Adaptive tool for detecting inner walls of hollow shaft and detection method

The invention relates to an adaptive tool for detecting inner walls of a hollow shaft. The adaptive tool comprises a left support, a right support, a controller, a sensor probe, a circumferential steering mechanism, a radial telescopic swing steering mechanism and an axial moving mechanism, wherein the circumferential steering mechanism comprises a rotating shaft which transversely penetrates through the upper ends of the left support and the right support and is used for driving a rotary control assembly of the rotating shaft; the radial telescopic swing steering mechanism comprises a first slide block, a second slide block and a probe mounting block; the probe mounting block is used for mounting the sensor probe; and the axial moving mechanism comprises a first axial control assembly anda second axial control assembly arranged on the rotating shaft. According to the adaptive tool provided by the invention, the sensor probe can realize the circumferential rotary motion, axial movement and radial stretch and