High-fall water diversion flow channel inspection device

Abstract

The invention provides a high-fall water diversion flow channel inspection device, the high-fall water diversion flow channel inspection device comprises a frame, an inspection assembly and a plurality of support wheel assemblies, the inspection assembly is arranged on the frame, the inspection assembly comprises a camera module, and the camera module is used for shooting the inner wall surface of a water diversion flow channel; the multiple supporting wheel assemblies are arranged on the two opposite sides of the frame respectively, each supporting wheel assembly comprises an adjustable support, a deformable crawler wheel and a driver, the two ends of the adjustable support are correspondingly connected with the frame and the deformable crawler wheel, the adjustable support is provided with a first rotating shaft and a second rotating shaft, and the axis where the first rotating shaft is located is perpendicular to the axis where the second rotating shaft is located. And the driver is used for driving the adjustable bracket to rotate around the first rotating shaft and the second rotating shaft so as to change the inclination angle between the deformed crawler wheel and the frame. The high-fall water diversion flow channel inspection device disclosed by the invention can flexibly adjust the posture of the device, keeps close contact with the inner wall of the flow channel, and completes comprehensive detection of the inner wall surface of the water diversion flow channel.

Description

Technical Field

[0001] The invention relates to the technical field of hydropower station maintenance, and in particular to a high-drop water diversion channel inspection device. Background Art

[0002] In the hydropower station system, the water diversion channel usually uses a combination of Z-shaped channels and shaft channels to guide water to the generator set and convert it into electrical energy. However, under the continuous scouring of high-velocity water flow, there is a risk of concrete erosion in the water diversion channel, which affects the safe operation of the hydropower station. In related technologies, for the curved sections and shaft sections of the water diversion channel, due to their hidden location, small space and difficulty in reaching, the detection methods and technologies are often unable to effectively inspect the concrete erosion situation, which not only leads to blind spots in the monitoring of these key areas, but also increases the safety risks of hydropower station operation. Summary of the invention

[0003] The present invention is based on the inventor's discovery and understanding of the following facts and problems:

[0004] In the hydropower station system, the strength of the concrete structure of the water diversion channel will gradually weaken under the continuous scouring of high-intensity and high-velocity water flow, and may even cause local damage or peeling, which will not only threaten the structural safety of the hydropower station, but also affect the stability and efficiency of power output due to the reduction of water flow efficiency. Therefore, timely detection and effective response to concrete erosion problems are of great significance to ensure the long-term safe and efficient operation of the hydropower station.

[0005] In the relevant technology, since the curved sections and shaft sections in the water diversion channel are often hidden deep inside the hydropower station, the location is concealed and the space is extremely limited. They have complex geometric shapes and harsh environments, making it difficult to use traditional detection methods, thus forming a monitoring blind spot, increasing the uncertainty and safety risks in the operation of the hydropower station. Once the erosion problem worsens and is not discovered, it may cause serious safety accidents.

[0006] To this end, an embodiment of the present invention proposes a high-drop water diversion channel inspection device, which can flexibly adjust its own posture and maintain close contact with the inner wall of the channel, so as to stably move in areas such as curved sections and vertical shaft sections, thereby achieving comprehensive inspection of the inner wall surface of the water diversion channel.

[0007] The high-drop water diversion channel inspection device provided in an embodiment of the present invention comprises a frame, an inspection assembly and a support wheel assembly. The inspection assembly is arranged on the frame, and the inspection assembly comprises a camera module, and the camera module is used to photograph the inner wall surface of the water diversion channel. The support wheel assembly is provided in plurality, and the plurality of support wheel assemblies are respectively arranged on opposite sides of the frame, and the support wheel assembly comprises an adjustable bracket, a deformable track wheel and a driver, one end of the adjustable bracket is connected to the frame, and the other end of the adjustable bracket is connected to the deformable track wheel, and the adjustable bracket has a first rotating shaft and a second rotating shaft, and the axis of the first rotating shaft is perpendicular to the axis of the second rotating shaft, and the driver is used to drive the adjustable bracket to rotate around the first rotating shaft and the second rotating shaft to change the inclination angle between the deformable track wheel and the frame.

[0008] In summary, the high-drop water diversion channel inspection device provided in the embodiment of the present invention can flexibly adjust its own posture and maintain close contact with the inner wall of the channel, so as to stably move in areas such as curved sections and vertical shaft sections, thereby achieving comprehensive inspection of the inner wall surface of the water diversion channel.

[0009] In some embodiments, the adjustable bracket also includes a mounting seat, a first support rod and a second support rod, the mounting seat is arranged on the frame, the first rotating shaft is connected between the mounting seat and the first support rod, the axis of the first rotating shaft is extended along the front and rear direction of the frame, the second rotating shaft is connected between the first support rod and the second support rod, the axis of the second rotating shaft is extended along the height direction of the frame, and the second support rod is provided with a fixed seat, and the fixed seat is used to install the deformable track wheel.

[0010] In some embodiments, the deformable track wheel includes a wheel hub, a plurality of telescopic rods and a plurality of arc-shaped support blocks, wherein the plurality of telescopic rods are arranged at intervals around the outer circumference of the wheel hub, the telescopic rods are extended in the radial direction of the wheel hub, and the plurality of arc-shaped support blocks are arranged in sequence around the wheel hub, the two ends of the telescopic rods are correspondingly connected to the wheel hub and the arc-shaped support blocks, and the telescopic rods drive the arc-shaped support blocks to move to change the shape of the deformable track wheel.

[0011] In some embodiments, the deformable track wheel has at least a switchable circular wheel form and a triangular form;

[0012] And / or, the telescopic rod includes a pneumatic cylinder or a hydraulic cylinder.

[0013] In some embodiments, the deformable track wheel further includes an elastic tire, which is sleeved on the outer side of the arc-shaped support block, and the elastic tire is deformable along with the movement of the arc-shaped support block.

[0014] In some embodiments, a plurality of support wheels are disposed on the arc-shaped support block, and the support wheels are spaced apart along the outer circumference of the arc-shaped support block.

[0015] In some embodiments, the inspection component also includes a rotating bracket, which includes a support rod and a fixed seat, the fixed seat is arranged on the frame, the fixed seat is provided with a rack and a driving element, the support rod is provided with a gear meshing with the rack, the camera module is arranged on the support rod, the driving element is connected to the rack, and the driving element drives the support rod and the camera module to rotate through the rack and the gear.

[0016] In some embodiments, the inspection assembly further includes a lighting module, and at least two of the lighting modules are provided, and the lighting modules are respectively arranged at the front and rear ends of the frame.

[0017] In some embodiments, the frame includes a cross bar, a vertical bar and a plurality of angle connectors, and the cross bar and the vertical bar are each provided with a plurality of angle connectors, and the cross bar and the vertical bar are connected with each other through the angle connectors.

[0018] In some embodiments, the high-drop water diversion channel inspection device further includes an anti-collision wheel, and a plurality of the anti-collision wheels are provided, and the plurality of the anti-collision wheels are respectively arranged at the front and rear ends of the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of a high-drop water diversion channel inspection device provided by an embodiment of the present invention.

[0020] Figure 2 It is a front view schematic diagram of a high-drop water diversion channel inspection device provided by one embodiment of the present invention.

[0021] Figure 3 It is a structural schematic diagram of a support wheel assembly in a high-drop water diversion channel inspection device provided in one embodiment of the present invention.

[0022] Figure 4 It is a structural schematic diagram of a deformable track wheel in a high-drop water diversion channel inspection device provided by an embodiment of the present invention.

[0023] Figure 5 It is a structural schematic diagram of a high-drop water diversion channel inspection device provided by an embodiment of the present invention, in which the deformed track wheels are in a circular shape and a triangular shape respectively.

[0024] Figure 6 It is a schematic structural diagram of a rotating bracket in a high-drop water diversion channel inspection device provided in one embodiment of the present invention.

[0025] Reference numerals: 100, high drop diversion channel inspection device; 110, frame; 111, cross bar; 112, vertical bar; 113, angle code connector; 120, support wheel assembly; 121, adjustable bracket; 1211, first rotating shaft; 1212, second rotating shaft; 1213, mounting seat; 1214, first support rod; 1215, second support rod; 1216, first hole; 1217, second hole; 1218, third hole; 121 9. The fourth hole; 122. The deformable track wheel; 1221. The wheel hub; 1222. The telescopic rod; 1223. The arc-shaped support block; 1224. The elastic tire; 1225. The support wheel; 130. The inspection component; 131. The camera module; 132. The rotating bracket; 1321. The support rod; 1322. The fixing seat; 1323. The rack; 1324. The gear; 133. The lighting module; 140. The anti-collision wheel; 150. The controller. DETAILED DESCRIPTION

[0026] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0027] like Figures 1 to 6 As shown, an embodiment of the present invention provides a high-drop water diversion channel inspection device 100, which includes a frame 110, a support wheel assembly 120 and an inspection assembly 130. The inspection assembly 130 is arranged on the frame 110, and the inspection assembly 130 includes a camera module 131, which is used to photograph the inner wall surface of the water diversion channel. There are multiple support wheel assemblies 120, which are respectively arranged on opposite sides of the frame 110. The support wheel assembly 120 includes an adjustable bracket 121, a deformable track wheel 122 and a driver. One end of the adjustable bracket 121 is connected to the frame 110, and the other end of the adjustable bracket 121 is connected to the deformable track wheel 122. The adjustable bracket 121 has a first rotating shaft 1211 and a second rotating shaft 1212. The axis of the first rotating shaft 1211 is perpendicular to the axis of the second rotating shaft 1212. The driver is used to drive the adjustable bracket 121 to rotate around the first rotating shaft 1211 and the second rotating shaft 1212 to change the inclination angle between the deformable track wheel 122 and the frame 110.

[0028] Specifically, the camera module 131 can accurately capture and record every detail of the inner wall of the water diversion channel, so that inspection personnel can remotely and clearly observe any potential defects or damage inside the channel, providing valuable visual data for subsequent maintenance and repair work.

[0029] Each support wheel assembly 120 is composed of three parts: an adjustable bracket 121, a deformable track wheel 122, and a driver. One end of the adjustable bracket 121 is connected to the vehicle frame 110, and the other end is connected to the deformable track wheel 122, and the first rotating shaft 1211 and the second rotating shaft 1212 are perpendicular to each other, so that the adjustable bracket 121 can rotate freely in both horizontal and vertical directions, thereby greatly expanding the application range of the deformable track wheel 122.

[0030] That is, the driver can drive the adjustable bracket 121 to rotate around the first rotating shaft 1211 and the second rotating shaft 1212, so that the adjustable bracket 121 can adjust the position and inclination of the deformed track wheel 122 in real time according to the actual shape and slope of the water diversion channel, thereby ensuring that the deformed track wheel 122 can maintain close contact with the inner wall surface of the water diversion channel under any complex terrain. This is particularly important for inspection tasks that cross challenging areas such as curved sections and shaft sections. The cooperation between the driver and the adjustable bracket 121 not only ensures the stable movement of the device, but also ensures the continuity and comprehensiveness of the inspection work.

[0031] In summary, the high-drop water diversion channel inspection device 100 provided by the present invention can flexibly adjust its own posture and maintain close contact with the inner wall of the channel, so as to stably move in areas such as curved sections and vertical shaft sections, thereby achieving comprehensive inspection of the inner wall surface of the water diversion channel.

[0032] like Figure 3 As shown, in some embodiments, the adjustable bracket 121 also includes a mounting seat 1213, a first support rod 1214 and a second support rod 1215, the mounting seat 1213 is arranged on the frame 110, the first rotating shaft 1211 is connected between the mounting seat 1213 and the first support rod 1214, the axis of the first rotating shaft 1211 is extended along the front and rear direction of the frame 110, the second rotating shaft 1212 is connected between the first support rod 1214 and the second support rod 1215, the axis of the second rotating shaft 1212 is extended along the height direction of the frame 110, and the second support rod 1215 is provided with a fixed seat 1322, and the fixed seat 1322 is used to install the deformable track wheel 122.

[0033] Specifically, the mounting seat 1213 is provided with a first hole 1216. One end of the first support rod 1214 is provided with a second hole 1217, and the other end of the second support rod 1215 is provided with a third hole 1218. The end of the second rod away from the fixing seat 1322 is provided with a fourth hole 1219. The first rotating shaft 1211 is penetrated in the first hole 1216 and the second hole 1217, and the second rotating shaft 1212 is penetrated in the third hole 1218 and the fourth hole 1219. The first rotating shaft 1211 is fixedly connected to the first support rod 1214, and the second rotating shaft 1212 is fixedly connected to one of the first support rod 1214 and the second support rod 1215. The driver can be divided into a first driver and a second driver, the first driver is connected to the first rotating shaft 1211 in a transmission manner, and the first driver is used to drive the first rotating shaft 1211 to rotate so as to drive the first support rod 1214 to swing in the height direction of the frame 110. The second driver is in driving connection with the second rotating shaft 1212 , and is used for driving the second rotating shaft 1212 to rotate so as to drive the second support rod 1215 to swing in the front-rear direction of the vehicle frame 110 .

[0034] That is to say, when the inspection device moves forward or backward in the water diversion channel, the second driver can drive the second support rod 1215 to rotate through the second rotating shaft 1212 to adapt to the slight changes in the inner wall surface of the channel, thereby maintaining the close contact between the deformed track wheel 122 and the inner wall surface. The axis of the first rotating shaft 1211 is extended along the front-to-back direction of the frame 110, which can give the adjustable bracket 121 the ability to adjust in the vertical direction, so that the deformed track wheel 122 can move up and down to cope with the vertical height changes that may exist in the water diversion channel. This design not only improves the walking stability of the device, but also enables it to easily cross some small obstacles or uneven areas.

[0035] Furthermore, the driver can be configured as a motor or a pneumatic motor or a cylinder. When the driver is configured as a motor or a pneumatic motor, the output shaft of the driver can be directly connected to the first rotating shaft 1211 or the second rotating shaft 1212. Of course, in some embodiments, the output end of the driver can be connected to the first rotating shaft 1211 and the second rotating shaft 1212 through a gear 1324 structure. When the driver is configured as a cylinder, the output end of the driver can be connected to the first rotating shaft 1211 and the second rotating shaft 1212 through a transmission method of a rack 1323 and a gear 1324.

[0036] like Figure 4 and Figure 5As shown, in some embodiments, the deformable track wheel 122 includes a wheel hub 1221, a plurality of telescopic rods 1222 and a plurality of arc-shaped support blocks 1223, the plurality of telescopic rods 1222 are arranged at intervals around the outer periphery of the wheel hub 1221, the telescopic rods 1222 are extended in the radial direction of the wheel hub 1221, and the plurality of arc-shaped support blocks 1223 are arranged sequentially with the wheel hub 1221, the two ends of the telescopic rods 1222 are correspondingly connected to the wheel hub 1221 and the arc-shaped support blocks 1223, the telescopic rods 1222 drive the arc-shaped support blocks 1223 to move to change the shape of the deformable track wheel 122, so that the deformable track wheel 122 can become wider when needed to increase the contact area with the ground and improve stability and grip; when not needed, it can be shrunk to be more compact so as to flexibly shuttle in a narrow space.

[0037] Furthermore, the deformable track wheel 122 has at least a switchable circular shape and a triangular shape. In the circular shape, the deformable track wheel 122 presents the appearance of a traditional track wheel, and its arc-shaped support blocks 1223 are evenly distributed and tightly fitted under the drive of the telescopic rod 1222, forming a complete circular profile. The deformable track wheel 122 in this shape has excellent rolling performance and stability, and is very suitable for traveling on smooth or slightly inclined ground, which can ensure that the inspection device moves smoothly and quickly in the water diversion channel, while reducing unnecessary wear on the inner wall surface. Figure 4 A in the middle is a schematic diagram showing the deformed track wheel 122 in a triangular shape. Figure 4 FIG. 1B is a schematic diagram showing the deformed track wheel 122 in a circular shape.

[0038] When faced with more complex or challenging terrain, the deformable track wheel 122 can be switched to a triangular shape. In this shape, the telescopic rod 1222 will be precisely adjusted according to the preset program or operating instructions, so that the relative positions of the arc-shaped support blocks 1223 change, thereby forming a stable triangular structure. The deformable track wheel 122 in a triangular shape has stronger climbing ability and adaptability to terrain, especially when encountering steep shaft sections or complex curved sections, it can provide better support and grip, ensuring that the inspection device can stably pass through these difficulties.

[0039] It is worth noting that the switch between the two forms of the deformable track wheel 122 is not a simple choice between the two, but can be dynamically adjusted according to the actual working environment and detection requirements. Through advanced control systems and precise sensor feedback, the inspection device can evaluate the current terrain conditions in real time and automatically or manually adjust the form of the deformable track wheel 122 to achieve the best travel effect and detection accuracy.

[0040] Furthermore, the telescopic rod 1222 includes a pneumatic cylinder or a hydraulic cylinder. It should be noted that the pneumatic cylinder and the hydraulic cylinder can be selected as needed to ensure that a stable and reliable driving force can be provided during the shape switching process of the deformable track wheel 122. These telescopic rods 1222 are coordinated and operated through a precise control system, and can be accurately adjusted according to actual needs, thereby realizing the flexible switching of the deformable track wheel 122 from a circular shape to a triangular shape or other shapes.

[0041] In some embodiments, the deformable track wheel 122 further includes an elastic tire 1224, which is sleeved on the outer side of the arc-shaped support block 1223. The elastic tire 1224 can be deformed as the arc-shaped support block 1223 moves, and can provide stable support and grip.

[0042] When the deformable track wheel 122 switches between the circular form and the triangular form according to actual needs, the arc-shaped support block 1223 will move and change its relative position accordingly. The elastic tire 1224 set on the outside of them can flexibly deform according to these changes and always maintain close contact with the ground. This design not only ensures that the deformable track wheel 122 can provide stable support in various forms, but also greatly enhances its driving stability and comfort in complex terrain.

[0043] In addition, the introduction of the elastic tires 1224 also brings a certain shock absorption effect to the deformed track wheel 122. During driving, they can absorb vibrations and impacts from the ground, thereby protecting the deformed track wheel 122 and its internal structure from damage. This design not only extends the service life of the deformed track wheel 122, but also improves the reliability and durability of the entire inspection device.

[0044] Furthermore, a plurality of support wheels 1225 are provided on the arc-shaped support block 1223, and the support wheels 1225 are arranged at intervals along the outer circumference of the arc-shaped support block 1223, so as to form an additional support layer. Moreover, in the process of the deformable track wheel 122 switching from a circular shape to a triangular shape, or vice versa, the support wheels 1225 play a key buffering role. They can absorb and disperse the internal stress and friction generated by the shape change, thereby greatly reducing the direct impact and wear on the elastic tire 1224. This design cleverly prolongs the service life of the elastic tire 1224, reduces the replacement frequency, and reduces the maintenance cost.

[0045] like Figure 6As shown, in some embodiments, the inspection component 130 also includes a rotating bracket 132, which includes a support rod 1321 and a fixed seat 1322. The fixed seat 1322 is arranged on the frame 110, and a rack 1323 and a driving element are provided on the fixed seat 1322. The support rod 1321 is provided with a gear 1324 meshing with the rack 1323. The camera module 131 is arranged on the support rod 1321, and the driving element is transmission-connected to the rack 1323. The driving element drives the support rod 1321 and the camera module 131 to rotate through the rack 1323 and the gear 1324.

[0046] That is, when the driving element is started and the rack 1323 is driven to move through the transmission mechanism, the gear 1324 will rotate along the track of the rack 1323, thereby driving the entire support rod 1321 and the camera module 131 mounted thereon to rotate. This design not only realizes the 360-degree panoramic shooting of the camera module 131 on the horizontal plane, but also enables the inspection device to adjust the shooting angle of the camera in the vertical direction, further expanding the detection range and improving the detection accuracy.

[0047] In some embodiments, the inspection component 130 also includes a lighting module 133, at least two of which are respectively arranged at the front and rear ends of the frame 110, which can provide a clear shooting environment for the camera module 131, and can also help the operator accurately judge the terrain and obstacles ahead, thereby ensuring the safety and stability of the detection device during driving.

[0048] In some embodiments, the frame 110 includes a cross bar 111, a vertical bar 112 and a plurality of angle connectors 113. The cross bar 111 and the vertical bar 112 are provided with a plurality of angle connectors 113, and the cross bar 111 and the vertical bar 112 are connected by the angle connectors 113, thereby constructing an overall structure that is both sturdy and easy to adjust, thereby ensuring that the integrity and stability of the structure are maintained in a complex and changing environment.

[0049] In some embodiments, the high-drop water diversion channel inspection device 100 further includes anti-collision wheels 140, and multiple anti-collision wheels 140 are provided, and the multiple anti-collision wheels 140 are respectively arranged at the front and rear ends of the frame 110, so as to ensure that the device can be protected in a timely and effective manner when it is moving forward or backward, whether it encounters sudden obstacles, uneven terrain or emergency braking. It should be noted that the number and distribution of the anti-collision wheels 140 are reasonably configured according to the size, load capacity and expected working environment of the frame 110 to achieve the best protection effect.

[0050] like Figure 1 and Figure 2As shown, in this embodiment, the high-drop water diversion channel inspection device 100 also includes a controller 150, which can be electrically connected to the lighting module 133, the camera module 131 and other components to control the movement of the device and the shooting of the inner wall surface.

[0051] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0053] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0055] In the present invention, the terms "one embodiment", "some embodiments", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0056] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A high drop water diversion channel inspection device, characterized in that: include: Frame; An inspection component, the inspection component is arranged on the frame, the inspection component comprises a camera module, and the camera module is used to photograph the inner wall surface of the water diversion channel; A support wheel assembly, wherein a plurality of support wheel assemblies are provided, and the plurality of support wheel assemblies are respectively arranged on opposite sides of the frame, and the support wheel assembly comprises an adjustable bracket, a deformable track wheel and a driver, one end of the adjustable bracket is connected to the frame, and the other end of the adjustable bracket is connected to the deformable track wheel, the adjustable bracket has a first rotating shaft and a second rotating shaft, the axis of the first rotating shaft is perpendicular to the axis of the second rotating shaft, and the driver is used to drive the adjustable bracket to rotate around the first rotating shaft and the second rotating shaft to change the inclination angle between the deformable track wheel and the frame.

2. The high drop diversion channel inspection device according to claim 1, characterized in that: The adjustable bracket also includes a mounting seat, a first support rod and a second support rod. The mounting seat is arranged on the frame, the first rotating shaft is connected between the mounting seat and the first support rod, and the axis of the first rotating shaft is extended along the front and rear direction of the frame. The second rotating shaft is connected between the first support rod and the second support rod, and the axis of the second rotating shaft is extended along the height direction of the frame. A fixed seat is provided on the second support rod, and the fixed seat is used to install the deformable track wheel.

3. The high drop water diversion channel inspection device according to claim 1, characterized in that: The deformable track wheel includes a wheel hub, a plurality of telescopic rods and a plurality of arc-shaped support blocks. The plurality of telescopic rods are arranged at intervals around the outer circumference of the wheel hub, and the telescopic rods are extended in the radial direction of the wheel hub. The plurality of arc-shaped support blocks are arranged in sequence around the wheel hub. The two ends of the telescopic rods are correspondingly connected to the wheel hub and the arc-shaped support blocks. The telescopic rods drive the arc-shaped support blocks to move to change the shape of the deformable track wheel.

4. The high drop diversion channel inspection device according to claim 3, characterized in that: The deformable track wheel has at least a switchable circular wheel shape and a triangular wheel shape; And / or, the telescopic rod includes a pneumatic cylinder or a hydraulic cylinder.

5. The high drop water diversion channel inspection device according to claim 3, characterized in that: The deformable track wheel also includes an elastic tire, which is sleeved on the outer side of the arc-shaped support block and can be deformed along with the movement of the arc-shaped support block.

6. The high drop water diversion channel inspection device according to claim 3, characterized in that: The arc-shaped support block is provided with a plurality of support wheels, and the support wheels are arranged at intervals along the outer circumference of the arc-shaped support block.

7. The high drop water diversion channel inspection device according to claim 1, characterized in that: The inspection component also includes a rotating bracket, which includes a support rod and a fixed seat, the fixed seat is arranged on the frame, a rack and a driving element are provided on the fixed seat, the support rod is provided with a gear meshing with the rack, the camera module is arranged on the support rod, the driving element is transmission connected to the rack, and the driving element drives the support rod and the camera module to rotate through the rack and the gear.

8. The high drop diversion channel inspection device according to claim 1, characterized in that: The inspection component also includes a lighting module, and at least two lighting modules are provided. The lighting modules are respectively arranged at the front and rear ends of the frame.

9. The high drop water diversion channel inspection device according to claim 1, characterized in that: The frame comprises a cross bar, a vertical bar and a plurality of angle code connectors. The cross bar and the vertical bar are each provided with a plurality of angle code connectors. The cross bar and the vertical bar are connected with each other through the angle code connectors.

10. The high drop water diversion channel inspection device according to claim 1, characterized in that: It also includes anti-collision wheels, and a plurality of anti-collision wheels are provided. The plurality of anti-collision wheels are respectively arranged at the front and rear ends of the frame.

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