High-drop water conduit inspection device

Abstract

The application provides a high-drop water guide channel inspection device, which comprises a vehicle frame, an inspection assembly and a plurality of support wheel assemblies. The inspection assembly is arranged on the vehicle frame and comprises a camera module for shooting the inner wall surface of the water guide channel. The plurality of support wheel assemblies are arranged on opposite sides of the vehicle frame. Each support wheel assembly comprises an adjustable support, a deformed track wheel and a driver. The two ends of the adjustable support are connected to the vehicle frame and the deformed track wheel correspondingly. The adjustable support has a first rotation shaft and a second rotation shaft, and the axis of the first rotation shaft is perpendicular to the axis of the second rotation shaft. The driver is used to drive the adjustable support to rotate around the first rotation shaft and the second rotation shaft, so as to change the inclination angle between the deformed track wheel and the vehicle frame. The high-drop water guide channel inspection device disclosed by the application can flexibly adjust its own posture, keep close contact with the inner wall of the flow channel, and complete the overall detection of the inner wall surface of the water guide channel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydropower station maintenance, and particularly relates to a high-drop water diversion channel inspection device. BACKGROUND

[0002] In a hydropower station system, a water diversion channel is usually combined with a Z-shaped channel and a vertical shaft channel to guide water flow to a generator set for conversion into electric energy. However, the water diversion channel is at risk of concrete erosion under the continuous scouring of high-flow water flow, affecting the safe operation of the hydropower station. In related technologies, for the curved section and the vertical shaft section of the water diversion channel, due to their hidden location, narrow space and difficult accessibility, the detection method and technology often cannot effectively check the concrete erosion condition, not only leading to a monitoring blind area of these key areas, but also increasing the safety hazard of the operation of the hydropower station. SUMMARY

[0003] The present application is made based on the discovery and understanding of the inventors on the following facts and problems:

[0004] In a hydropower station system, under the continuous scouring of high-intensity and high-flow water flow, the strength of the concrete structure will gradually weaken, and even local damage or peeling may occur, which not only threatens the structural safety of the hydropower station, but also affects the stability and efficiency of electric energy output due to the reduction of water flow efficiency. Therefore, timely discovery and effective response to the concrete erosion problem are of great significance to ensure the long-term safe and efficient operation of the hydropower station.

[0005] In related technologies, due to the hidden location, extremely limited space, complex geometry and harsh environment of the curved section and the vertical shaft section in the water diversion channel, the traditional detection means is difficult to apply, thereby forming a monitoring blind area and increasing the uncertainty and safety risk in the operation of the hydropower station. Once the erosion problem worsens and is not discovered, it may cause serious safety accidents.

[0006] Therefore, an embodiment of the present application proposes a high-drop water diversion channel inspection device, which can flexibly adjust its posture, maintain close contact with the inner wall of the channel, and thus stably walk in the curved section and the vertical shaft section and other areas, realizing comprehensive detection of the inner wall surface of the water diversion channel.

[0007] The high-drop water guide channel inspection device provided by the embodiment of the present application comprises a vehicle frame, an inspection assembly and a plurality of support wheel assemblies. The inspection assembly is arranged on the vehicle frame and comprises a camera module for photographing the inner wall surface of the water guide channel. The support wheel assemblies are arranged on opposite sides of the vehicle frame. Each support wheel assembly comprises an adjustable support, a deformable track wheel and a driver. One end of the adjustable support is connected to the vehicle frame, and the other end of the adjustable support is connected to the deformable track wheel. The adjustable support has a first rotation shaft and a second rotation shaft. The axis of the first rotation shaft is perpendicular to the axis of the second rotation shaft. The driver is used to drive the adjustable support to rotate around the first rotation shaft and the second rotation shaft, so as to change the inclination angle between the deformable track wheel and the vehicle frame.

[0008] In summary, the high-drop water guide channel inspection device provided by the embodiment of the present application can flexibly adjust its posture, maintain close contact with the inner wall of the channel, and stably walk in the curved section and the vertical shaft section, thereby achieving comprehensive detection of the inner wall surface of the water guide channel.

[0009] In some embodiments, the adjustable support further comprises a mounting seat, a first support rod and a second support rod. The mounting seat is arranged on the vehicle frame. The first rotation shaft is connected between the mounting seat and the first support rod. The axis of the first rotation shaft extends in the front-rear direction of the vehicle frame. The second rotation shaft is connected between the first support rod and the second support rod. The axis of the second rotation shaft extends in the height direction of the vehicle frame. The second support rod is provided with a fixing seat for mounting the deformable track wheel.

[0010] In some embodiments, the deformable track wheel comprises a hub, a plurality of telescopic rods and a plurality of arc-shaped support blocks. The telescopic rods are arranged around the outer periphery of the hub at intervals. The telescopic rods extend in the radial direction of the hub. The arc-shaped support blocks are arranged around the hub in sequence. The two ends of the telescopic rods are connected to the hub and the arc-shaped support blocks, respectively. 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 shape and a triangular shape.

[0012] In some embodiments, the telescopic rod comprises a pneumatic cylinder or a hydraulic cylinder.

[0013] In some embodiments, the deformable track wheel further comprises an elastic tire. The elastic tire is sleeved on the outer side of the arc-shaped support block. The elastic tire can deform with the movement of the arc-shaped support block.

[0014] In some embodiments, the arc-shaped supporting block is provided with a plurality of supporting wheels, which are arranged at intervals along the outer periphery of the arc-shaped supporting block.

[0015] In some embodiments, the inspection assembly further comprises a rotating support, which comprises a supporting rod and a fixing base, the fixing base is arranged on the frame, the fixing base is provided with a rack and a driving element, the supporting rod is provided with a gear wheel engaged with the rack, the camera module is arranged on the supporting rod, the driving element is in transmission connection with the rack, and the driving element drives the supporting rod and the camera module to rotate through the rack and the gear wheel.

[0016] In some embodiments, the inspection assembly further comprises an illumination module, and the illumination module is provided with at least two, which are arranged at the front and rear ends of the frame respectively.

[0017] In some embodiments, the frame comprises a horizontal rod, a vertical rod and a plurality of angle code connectors, the horizontal rod and the vertical rod are both provided with a plurality of, and the horizontal rod and the vertical rod are connected through the angle code connectors.

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

[0019] Figure 1 is a perspective view of the high-drop water channel inspection device according to an embodiment of the present application.

[0020] Figure 2 is a front view of the high-drop water channel inspection device according to an embodiment of the present application.

[0021] Figure 3 is a structural schematic view of the supporting wheel assembly in the high-drop water channel inspection device according to an embodiment of the present application.

[0022] Figure 4 is a structural schematic view of the deformed track wheel in the high-drop water channel inspection device according to an embodiment of the present application.

[0023] Figure 5 is a structural schematic view of the deformed track wheel in the high-drop water channel inspection device according to an embodiment of the present application, which is in a circular shape and a triangular shape respectively.

[0024] Figure 6 is a structural schematic view of the rotating support in the high-drop water channel inspection device according to an embodiment of the present application.

[0025] Reference numerals: 100, High-drop water diversion channel inspection device; 110, Frame; 111, Horizontal bar; 112, Vertical bar; 113, Angle bracket connector; 120, Support wheel assembly; 121, Adjustable bracket; 1211, First rotating shaft; 1212, Second rotating shaft; 1213, Mounting base; 1214, First support rod; 1215, Second support rod; 1216, First hole; 1217, Second hole; 1218, Third hole; 121 9. Fourth hole; 122. Deformable track wheel; 1221. Wheel hub; 1222. Telescopic rod; 1223. Arc-shaped support block; 1224. Elastic tire; 1225. Support wheel; 130. Inspection assembly; 131. Camera module; 132. Rotating bracket; 1321. Support rod; 1322. Fixing base; 1323. Rack; 1324. Gear; 133. Lighting module; 140. Anti-collision wheel; 150. Controller. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed 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 component 130. The inspection component 130 is mounted on the frame 110 and includes a camera module 131 for photographing the inner wall surface of the water diversion channel. Multiple support wheel assemblies 120 are provided, and the multiple support wheel assemblies 120 are respectively located on opposite sides of the frame 110. Each 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 tilt 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, enabling inspectors to 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 an adjustable support 121, a deformation caterpillar wheel 122 and a driver. One end of the adjustable support 121 is connected with the vehicle frame 110, and the other end is connected with the deformation caterpillar wheel 122, and the first rotation shaft 1211 and the second rotation shaft 1212 are perpendicular to each other, so that the adjustable support 121 can rotate freely in the horizontal and vertical directions, thereby greatly expanding the application range of the deformation caterpillar wheel 122.

[0030] That is, the driver can drive the adjustable support 121 to rotate around the first rotation shaft 1211 and the second rotation shaft 1212, so that the adjustable support 121 can adjust the position and inclination angle of the deformation caterpillar wheel 122 in real time according to the actual shape and slope of the diversion channel, thereby ensuring that the deformation caterpillar wheel 122 can keep close contact with the inner wall of the diversion channel in any complex terrain. In particular, for the inspection task of passing through the challenging areas such as curved sections and vertical shaft sections, the cooperation of the driver and the adjustable support 121 not only ensures the stable walking of the device, but also ensures the continuity and comprehensiveness of the inspection work.

[0031] In conclusion, the high-drop diversion channel inspection device 100 provided by the application can flexibly adjust its posture, keep close contact with the inner wall of the channel, and stably walk in the curved section and the vertical shaft section, thereby realizing the comprehensive detection of the inner wall of the diversion channel.

[0032] As shown in Figure 3 In some embodiments, the adjustable support 121 further includes a mounting seat 1213, a first support rod 1214 and a second support rod 1215, the mounting seat 1213 is arranged on the vehicle frame 110, the first rotation shaft 1211 is connected between the mounting seat 1213 and the first support rod 1214, the axis of the first rotation shaft 1211 extends along the front-rear direction of the vehicle frame 110, the second rotation shaft 1212 is connected between the first support rod 1214 and the second support rod 1215, the axis of the second rotation shaft 1212 extends along the height direction of the vehicle frame 110, and the second support rod 1215 is provided with a fixing seat 1322 for mounting the deformation caterpillar 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 second rod is provided with a fourth hole 1219 at an end away from the fixing seat 1322. The first rotating shaft 1211 is arranged in the first hole 1216 and the second hole 1217, and the second rotating shaft 1212 is arranged in the third hole 1218 and the fourth hole 1219. The first rotating shaft 1211 is fixedly connected with the first support rod 1214, and the second rotating shaft 1212 is fixedly connected with 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 in transmission connection with the first rotating shaft 1211, and is used to drive the first rotating shaft 1211 to rotate to drive the first support rod 1214 to swing in the height direction of the vehicle frame 110. The second driver is in transmission connection with the second rotating shaft 1212, and is used to drive the second rotating shaft 1212 to rotate to drive the second support rod 1215 to swing in the front-rear direction of the vehicle frame 110.

[0034] That is, when the inspection device advances or retreats 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 of the inner wall surface of the channel, so as to maintain the close contact of the deformed track wheel 122 with the inner wall surface. The axis of the first rotating shaft 1211 is arranged along the front-rear direction of the vehicle frame 110, which can give the adjustable support 121 the adjustment ability in the vertical direction, so that the deformed track wheel 122 can move up and down to cope with the possible vertical height changes in the water diversion channel. This design not only improves the walking stability of the device, but also makes it easy to cross some small obstacles or uneven areas.

[0035] Further, the driver can be a motor or a pneumatic motor or a gas cylinder. When the driver is 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 the gear 1324 structure. When the driver is a gas cylinder, the output end of the driver can be connected to the first rotating shaft 1211 and the second rotating shaft 1212 through the transmission mode of the rack 1323 and the gear 1324.

[0036] As Figure 4 and Figure 5As shown, in some embodiments, the deformable track wheel 122 includes a hub 1221, a plurality of telescopic rods 1222 arranged around the outer periphery of the hub 1221, and a plurality of arc-shaped support blocks 1223 arranged sequentially along the hub 1221. The two ends of each telescopic rod 1222 are connected to the hub 1221 and the arc-shaped support blocks 1223, respectively. The telescopic rods 1222 can drive the arc-shaped support blocks 1223 to move and change the shape of the deformable track wheel 122. When needed, the deformable track wheel 122 can become wider to increase the contact area with the ground, improving stability and grip. When not needed, the deformable track wheel 122 can become more compact to facilitate flexible movement in narrow spaces.

[0037] Further, the deformable track wheel 122 has at least two switchable shapes: a circular shape and a triangular shape. In the circular shape, the arc-shaped support blocks 1223 are uniformly distributed and closely fitted under the drive of the telescopic rods 1222, forming a complete circular profile. The deformable track wheel 122 in this shape has excellent rolling performance and stability, making it very suitable for traveling on smooth or slightly inclined ground. It can ensure that the inspection device moves smoothly and quickly in the water flow channel, while reducing unnecessary wear on the inner wall. Figure 4 Figure A in the middle shows a schematic view of the deformable track wheel 122 in a triangular shape, Figure 4 Figure B in the middle shows a schematic view of the deformable track wheel 122 in a circular shape.

[0038] When facing more complex or challenging terrain, the deformable track wheel 122 can switch to the triangular shape. In this shape, the telescopic rods 1222 will be precisely adjusted according to the preset program or operating instructions, causing the relative positions of the arc-shaped support blocks 1223 to change, thereby forming a stable triangular structure. The deformable track wheel 122 in this shape has stronger climbing ability and adaptability to the 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 cross these difficulties.

[0039] It is worth noting that the switching between the two shapes of the deformable track wheel 122 is not simply a choice between two options, 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 assess the current terrain conditions in real time and automatically or manually adjust the shape of the deformable track wheel 122 to achieve the best travel effect and detection accuracy.

[0040] Further, the telescopic rods 1222 include pneumatic cylinders or hydraulic cylinders. It should be noted that pneumatic cylinders and hydraulic cylinders can be selected as needed to ensure that stable and reliable driving force can be provided during the shape switching of the transformable track wheel 122. These telescopic rods 1222 are coordinated by a precise control system and can be precisely adjusted according to actual needs, thereby realizing flexible switching of the transformable track wheel 122 from a circular shape to a triangular shape or other shapes.

[0041] In some embodiments, the transformable track wheel 122 further includes elastic tires 1224, which are sleeved on the outer sides of the arc-shaped support blocks 1223. The elastic tires 1224 can deform with the movement of the arc-shaped support blocks 1223 and can provide stable support and grip.

[0042] When the transformable track wheel 122 switches between the circular shape and the triangular shape according to actual needs, the arc-shaped support blocks 1223 will move and change their relative positions accordingly. The elastic tires 1224 sleeved on their outer sides can flexibly follow these changes and maintain close contact with the ground at all times. This design not only ensures that the transformable track wheel 122 can provide stable support in various shapes, but also greatly enhances its driving stability and comfort in complex terrain.

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

[0044] Further, the arc-shaped support blocks 1223 are provided with a plurality of support wheels 1225, which are arranged along the outer periphery of the arc-shaped support blocks 1223 at intervals and can form an additional support layer. Moreover, during the switching of the transformable track wheel 122 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 internal stress and friction generated due to shape changes, thereby greatly reducing the direct impact and wear on the elastic tires 1224. This design cleverly prolongs the service life of the elastic tires 1224, reduces the frequency of replacement, and reduces maintenance costs.

[0045] As Figure 6As shown, in some embodiments, the inspection assembly 130 further comprises a rotating bracket 132, which comprises a support rod 1321 and a fixed seat 1322 provided on the frame 110, the fixed seat 1322 is provided with a rack 1323 and a driving element, the support rod 1321 is provided with a gear 1324 engaged with the rack 1323, the camera module 131 is provided on the support rod 1321, and the driving element is in transmission connection with 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 moves the rack 1323 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 360-degree panoramic shooting of the camera module 131 in 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 assembly 130 further comprises an illumination module 133, which is provided with at least two, and the illumination module 133 is respectively provided at the front and rear ends of the frame 110, which can provide a clear shooting environment for the camera module 131, and also help the operator to accurately judge the terrain and obstacles in front, to ensure the safety and stability of the detection device during driving.

[0048] In some embodiments, the frame 110 comprises a horizontal rod 111, a vertical rod 112 and a plurality of angle code connectors 113, the horizontal rod 111 and the vertical rod 112 are provided with a plurality of angle code connectors 113, and the horizontal rod 111 and the vertical rod 112 are connected through the angle code connectors 113, thereby constructing a whole structure which is not only firm but also easy to adjust, to ensure the integrity and stability of the structure in complex and variable environment.

[0049] In some embodiments, the high-drop water diversion channel inspection device 100 further comprises a plurality of anti-collision wheels 140, which are respectively provided at the front and rear ends of the frame 110, so as to ensure that the device can be timely and effectively protected when advancing or retreating, whether encountering 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, so as to achieve the best protection effect.

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

[0051] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0052] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0053] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be 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, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or it only means that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or it only means that the horizontal height of the first feature is less than that of the second feature.

[0055] In this disclosure, the terms "an embodiment", "some embodiments", or the like, mean that the particular feature, structure, material, or characteristic following the term is included in at least one embodiment or example of the present application. The illustrative examples of the application should not be construed as being limiting in any manner. In the description of the present application, the illustrative examples can have been presented for illustrative purposes only and are not intended to limit the scope of the application. Furthermore, the described features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the terms "first", "second", and the like can be understood as having arbitrary numbers that do not necessarily indicate an order or a sequence. Moreover, the terms "comprises", "comprising", or the like, can be understood to encompass the cases where the stated feature or features are included but do not constitute an entire set of essential features of the application or a corresponding example or embodiment thereof.

[0056] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that variations, modifications, substitutions, and changes can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A high-lift penstock inspection device, characterized by, The utility model relates to a kind of vehicle frame and inspection assembly, support wheel assembly and anti-collision wheel. It comprises: Vehicle frame; Inspection assembly, which is arranged on the vehicle frame, comprises a camera module for shooting the inner wall surface of the waterway; Support wheel assembly, which is provided with a plurality of support wheel assemblies, is arranged on the opposite sides of the vehicle frame, and comprises an adjustable support, a deformed track wheel and a driver, one end of the adjustable support is connected to the vehicle frame, the other end of the adjustable support is connected to the deformed track wheel, the adjustable support has a first rotation shaft and a second rotation shaft, the axis of the first rotation shaft is perpendicular to the axis of the second rotation shaft, and the driver is used to drive the adjustable support to rotate around the first rotation shaft and the second rotation shaft to change the inclination angle between the deformed track wheel and the vehicle frame; The adjustable support further comprises a mounting seat, a first support rod and a second support rod, the mounting seat is arranged on the vehicle frame, the first rotation shaft is connected between the mounting seat and the first support rod, the axis of the first rotation shaft extends along the front-rear direction of the vehicle frame, the second rotation shaft is connected between the first support rod and the second support rod, and the axis of the second rotation shaft extends along the height direction of the vehicle frame; 2. The high-head penstock inspection apparatus of claim 1, wherein The second support rod is provided with a fixing seat for mounting the deformed track wheel; The deformed track wheel comprises a hub, a plurality of telescopic rods and a plurality of arc-shaped support blocks, the telescopic rods are arranged around the outer periphery of the hub, and extend along the radial direction of the hub, the arc-shaped support blocks are arranged around the hub in sequence, and the two ends of the telescopic rods are connected to the hub and the arc-shaped support blocks, respectively.

3. The high-head penstock inspection apparatus of claim 1, wherein The deformed track wheel has at least a switchable circular wheel shape and a triangular shape.

4. The high-head penstock inspection apparatus of claim 1, wherein And / or, the telescopic rod comprises a pneumatic cylinder or a hydraulic cylinder.

5. The high head penstock inspection apparatus of claim 1, wherein The deformed track wheel further comprises an elastic tire, which is sleeved on the outer side of the arc-shaped support block, and can be deformed with the movement of the arc-shaped support block.

6. The high-head penstock inspection apparatus of claim 1, wherein The arc-shaped support block is provided with a plurality of support wheels, which are arranged around the outer periphery of the arc-shaped support block.

7. The high-head penstock inspection apparatus of claim 1, wherein The inspection assembly further comprises a rotating support, which comprises a support rod and a fixing seat, the fixing seat is arranged on the vehicle frame, the fixing seat is provided with a rack and a driving element, the support rod is provided with a gear engaged with the rack, the camera module is arranged on the support rod, the driving element is in transmission connection with 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-head penstock inspection apparatus of claim 1, wherein The inspection assembly further comprises an illumination module, which is provided with at least two illumination modules, and the illumination modules are arranged at the front and rear ends of the vehicle frame, respectively. The vehicle frame comprises a horizontal rod, a vertical rod and a plurality of corner connectors, the horizontal rod and the vertical rod are provided with a plurality of horizontal rods and vertical rods, and the horizontal rod and the vertical rod are connected by the corner connector. It further comprises anti-collision wheels, which are provided with a plurality of anti-collision wheels, and the anti-collision wheels are arranged at the front and rear ends of the vehicle frame, respectively.

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