A hydraulic tunnel inspection device

Abstract

The present invention relates to the technical field of tunnel inspection, and in particular to a hydraulic tunnel inspection device, comprising a ring pipe rack and a driving wheel arranged around the ring pipe rack; the ring pipe rack is provided with an expansion control mechanism, the tunnel inspection device also includes a laser scanner, the outer wall of the ring pipe rack is provided with a rotation control mechanism, and the outer wall of the ring pipe rack is also provided with a loudspeaker alarm. The present invention drives multiple wheel racks to move in a direction away from the ring pipe rack through the expansion control mechanism, thereby forming contact between the driving wheel and the driven wheel and the inner wall of the hydraulic tunnel and forming a three-point support. The first rotary driver starts to work and drives the driving wheel to rotate. During the rotation of the driving wheel, it indirectly drives the entire inspection device to move along the hydraulic tunnel. The rotation control mechanism drives the laser scanner to rotate along the ring pipe rack. When the control system detects cracks, deformation, settlement, structural damage, etc. on the inner wall of the hydraulic tunnel, a warning will be issued through the loudspeaker alarm.

Description

Technical Field

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

[0002] Hydraulic tunnels refer to underground tunnels specially designed for conveying, discharging and guiding water. They are widely used in water resource management, urban infrastructure and engineering projects.

[0003] During operation, hydraulic tunnels require regular inspection and maintenance to ensure their normal operation and structural safety. Among the various inspections of tunnels, structural inspection is particularly important. Its purpose is to ensure the integrity of the tunnel structure and lining, and to avoid the occurrence or potential occurrence of cracks, deformation, and other damage to the stable operation of the tunnel.

[0004] Chinese patent: CN201920488303.0 discloses a tunnel damage alarm device, which drives a threaded rod to rotate through a motor. The threaded rod is threadedly connected to a threaded pipe, so that the threaded pipe drives a toothed plate to move. The toothed plate engages with the gear, and the outer surface of the rotating rod is fixedly connected to the movable rod, so that the movable rod drives the ring to move on the connecting rod, so that the laser scanner on the connecting rod scans and images the wall of the tunnel. When a damaged part of the tunnel is found, a roller assembly is fixedly installed on the bottom of the main box, so as to facilitate the forward uniform movement of the driving device, thereby achieving the purpose of convenient detection and alarm of tunnel damage.

[0005] However, during the inspection of the inner wall of the hydraulic tunnel in the above patent, the circumferential range of the laser scanner scanned is very limited, and since the interior of the hydraulic tunnel is not a smooth straight path, it is impossible to ensure that the entire equipment will not slip or experience other unstable phenomena when encountering a steep rise or fall path, 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 propose a hydraulic tunnel inspection device to solve the problem that the circular scanning range of the laser scanner in the existing technology during the inspection of the inner wall of the hydraulic tunnel is very limited, and since the interior of the hydraulic tunnel is not a smooth straight path, it is impossible to ensure that the entire equipment will not slip or other unstable phenomena when encountering a steep rise or fall path, which will also lead to inaccurate inspection scanning information. Technical problems.

[0007] Based on the above purpose, the present invention provides a hydraulic tunnel inspection device, comprising a ring pipe rack and a driving wheel arranged around the ring pipe rack;

[0008] The ring pipe rack is provided with an expansion control mechanism, which is used to control the distance between the driving wheel and the axis of the ring pipe rack;

[0009] The tunnel inspection device also includes a laser scanner. The outer wall of the ring pipe rack is provided with a rotation control mechanism for driving the laser scanner to rotate around the axis of the ring pipe rack. The outer wall of the ring pipe rack is also provided with a loudspeaker alarm.

[0010] Preferably, a wheel frame corresponding to the driving wheel is arranged around one end of the ring tube frame, one end of the wheel frame is hinged to the outer wall of the ring tube frame, and the driving wheel includes a driving wheel and a driven wheel, which are respectively arranged at the other end of the wheel frame and are rotatably connected thereto;

[0011] A first rotary driver is provided on the wheel frame provided with the driving wheel, and the first rotary driver is transmission-connected with the driving wheel.

[0012] Preferably, the first rotary driver includes a servo motor, which is arranged on the wheel frame. A first bevel gear is arranged on the output end shaft of the servo motor, and a second bevel gear is arranged on the wheel shaft of the driving wheel. The first bevel gear and the second bevel gear are meshed with each other.

[0013] Preferably, the expansion control mechanism includes a first sliding sleeve, the first sliding sleeve is slidably connected to one end of the ring pipe frame, a first connecting rod is provided on the outer edge surface of the outer end of the first sliding sleeve, 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;

[0014] A driving rod is provided inside the annular tube frame and is rotatably connected thereto, a threaded groove being provided on the driving rod, and a first end face frame is provided at the outer end of the first sliding sleeve, the driving rod passes through the first end face frame and is threadedly connected thereto via a nut;

[0015] The outer wall of the ring pipe rack is provided with a second rotary driver, which is used to control the rotation of the driving rod.

[0016] Preferably, the rotation control mechanism includes a rotating ring, which is sleeved on the outside of the ring tube frame and rotatably connected thereto through a bearing, an inner ring gear is provided on the inner wall of the rotating ring, and a gear is provided on the outer wall of the ring tube frame, and the gear is meshed with the inner ring gear;

[0017] The ring pipe rack is provided with a third rotary driver, which is connected to the gear transmission.

[0018] Preferably, an electric push rod is provided between the laser scanner and the rotating ring. The electric push rod is fixedly mounted on the outer wall of the rotating ring, and the laser scanner is mounted on the end of the output rod of the electric push rod.

[0019] Preferably, a telescopic sleeve is provided between the laser scanner and the rotating ring, the telescopic sleeve is fixedly mounted on the outer edge surface of the rotating ring, a telescopic rod is slidingly provided inside the telescopic sleeve, an end frame is fixedly provided on the outer end of the telescopic rod, and the laser scanner is fixedly mounted on the end frame.

[0020] Preferably, the expansion control mechanism includes a first sliding sleeve and a second sliding sleeve, the first sliding sleeve being slidably connected to one end of the ring tube rack, and the second sliding sleeve being slidably connected to the other end of the ring tube rack;

[0021] A first connecting rod is provided on the outer edge surface of the outer end of the first sliding sleeve, 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;

[0022] A slewing ring is sleeved on the outer edge of the outer end of the second sliding sleeve. The slewing ring is rotatably connected to the second sliding sleeve through a bearing. A second connecting rod is provided between the slewing ring and the end frame. One end of the second connecting rod is hinged to the outer edge of the slewing ring, and the other end of the second connecting rod is hinged to the end frame.

[0023] A driving rod is provided inside the annular tube frame and is rotatably connected thereto, and two threaded grooves are provided on the driving rod in opposite directions. A first end face frame is provided at the outer end of the first sliding sleeve, and a second end face frame is provided at the outer end of the second sliding sleeve. The two ends of the driving rod respectively pass through the first end face frame and the second end face frame and are threadedly connected thereto via nuts.

[0024] The outer wall of the ring pipe rack is provided with a second rotary driver, which is used to control the rotation of the driving rod.

[0025] Beneficial effects of the present invention:

[0026] The present invention drives multiple wheel frames to move away from the ring pipe rack through an expansion control mechanism, thereby forming contact between the driving wheel and the driven wheel and the inner wall of the hydraulic tunnel and forming a three-point support. The first rotary driver starts to work and drives the driving wheel to rotate. During the rotation of the driving wheel, it indirectly drives the ring pipe rack and the overall inspection device to move synchronously along the hydraulic tunnel. During the movement of the inspection device, progressive movement is required. The rotation control mechanism drives the laser scanner to rotate along the ring pipe rack, thereby improving the detection range of the hydraulic tunnel. The laser scanner generates three-dimensional point cloud data inside the tunnel by emitting laser beams and receiving reflected signals and uploads it to the control system. When the control system detects cracks, deformation, settlement, structural damage, etc. on the inner wall of the hydraulic tunnel, it will issue a warning through a loudspeaker alarm, so that the staff can calibrate its position in time to facilitate subsequent inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 Schematic diagram of the three-dimensional structure of the present invention Figure 1 ;

[0029] Figure 2 It is the front view of the present invention;

[0030] Figure 3 Schematic diagram of the internal structure of the present invention Figure 1 ;

[0031] Figure 4 for Figure 3 A magnified view of point A;

[0032] Figure 5 Schematic diagram of the three-dimensional structure of the present invention Figure 3 ;

[0033] Figure 6 for Figure 5 Enlarged view of point B;

[0034] Figure 7 Schematic diagram of the internal structure of the present invention Figure 2 .

[0035] The numbers in the figure are:

[0036] 1-ring pipe rack; 2-driving wheel; 21-wheel frame; 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 frame; 33-driving rod; 34-second rotary drive; 35-second sliding sleeve; 36-second end frame; 37-slewing ring; 371-second connecting rod; 4-laser scanner; 41-electric push rod; 42-telescopic sleeve; 43-telescopic rod; 44-end frame; 5-rotation control mechanism; 51-rotating ring; 52-inner ring gear; 53-gear; 54-third rotary drive; 6-speaker alarm. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0038] It should be noted that, unless otherwise defined, the technical or scientific terms used in the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0039] The first aspect of the present invention provides a hydraulic tunnel inspection device, such as Figures 1 to 6 As shown, it includes a ring pipe frame 1 and a driving wheel 2 arranged around the ring pipe frame 1;

[0040] 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;

[0041] The tunnel inspection device further 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 . The outer wall of the ring pipe rack 1 is also provided with a loudspeaker alarm 6 .

[0042] A wheel frame 21 corresponding to the driving wheel 2 is arranged 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 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.

[0043] A first rotary driver 24 is provided on the wheel frame 21 on which the driving wheel 23 is provided. The first rotary driver 24 is in transmission connection with the driving wheel 23 .

[0044] The first rotary driver 24 includes a servo motor 241, which is arranged on the wheel frame 21. A first bevel gear 242 is provided on the output end shaft of the servo motor 241, and a second bevel gear 243 is provided on the axle of the driving wheel 23. The first bevel gear 242 and the second bevel gear 243 are meshed with each other.

[0045] The expansion control mechanism 3 includes a first sliding sleeve 31, which is slidably connected to one end of the ring pipe frame 1. A first connecting rod 311 is provided on the outer edge 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.

[0046] A driving rod 33 is provided inside the ring 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 passes through the first end face frame 32 and is threadedly connected thereto via a nut.

[0047] The outer wall of the ring pipe rack 1 is provided with a second rotation driver 34 , which is used to control the rotation of the driving rod 33 .

[0048] 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 to the ring tube frame 1 through a bearing. The inner wall of the rotating ring 51 is provided with an inner gear ring 52, and the outer wall of the ring tube frame 1 is provided with a gear 53, and the gear 53 is meshed with the inner gear ring 52;

[0049] The ring pipe rack 1 is provided with a third rotation driver 54 , which is in transmission connection with the gear 53 .

[0050] 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 output rod end of the electric push rod 41 .

[0051] In this embodiment, the staff will place the ring pipe rack 1 into the interior of the hydraulic tunnel through the handles on both sides, 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 the synchronous belt. Since the drive rod 33 is threadedly connected to the first end frame 32 through a nut, the first sliding sleeve 31 will be driven to move through the first end frame 32 during the rotation of the drive rod 33. The first sliding sleeve 31 moves along the axis of the ring pipe rack 1 toward its center. The first sliding sleeve 31 drives the wheel frame through the first connecting rod 311. 21 is supported so that a driving wheel 23 and two driven wheels 22 on the multiple wheel frames 21 move in a direction away from the ring pipe rack 1, thereby forming contact between the driving wheel 23 and the driven wheel 22 and the inner wall of the hydraulic tunnel and forming a three-point support. The first rotary 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 and the second bevel gear 243 are meshed, 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 rack 1 and The whole inspection device moves synchronously along the hydraulic tunnel. During the movement of the inspection device, it needs to move gradually. That is, each time it moves a certain distance, it needs 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. The motor shaft drives the gear 53 axle to rotate through a synchronous belt. Since the gear 53 is meshed with the inner gear ring 52, the gear 53 will drive the inner gear ring 52 to rotate along the axis of the ring pipe rack 1. The inner gear ring 52 drives the laser scanner 4 along the axis of the ring pipe rack 1 through the rotating ring 51. The line rotates, and during the rotation process, the laser scanner 4 generates three-dimensional point cloud data of the interior of the tunnel by emitting laser beams and receiving reflected signals and uploads it to the control system to analyze the three-dimensional model and detect various problems in the tunnel, such as cracks, deformation, settlement, structural damage, etc. This analysis and detection process is a mature existing technology and will not be described here. When the control system detects cracks, deformation, settlement, structural damage, etc. on the inner wall of the hydraulic tunnel, a warning will be issued through the loudspeaker alarm 6, and the staff can calibrate its position in time for subsequent inspection and maintenance.

[0052] 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 close to the inner wall of the hydraulic tunnel, thereby improving the resolution and reducing the error.

[0053] As an implementation method, Figure 7 As shown, further:

[0054] A telescopic sleeve 42 is provided between the laser scanner 4 and the rotating ring 51. The telescopic sleeve 42 is fixedly mounted on the outer edge surface of the rotating ring 51. A telescopic rod 43 is slidingly provided inside the telescopic sleeve 42. An end frame 44 is fixedly provided on the outer end of the telescopic rod 43. The laser scanner 4 is fixedly mounted on the end frame 44.

[0055] 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 rack 1, and the second sliding sleeve 35 is slidably connected to the other end of the ring pipe rack 1.

[0056] 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.

[0057] A slewing ring 37 is sleeved on the outer edge of the outer end of the second sliding sleeve 35. The slewing ring 37 is rotatably connected to the second sliding sleeve 35 via a bearing. A second connecting rod 371 is provided between the slewing ring 37 and the end frame 44. One end of the second connecting rod 371 is hinged to the outer edge of the slewing ring 37, and the other end of the second connecting rod 371 is hinged to the end frame 44.

[0058] A driving rod 33 is provided inside the annular tube frame 1 and is rotatably connected thereto. Two threaded grooves are formed on the driving rod 33 in opposite directions. 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. The two ends of the driving rod 33 respectively pass through the first end face frame 32 and the second end face frame 36 and are threadedly connected thereto via nuts.

[0059] The outer wall of the ring pipe rack 1 is provided with a second rotation driver 34 , which is used to control the rotation of the driving rod 33 .

[0060] In this embodiment, the staff will place the ring pipe rack 1 into the interior of the hydraulic tunnel through the handles on both sides, 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 two sections of thread grooves are opened on the drive rod 33 in opposite directions, and the two sections of thread grooves are respectively threadedly connected to the first end face frame 32 and the second end face frame 36 through nuts, the first end face frame 32 and the second end face frame 36 will be driven to move toward the center of the ring pipe rack 1 at the same time during the rotation of the drive rod 33. 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 the ring pipe rack 1 to move toward its center along its axis.

[0061] The first sliding sleeve 31 drives the wheel frame 21 to prop up through the first connecting rod 311, so that the driving wheel 23 and two driven wheels 22 on the multiple wheel frames 21 move away from the ring pipe rack 1, thereby forming 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;

[0062] The second sliding sleeve 35 drives the second connecting rod 371 to push up the end frame 44 through the slewing ring 37. Since the end frame 44 is mounted on the telescopic rod 43 and the telescopic rod 43 is slidably connected to the telescopic sleeve 42, the end frame 44 drives the laser scanner 4 to rise along the axis of the telescopic sleeve 42.

[0063] During the process of scanning the inner wall of the hydraulic tunnel by the laser scanner 4, the rotation control mechanism 5 is required to drive the laser scanner 4 to rotate along the ring pipe rack 1, specifically through the third rotation driver 54. The third rotation driver 54 is a motor. The motor shaft drives the gear 53 axle to rotate through a synchronous belt. Since the gear 53 is engaged with the inner ring gear 52, the gear 53 will drive the inner ring gear 52 to rotate along the axis of the ring pipe rack 1. The inner ring gear 52 drives the laser scanner 4 to rotate along the axis of the ring pipe rack 1 through the rotating ring 51. Since the slewing ring 37 is rotatably mounted on the end of the second sliding sleeve 35 through a bearing, when 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 slewing ring 37 will cooperate with the rotation and will not cause damage to the structure that causes the laser scanner 4 to rise and fall.

[0064] All electrical appliances in the tunnel inspection device are powered by built-in batteries.

[0065] It should be understood by those skilled in the art that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Within the scope of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0066] The present invention is intended 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 should be included within the scope of protection of the present invention.

Claims

1. A hydraulic tunnel inspection device, characterized in that: It comprises a ring tube frame (1) and a driving wheel (2) arranged around the ring tube frame (1); The ring 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 ring tube 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); and the outer wall of the ring pipe rack (1) is also provided with a loudspeaker alarm (6); A wheel frame (21) corresponding to the driving wheel (2) is arranged 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), and the driving wheel (22) includes a driving wheel (23) and a driven wheel (22), and 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 a wheel frame (21) provided with a driving wheel (23), and the first rotary driver (24) is in transmission connection with the driving wheel (23); 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), 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 ring 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), and 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); 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 to the ring tube frame (1) through a bearing. The inner wall of the rotating ring (51) is provided with an inner gear ring (52), and the outer wall of the ring tube frame (1) is provided with a gear (53), and the gear (53) is meshed with the inner gear ring (52). A third rotary driver (54) is provided on the ring pipe rack (1), and the third rotary driver (54) is in transmission connection with the gear (53); A telescopic sleeve (42) is provided between the laser scanner (4) and the rotating ring (51), the telescopic sleeve (42) is fixedly mounted on the outer edge surface of the rotating ring (51), a telescopic rod (43) is slidably provided inside the telescopic sleeve (42), an end frame (44) is fixedly provided at the outer end of the telescopic rod (43), and the laser scanner (4) is fixedly mounted on the end frame (44); The expansion control mechanism (3) further includes a second sliding sleeve (35), and the second sliding sleeve (35) is slidably connected to the other end of the ring pipe rack (1); A slewing ring (37) is sleeved on the outer edge surface of the outer end of the second sliding sleeve (35), and the slewing ring (37) is rotatably connected to the second sliding sleeve (35) through a bearing. A second connecting rod (371) is provided between the slewing ring (37) and the end frame (44), and one end of the second connecting rod (371) is hinged to the outer edge surface of the slewing ring (37), and the other end of the second connecting rod (371) is hinged to the end frame (44); The outer end of the second sliding sleeve (35) is provided with a second end face frame (36), and the driving rod (33) is provided with two opposite thread grooves. The two ends of the driving rod (33) respectively pass through the first end face frame (32) and the second end face frame (36) and are threadedly connected to them through nuts.

2. A hydraulic tunnel inspection device according to claim 1, characterized in that: The first rotary driver (24) includes a servo motor (241), the servo motor (241) is arranged on the wheel frame (21), a first bevel gear (242) is arranged on the output end shaft of the servo motor (241), a second bevel gear (243) is arranged on the wheel shaft of the driving wheel (23), and the first bevel gear (242) and the second bevel gear (243) are meshed with each other.

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