Hydraulic tunnel inspection device

Abstract

The invention relates to the technical field of tunnel inspection, in particular to a hydraulic tunnel inspection device which comprises an annular pipe frame and driving wheels arranged on the annular pipe frame in a surrounding mode. The tunnel inspection device comprises a plurality of wheel carriers, a ring pipe frame is arranged on the wheel carriers, an expansion control mechanism is arranged on the ring pipe frame, the tunnel inspection device further comprises a laser scanner, a rotation control mechanism is arranged on the outer wall of the ring pipe frame, and a loudspeaking alarm is further arranged on the outer wall of the ring pipe frame. Therefore, a driving wheel and a driven wheel are in contact with the inner wall of the hydraulic tunnel, three-point supporting is formed, a first rotating driver starts to work to drive the driving wheel to rotate, the whole inspection device is indirectly driven to move along the hydraulic tunnel in the rotating process of the driving wheel, and a rotating control mechanism drives a laser scanner to rotate along an annular pipe frame; when the control system detects that cracks, deformation, settlement, structural damage and the like occur on the inner wall of the hydraulic tunnel, warning is given out through the loudspeaking alarm.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel inspection, and specifically relates to a hydraulic tunnel inspection device. Background Art

[0002] A hydraulic tunnel refers to an underground tunnel specifically designed for conveying, discharging, and guiding water flow, and they are widely used in water resource management, urban infrastructure, and engineering projects.

[0003] During the operation of a hydraulic tunnel, regular inspections and maintenance are required to ensure its normal operation and structural safety. Among the inspections of various aspects of the tunnel, the inspection of its structure is particularly important. The purpose is to ensure the integrity of the tunnel structure and lining, and to avoid damage to the stable operation of the tunnel caused by cracks, deformations, etc. that may occur.

[0004] Chinese Patent: CN201920488303.0 discloses a tunnel damage alarm device. In this tunnel damage alarm device, a motor drives a threaded rod to rotate. The threaded rod is threadedly connected to a threaded tube, so that the threaded tube drives a toothed plate to move. The toothed plate meshes with a gear, and the outer surface of a rotating rod is fixedly connected to a movable rod. Thus, the movable rod drives a collar to move on a connecting rod, and a laser scanner on the connecting rod is used to scan and image the tunnel wall to find the damaged part of the tunnel. A roller assembly is fixedly installed at the bottom of the main body box, so as to conveniently drive the device to move forward at a constant speed, achieving the purpose of conveniently detecting and alarming tunnel damage.

[0005] However, during the inspection of the inner wall of the hydraulic tunnel in the above patent, the circumferential scanning range of the laser scanner is very limited. Moreover, since the internal path of the hydraulic tunnel is not a smooth straight path, when encountering a steeply rising or falling path, it is impossible to ensure that the overall equipment will not have unstable phenomena such as slipping, which will also lead to inaccurate inspection scanning information. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a hydraulic tunnel inspection device to solve the technical problems that in the prior art, during the inspection of the inner wall of the hydraulic tunnel, the circumferential scanning range of the laser scanner is very limited, and since the internal path of the hydraulic tunnel is not a smooth straight path, when encountering a steeply rising or falling path, it is impossible to ensure that the overall equipment will not have unstable phenomena such as slipping, which will also lead to inaccurate inspection scanning information.

[0007] Based on the above purpose, the present invention provides a hydraulic tunnel inspection device, including an annular pipe rack and driving wheels arranged around the annular pipe rack; An expansion control mechanism is provided on the annular pipe rack, and the expansion control mechanism is used to control the distance between the driving wheel and the axis of the annular pipe rack; The tunnel inspection device further includes a laser scanner. A rotation control mechanism for driving the laser scanner to rotate around the axis of the pipe support is provided on the outer wall of the pipe support, and a loudspeaker alarm is also provided on the outer wall of the pipe support.

[0008] Preferably, a wheel frame corresponding to the driving wheel is arranged around one end of the pipe support. One end of the wheel frame is hinged to the outer wall of the pipe support. The driving wheel includes a driving wheel and a driven wheel, and the driving wheel and the driven wheel are respectively arranged at the other end of the wheel frame and rotatably connected thereto; A first rotation driver is provided on the wheel frame provided with the driving wheel, and the first rotation driver is in transmission connection with the driving wheel.

[0009] Preferably, the first rotation driver includes a servo motor. The servo motor is arranged on the wheel frame. A first bevel gear is arranged on the output shaft of the servo motor, and a second bevel gear is arranged at the wheel shaft of the driving wheel. The first bevel gear and the second bevel gear are meshed with each other.

[0010] Preferably, the expansion control mechanism includes a first sliding sleeve. The first sliding sleeve is slidably connected to one end of the pipe support. An outer edge surface of the outer end of the first sliding sleeve is provided with a first connecting rod. One end of the first connecting rod is hinged to the first sliding sleeve, and the other end of the first connecting rod is hinged to the outer wall of the wheel frame; A driving rod is arranged inside the pipe support and rotatably connected thereto. A threaded groove is formed on the driving rod. A first end face frame is arranged at the outer end of the first sliding sleeve. The driving rod passes through the first end face frame and is threadedly connected thereto through a nut; A second rotation driver is provided on the outer wall of the pipe support, and the second rotation driver is used to control the rotation of the driving rod.

[0011] Preferably, the rotation control mechanism includes a rotating ring. The rotating ring is sleeved outside the pipe support and rotatably connected thereto through a bearing. An internal gear ring is arranged on the inner wall of the rotating ring. A gear is arranged on the outer wall of the pipe support, and the gear is meshed with the internal gear ring; A third rotation driver is arranged on the pipe support, and the third rotation driver is in transmission connection with the gear.

[0012] Preferably, an electric push rod is arranged between the laser scanner and the rotating ring. The electric push rod is fixedly installed on the outer wall of the rotating ring, and the laser scanner is installed at the end of the output rod of the electric push rod.

[0013] Preferably, a telescopic sleeve is arranged between the laser scanner and the rotating ring. The telescopic sleeve is fixedly installed on the outer edge surface of the rotating ring. A telescopic rod is slidably arranged inside the telescopic sleeve. An end frame is fixedly arranged at the outer end of the telescopic rod, and the laser scanner is fixedly installed on the end frame.

[0014] Preferably, the expansion control mechanism includes a first sliding sleeve and a second sliding sleeve. The first sliding sleeve is slidably connected to one end of the annular pipe support, and the second sliding sleeve is slidably connected to the other end of the annular pipe support; An outer edge surface of an outer end of the first sliding sleeve is provided with a first connecting rod. One end of the first connecting rod is hinged to the first sliding sleeve, and the other end of the first connecting rod is hinged to an outer wall of the wheel support; A rotary ring is sleeved on an outer edge surface of an outer end of the second sliding sleeve. The rotary ring is rotatably connected to the second sliding sleeve through a bearing. A second connecting rod is arranged between the rotary ring and the end frame. One end of the second connecting rod is hinged to an outer edge surface of the rotary ring, and the other end of the second connecting rod is hinged to the end frame; A driving rod is arranged inside the annular pipe support and is rotatably connected thereto. Two threaded grooves are oppositely formed on the driving rod. A first end face frame is arranged at an outer end of the first sliding sleeve, and a second end face frame is arranged at an outer end of the second sliding sleeve. Two ends of the driving rod respectively penetrate through the first end face frame and the second end face frame and are threadedly connected thereto through nuts; A second rotary driver is arranged on an outer wall of the annular pipe support. The second rotary driver is used to control the rotation of the driving rod.

[0015] Advantages of the present invention: The present invention drives a plurality of wheel supports to move away from the annular pipe support through the expansion control mechanism, so as to form contacts between the driving wheel and the driven wheels and the inner wall of the hydraulic tunnel and form three-point support. The first rotary driver starts to work to drive the driving wheel to rotate. During the rotation of the driving wheel, the annular pipe support and the overall inspection device will be indirectly driven to move synchronously along the hydraulic tunnel. During the movement of the inspection device, a progressive movement is required. The rotation control mechanism drives the laser scanner to rotate along the annular pipe support, improving the detection range of the hydraulic tunnel. The laser scanner emits laser beams and receives the reflected signals to generate three-dimensional point cloud data inside the tunnel and uploads it to the control system. When the control system detects cracks, deformations, settlements, structural damages, etc. on the inner wall of the hydraulic tunnel, a warning will be issued through the loudspeaker alarm, and the staff can timely calibrate its position for subsequent repair and maintenance. Description of the drawings

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only those of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0017] Figure 1 Schematic three-dimensional structure of the present invention Figure 1 ; Figure 2 Front view of the present invention; Figure 3 Schematic diagram of the internal structure of the present invention Figure 1 ; Figure 4 is Figure 3 the enlarged view of part A of Figure 5 Schematic diagram of the three-dimensional structure of the present invention Figure 3 ; Figure 6 is Figure 5 the enlarged view of part B of Figure 7 Schematic diagram of the internal structure of the present invention Figure 2 .

[0018] The reference numerals in the figure are as follows: 1 - Ring pipe support; 2 - Driving wheel; 21 - Wheel support; 22 - Driven wheel; 23 - Driving wheel; 24 - First rotary drive; 241 - Servo motor; 242 - First bevel gear; 243 - Second bevel gear; 3 - Expansion control mechanism; 31 - First sliding sleeve; 311 - First connecting rod; 32 - First end face support; 33 - Driving rod; 34 - Second rotary drive; 35 - Second sliding sleeve; 36 - Second end face support; 37 - Rotary ring; 371 - Second connecting rod; 4 - Laser scanner; 41 - Electric push rod; 42 - Telescopic sleeve; 43 - Telescopic rod; 44 - End support; 5 - Rotation control mechanism; 51 - Rotating ring; 52 - Internal gear ring; 53 - Gear; 54 - Third rotary drive; 6 - Loudspeaker alarm. Specific embodiments

[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments.

[0020] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those of ordinary skill in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar terms mean that the elements or objects appearing before the term cover the elements or objects listed after the term and their equivalents, without excluding other elements or objects. "Connection" or "coupling" and similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0021] In the first aspect of the present invention, a hydraulic tunnel inspection device is proposed, asFigures 1 to 6 As shown, it includes a ring pipe frame 1 and a driving wheel 2 arranged around the ring pipe frame 1; The ring pipe rack 1 is provided with an expansion control mechanism 3, which is used to control the distance between the driving wheel 2 and the axis of the ring pipe rack 1; The tunnel inspection device further comprises a laser scanner 4 . The outer wall of the ring pipe rack 1 is provided with a rotation control mechanism 5 for driving the laser scanner 4 to rotate around the axis of the ring pipe rack 1 . The outer wall of the ring pipe rack 1 is also provided with a loudspeaker alarm 6 .

[0022] A wheel frame 21 corresponding to the driving wheel 2 is arranged around one end of the ring tube frame 1, and one end of the wheel frame 21 is hinged to the outer wall of the ring tube frame 1. The driving wheel 2 includes a driving wheel 23 and a driven wheel 22. The driving wheel 23 and the driven wheel 22 are respectively arranged at the other end of the wheel frame 21 and are rotatably connected thereto; A first rotary driver 24 is provided on the wheel frame 21 provided with the driving wheel 23 , and the first rotary driver 24 is transmission-connected with the driving wheel 23 .

[0023] The first rotary driver 24 includes a servo motor 241, which is disposed on the wheel frame 21. A first bevel gear 242 is disposed on the output shaft of the servo motor 241, and a second bevel gear 243 is disposed on the axle of the driving wheel 23. The first bevel gear 242 and the second bevel gear 243 are meshed with each other.

[0024] The expansion control mechanism 3 includes a first sliding sleeve 31, the first sliding sleeve 31 is slidably connected to one end of the ring pipe frame 1, and a first connecting rod 311 is provided on the outer edge surface of the outer end of the first sliding sleeve 31, one end of the first connecting rod 311 is hinged to the first sliding sleeve 31, and the other end of the first connecting rod 311 is hinged to the outer wall of the wheel frame 21; A driving rod 33 is provided inside the annular tube frame 1 and is rotatably connected thereto. A threaded groove is provided on the driving rod 33. A first end face frame 32 is provided at the outer end of the first sliding sleeve 31. The driving rod 33 penetrates the first end face frame 32 and is threadedly connected thereto through a nut. The outer wall of the ring pipe support 1 is provided with a second rotation driver 34 , and the second rotation driver 34 is used to control the rotation of the driving rod 33 .

[0025] The rotation control mechanism 5 includes a rotating ring 51, which is sleeved on the outside of the ring tube frame 1 and rotatably connected thereto through a bearing. An inner gear ring 52 is provided on the inner wall of the rotating ring 51, and a gear 53 is provided on the outer wall of the ring tube frame 1, and the gear 53 is meshed with the inner gear ring 52; The ring pipe support 1 is provided with a third rotation driver 54 , which is transmission-connected to the gear 53 .

[0026] An electric push rod 41 is arranged between the laser scanner 4 and the rotating ring 51. The electric push rod 41 is fixedly installed on the outer wall of the rotating ring 51, and the laser scanner 4 is installed at the end of the output rod of the electric push rod 41.

[0027] In this embodiment, the staff will place it into the interior of the hydraulic tunnel through the handles on both sides of the ring pipe support 1, and then the expansion control mechanism 3 starts to work. The second rotation driver 34 is a motor, and the motor shaft drives the drive rod 33 to rotate through a synchronous belt. Since the drive rod 33 is threadedly connected to the first end face support 32 through a nut, during the rotation of the drive rod 33, the first sliding sleeve 31 will be driven to move through the first end face support 32. The first sliding sleeve 31 moves along the axis of the ring pipe support 1 towards its center. The first sliding sleeve 31 drives the wheel frame 21 to prop up through the first connecting rod 311, so that a driving wheel 23 and two driven wheels 22 on the plurality of wheel frames 21 move away from the ring pipe support 1, thereby forming the contact between the driving wheel 23 and the driven wheels 22 and the inner wall of the hydraulic tunnel and forming a three-point support. The first rotation driver 24 starts to work, and the output shaft of the servo motor 241 drives the first bevel gear 242 to rotate. Since the first bevel gear 242 meshes with the second bevel gear 243, the first bevel gear 242 drives the driving wheel 23 to rotate through the second bevel gear 243. During the rotation of the driving wheel 23, the ring pipe support 1 and the overall inspection device will be indirectly driven to move synchronously along the hydraulic tunnel. During the movement of the inspection device, a progressive movement is required, that is, every time a certain distance is traveled, the rotation control mechanism 5 needs to drive the laser scanner 4 to rotate along the ring pipe support 1. Specifically, through the third rotation driver 54, the third rotation driver 54 is a motor, and the motor shaft drives the gear shaft of the gear 53 to rotate through a synchronous belt. Since the gear 53 meshes with the internal gear ring 52, the gear 53 will drive the internal gear ring 52 to rotate along the axis of the ring pipe support 1. The internal gear ring 52 drives the laser scanner 4 to rotate along the axis of the ring pipe support 1 through the rotating ring 51. During the rotation, the laser scanner 4 emits a laser beam and receives the reflected signal, generates three-dimensional point cloud data inside the tunnel and uploads it to the control system, analyzes the three-dimensional model, and detects various problems in the tunnel, such as cracks, deformations, settlements, structural damages, etc. This analysis and detection process is a mature existing technology, so it will not be elaborated here. When the control system detects problems such as cracks, deformations, settlements, structural damages, etc. on the inner wall of the hydraulic tunnel, it will issue a warning through the loudspeaker alarm 6, and the staff can timely calibrate its position for subsequent maintenance and repair.

[0028] In order to further improve the accuracy of the laser scanner 4, the electric push rod 41 can be used to drive the laser scanner 4 closer to the inner wall of the hydraulic tunnel, thereby improving the resolution and reducing errors.

[0029] As an implementation manner, as Figure 7 shown, furthermore: A telescopic sleeve 42 is provided between the laser scanner 4 and the rotating ring 51. The telescopic sleeve 42 is fixedly installed on the outer edge surface of the rotating ring 51. A telescopic rod 43 is slidably arranged inside the telescopic sleeve 42. An end frame 44 is fixedly arranged at the outer end of the telescopic rod 43. The laser scanner 4 is fixedly installed on the end frame 44.

[0030] The expansion control mechanism 3 includes a first sliding sleeve 31 and a second sliding sleeve 35. The first sliding sleeve 31 is slidably connected to one end of the annular pipe rack 1, and the second sliding sleeve 35 is slidably connected to the other end of the annular pipe rack 1; An outer edge surface of the outer end of the first sliding sleeve 31 is provided with a first connecting rod 311. One end of the first connecting rod 311 is hinged to the first sliding sleeve 31, and the other end of the first connecting rod 311 is hinged to the outer wall of the wheel frame 21; A rotary ring 37 is sleeved on the outer edge surface of the outer end of the second sliding sleeve 35. The rotary ring 37 is rotatably connected to the second sliding sleeve 35 through a bearing. A second connecting rod 371 is provided between the rotary ring 37 and the end frame 44. One end of the second connecting rod 371 is hinged to the outer edge surface of the rotary ring 37, and the other end of the second connecting rod 371 is hinged to the end frame 44; A driving rod 33 is arranged inside the annular pipe rack 1 and is rotatably connected thereto. Two threaded grooves are oppositely opened on the driving rod 33. A first end face frame 32 is arranged at the outer end of the first sliding sleeve 31, and a second end face frame 36 is arranged at the outer end of the second sliding sleeve 35. Two ends of the driving rod 33 respectively penetrate through the first end face frame 32 and the second end face frame 36 and are threadedly connected thereto through nuts; A second rotary driver 34 is arranged on the outer wall of the annular pipe rack 1. The second rotary driver 34 is used to control the rotation of the driving rod 33.

[0031] In this embodiment, the staff places it into the interior of the hydraulic tunnel through the handles on both sides of the annular pipe rack 1, and then the expansion control mechanism 3 starts to work. The second rotary driver 34 is a motor, and the motor shaft drives the driving rod 33 to rotate through a synchronous belt. Since two threaded grooves are oppositely opened on the driving rod 33, and the two threaded grooves are respectively threadedly connected to the first end face frame 32 and the second end face frame 36 through nuts, during the rotation of the driving rod 33, the first end face frame 32 and the second end face frame 36 will be simultaneously driven to move towards the center of the annular pipe rack 1. During the movement, the first end face frame 32 and the second end face frame 36 will respectively drive the first sliding sleeve 31 and the second sliding sleeve 35, and the first sliding sleeve 31 and the second sliding sleeve 35 will respectively drive to move towards the center of the annular pipe rack 1 along the axis of the annular pipe rack 1; The first sliding sleeve 31 drives the wheel frame 21 to prop up through the first connecting rod 311, so that a driving wheel 23 and two driven wheels 22 on multiple wheel frames 21 move away from the ring pipe rack 1, thereby forming the contact between the driving wheel 23 and the driven wheels 22 and the inner wall of the hydraulic tunnel and forming a three-point support; The second sliding sleeve 35 drives the second connecting rod 371 to push up the end frame 44 through the rotary ring 37. Since the end frame 44 is installed on the telescopic rod 43 and the telescopic rod 43 is slidably connected to the telescopic sleeve 42, the end frame 44 will drive the laser scanner 4 to rise along the axis of the telescopic sleeve 42; During the process of scanning the inner wall of the hydraulic tunnel by the laser scanner 4, it is necessary to rotate the control mechanism 5 to drive the laser scanner 4 to rotate along the ring pipe rack 1. Specifically, it is through the third rotation driver 54. The third rotation driver 54 is a motor, and the motor shaft drives the gear 53 shaft to rotate through the synchronous belt. Since the gear 53 meshes with the internal gear ring 52, the gear 53 will drive the internal gear ring 52 to rotate along the axis of the ring pipe rack 1. The internal gear ring 52 drives the laser scanner 4 to rotate along the axis of the ring pipe rack 1 through the rotating ring 51. Among them, since the rotary ring 37 is rotatably installed at the end of the second sliding sleeve 35 through a bearing, during the process that the rotating ring 51 indirectly drives the laser scanner 4 to rotate through the telescopic sleeve 42, the telescopic rod 43 and the end frame 44, the rotary ring 37 will rotate cooperatively and will not damage the structure that promotes the lifting of the laser scanner 4.

[0032] The electrical appliances in the tunnel inspection device are all powered by the built-in storage battery.

[0033] Those of ordinary skill in the art should understand that: the discussion of any embodiment above is only exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0034] The present invention aims to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A device for inspecting hydraulic tunnels, characterized in that, It comprises a ring pipe frame (1) and a driving wheel (2) arranged around the ring pipe frame (1); The annular tube rack (1) is provided with an expansion control mechanism (3), and the expansion control mechanism (3) is used to control the distance between the driving wheel (2) and the axis of the annular tube rack (1); The tunnel inspection device also includes a laser scanner (4); the outer wall of the ring pipe rack (1) is provided with a rotation control mechanism (5) for driving the laser scanner (4) to rotate around the axis of the ring pipe rack (1); and the outer wall of the ring pipe rack (1) is also provided with a loudspeaker alarm (6).

2. The inspection device for a hydraulic tunnel according to claim 1, wherein A wheel frame (21) corresponding to the driving wheel (2) is disposed around one end of the ring tube frame (1), one end of the wheel frame (21) is hinged to the outer wall of the ring tube frame (1), the driving wheel (2) comprises a driving wheel (23) and a driven wheel (22), the driving wheel (23) and the driven wheel (22) are respectively disposed at the other end of the wheel frame (21) and are rotatably connected thereto; A first rotary driver (24) is provided on a wheel frame (21) provided with a driving wheel (23), and the first rotary driver (24) is transmission-connected to the driving wheel (23).

3. The inspection device for hydraulic tunnels according to claim 2, wherein, The first rotary driver (24) comprises a servo motor (241), the servo motor (241) being arranged on the wheel frame (21), a first bevel gear (242) being arranged on the output end shaft of the servo motor (241), a second bevel gear (243) being arranged on the wheel shaft of the driving wheel (23), and the first bevel gear (242) and the second bevel gear (243) being meshed with each other.

4. The inspection device for a hydraulic tunnel according to claim 2, characterized in that, The expansion control mechanism (3) comprises a first sliding sleeve (31), the first sliding sleeve (31) is slidably connected to one end of the ring pipe frame (1), a first connecting rod (311) is provided on the outer edge surface of the outer end of the first sliding sleeve (31), one end of the first connecting rod (311) is hinged to the first sliding sleeve (31), and the other end of the first connecting rod (311) is hinged to the outer wall of the wheel frame (21); A driving rod (33) is provided inside the annular tube frame (1) and is rotatably connected thereto, a thread groove is provided on the driving rod (33), a first end face frame (32) is provided at the outer end of the first sliding sleeve (31), the driving rod (33) passes through the first end face frame (32) and is threadedly connected thereto via a nut; The outer wall of the ring pipe rack (1) is provided with a second rotary driver (34), and the second rotary driver (34) is used to control the rotation of the driving rod (33).

5. The inspection device for hydraulic tunnels according to claim 1, characterized in that, The rotation control mechanism (5) comprises a rotating ring (51), the rotating ring (51) is sleeved on the outside of the ring tube frame (1) and is rotatably connected thereto via a bearing, an inner gear ring (52) is provided on the inner wall of the rotating ring (51), a gear (53) is provided on the outer wall of the ring tube frame (1), and the gear (53) is meshed with the inner gear ring (52); The ring pipe rack (1) is provided with a third rotary driver (54), and the third rotary driver (54) is transmission-connected to the gear (53).

6. The inspection device for a hydraulic tunnel according to claim 5, wherein, An electric push rod (41) is provided between the laser scanner (4) and the rotating ring (51); the electric push rod (41) is fixedly mounted on the outer wall of the rotating ring (51); and the laser scanner (4) is mounted on the end of the output rod of the electric push rod (41).

7. The inspection device for a hydraulic tunnel according to claim 5, characterized in that, A telescopic sleeve (42) is provided between the laser scanner (4) and the rotating ring (51). The telescopic sleeve (42) is fixedly installed on the outer edge surface of the rotating ring (51). A telescopic rod (43) is slidably arranged inside the telescopic sleeve (42). An end frame (44) is fixedly arranged at the outer end of the telescopic rod (43). The laser scanner (4) is fixedly installed on the end frame (44).

8. The inspection device for hydraulic tunnels according to claim 7, characterized in that The expansion control mechanism (3) includes a first sliding sleeve (31) and a second sliding sleeve (35). The first sliding sleeve (31) is slidably connected to one end of the ring pipe support (1), and the second sliding sleeve (35) is slidably connected to the other end of the ring pipe support (1); A first connecting rod (311) is provided on the outer edge surface of the outer end of the first sliding sleeve (31). One end of the first connecting rod (311) is hinged to the first sliding sleeve (31), and the other end of the first connecting rod (311) is hinged to the outer wall of the wheel support (21); A rotating ring (37) is sleeved on the outer edge surface of the outer end of the second sliding sleeve (35). The rotating ring (37) is rotatably connected to the second sliding sleeve (35) through a bearing. A second connecting rod (371) is provided between the rotating ring (37) and the end frame (44). One end of the second connecting rod (371) is hinged to the outer edge surface of the rotating ring (37), and the other end of the second connecting rod (371) is hinged to the end frame (44); A driving rod (33) is provided inside the ring pipe support (1) and is rotatably connected thereto. Two threaded grooves are oppositely formed on the driving rod (33). A first end face frame (32) is provided at the outer end of the first sliding sleeve (31), and a second end face frame (36) is provided at the outer end of the second sliding sleeve (35). Both ends of the driving rod (33) respectively penetrate through the first end face frame (32) and the second end face frame (36) and are threadedly connected thereto through nuts; A second rotary driver (34) is provided on the outer wall of the ring pipe support (1). The second rotary driver (34) is used to control the rotation of the driving rod (33).

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