheels (415), two rotating frames (411) are symmetrically distributed on the inner side of the turnover frame (26), the middle part of the rotating frame (411) is rotatably installed on the connecting frame (1), and one end of the rotating frame (411) is rotatably connected with one end of the connecting rod (412); the other end of the connecting rod (412) is rotatably connected with the end of the synchronous block (413); the hydraulic cylinder (414) is fixedly installed on the turnover frame (26), and the output end of the hydraulic cylinder (414) is fixedly connected with the synchronous block (413); the upper end of the rotating frame (411) is rotatably installed with the drive wheel (415), and the middle part of the drive wheel (415) is provided with a wheel groove (416) for facilitating movement on the power transmission line.

4. A power line detection apparatus according to claim 3, wherein The driving assembly (42) comprises driving gears (423), driven gears (424), support frames (425), motors (426) and follow-up transmission assemblies, the support frame (425) is fixedly installed on the outer side of the turnover frame (26), and the motor (426) is fixedly installed on the support frame (425); the driving gear (423) and the driven gear (424) are rotatably installed on the turnover frame (26), and the output end of the motor (426) is fixedly connected with the driving gear (423); the driving gear (423) is in meshing connection with the driven gear (424); two groups of follow-up transmission assemblies are installed on the turnover frame (26).

5. A power line detection apparatus according to claim 4, wherein The driving gear (423) and the upper drive wheel (415) are drivingly connected through one group of follow-up transmission assemblies, and the driven gear (424) and the lower drive wheel (415) are drivingly connected through the other group of follow-up transmission assemblies.

6. A power line detection apparatus according to claim 5, wherein The follow-up transmission assembly comprises first transmission structures (421) and second driving structures (422), the power input ends of one group of second driving structures (422) are fixedly connected with the driving gear (423), the power input ends of the other group of second driving structures (422) are fixedly connected with the driven gear (424); the power output end of the second driving structure (422) is fixedly connected with the power input end of the first transmission structure (421), and the power output end of the first transmission structure (421) is fixedly connected with the drive wheel (415).

7. A power line detection apparatus according to claim 6, wherein The rotation center of the power input end of the first transmission structure (421) coincides with the rotation center of the middle part of the rotating frame (411).

8. A power line detection apparatus according to claim 7, wherein The environment detection assembly (51) comprises rotating tables (511), laser ranging devices (512) and first high-definition cameras (513), the rotating table (511) driven by a servo motor is rotatably installed on the connecting frame (1), the laser ranging device (512) is fixedly installed on the rotating table (511), and the first high-definition camera (513) is fixedly installed on the rotating table (511).

9. A power line detection apparatus according to claim 8, wherein The inclination detection module (53) comprises a protective box (531), a rotating rod (533), a counterweight ball (534) and an inclination sensor (535), the protective box (531) is fixedly installed on the lower side of the connecting frame (1), an arc-shaped groove (532) is formed in the inner bottom of the protective box (531), the upper end of the rotating rod (533) is rotatably installed in the interior of the protective box (531), the counterweight ball (534) is fixedly installed on the lower end of the rotating rod (533), and the counterweight ball (534) is limitedly moved in the arc-shaped groove (532); the inclination sensor (535) for detecting the inclination angle of the rotating rod (533) is fixedly installed in the protective box (531).

10. The method of claim 1-9, wherein The method comprises the following steps: Step one: adjust the adjustable moving assembly (41) so that the posture of the adjustable moving assembly (41) does not block the power transmission line, and then make the adjustable moving assembly (41) fold, so that the adjustable moving assembly (41) can be limited on the power transmission line; Step two: drive the adjustable moving assembly (41) by the driving assembly (42), so that the adjustable moving assembly (41) moves on the power transmission line, thereby driving the connecting frame (1), the turnover installation structure (2), the environment detection assembly (51), the comprehensive detection assembly (52) and the inclination detection module (53) to move on the power transmission line; The power transmission line is comprehensively detected by the comprehensive detection assembly (52) to confirm whether the power transmission line is normal, and the sag of the power transmission line is detected by the inclination detection module (53); the safety of the power transmission line is ensured; and the surrounding environment is detected by the environment detection assembly (51); Step three: when the anti-dancing spacer between the power transmission lines is encountered, the posture of the adjustable moving assembly (41) is adjusted, so that the adjustable moving assembly (41) climbs over the anti-dancing spacer.

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