Rail switching structure and rail hanging type inspection robot

Abstract

The invention relates to the technical field of inspection robots, and discloses a rail switching structure and a rail hanging type inspection robot, the rail switching structure comprises a mobile chassis, the bottom of the mobile chassis is connected with a connecting column, a main rail is mounted outside the mobile chassis, and the outer wall of the main rail is fixedly connected with a plurality of secondary rails; sliding grooves corresponding to the moving chassis in position are formed in the main track and the secondary track, moving grooves corresponding to the connecting columns in position are formed in the bottom faces of the sliding grooves, a connecting block is rotationally connected to the surface of the moving chassis, a motor groove is formed in the lower portion of the connecting block, a driving motor is fixedly connected into the motor groove, and the output end of the driving motor is fixedly connected with the surface of the moving chassis. The upper portion of the connecting block is connected with a lifting assembly, and a conducting assembly is connected in the moving groove at the joint of the main track and the secondary track. According to the rail switching structure and the rail hanging type inspection robot, the safety and stability of the inspection robot in the rail switching process are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, in particular to a track switching structure and a rail-mounted inspection robot. Background Art

[0002] The rail-mounted inspection robot is a robot that can perform special inspections and customized inspection tasks in harsh and special environments. It can achieve autonomous positioning and navigation, and is equipped with specific cameras, such as panoramic cameras or dual-light pan-tilt cameras and a variety of environmental monitoring module sensors. It can capture and sense the surrounding environment in real time, achieve remote online monitoring and data analysis, and can also replace manual work to complete routine inspections, fault diagnosis, early warning alarms and other tasks.

[0003] A general rail-mounted inspection robot includes a track, a mobile chassis, a robot and a camera. In order to improve the inspection efficiency of the rail-mounted inspection robot, a combination of a main track and a secondary track is used for inspection. During use, a preliminary and quick inspection is first performed on the main track. When a problem is detected, the robot enters the secondary track and approaches the equipment for a detailed inspection. In the process of switching from the main track to the secondary track, a track switching structure is required for track switching.

[0004] For example, in the prior art, the patent with the authorization announcement number CN215149280U discloses a track-changing device for a rail-mounted inspection robot, which solves the technical problem that the existing inspection system only has an inspection function and is relatively single in function. The track-changing device includes a fixed frame, a mobile frame, a driving mechanism, and two parallel auxiliary rails; the fixed frame is located above the main rail; the mobile frame is arranged on the fixed frame; the two auxiliary rails are arranged parallel to the main rail and below the mobile frame, and the inspection robot is hung on any of the auxiliary rails; the driving mechanism is arranged on the fixed frame, and is used to drive the mobile frame to move in a direction perpendicular to the running direction of the main rail, so that any auxiliary rail can be docked with the main rail to form the running track of the inspection robot.

[0005] However, the above-mentioned track switching structure has certain defects when in use: when the rail-hanging inspection robot uses the traditional track switching structure to change tracks, the traditional track switching structure is prone to produce greater friction and wear during the track changing process, which seriously affects the service life of the mobile chassis and increases the maintenance cost of the inspection robot. At the same time, the greater friction and wear will also cause the inspection robot to be unable to achieve a smooth transition and stable connection during the track changing process, thereby affecting the normal use of the inspection robot. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a track switching structure and a rail-hanging inspection robot to ensure stable track switching of the inspection robot.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a track switching structure, including a mobile chassis, a connecting column connected to the bottom of the mobile chassis, a main track installed on the outside of the mobile chassis, a plurality of secondary tracks fixedly connected to the outer wall of the main track, a slide groove corresponding to the position of the mobile chassis is provided in the main track and the secondary track, a moving groove corresponding to the position of the connecting column is provided on the bottom of the slide groove, a connecting block is rotatably connected to the surface of the mobile chassis, a motor groove is provided at the bottom of the connecting block, a driving motor is fixedly connected in the motor groove, an output end of the driving motor is fixedly connected to the surface of the mobile chassis, a lifting assembly is connected to the upper part of the connecting block, and a conducting assembly is connected in the moving groove at the connection between the main track and the secondary track.

[0008] Furthermore, the lifting assembly includes an electric push rod, a connecting rod and a support plate. A mounting groove corresponding to the position of the electric push rod is opened on the upper part of the connecting block. The output end of the electric push rod is fixedly connected to the connecting rod. The top of the connecting rod penetrates the surface of the connecting block and is fixedly connected to the support plate. The top of the inner wall of the main track and the secondary track are both provided with connecting grooves corresponding to the position of the support plate.

[0009] Furthermore, a fixed block is fixedly connected between the connecting column and the movable chassis, and conductive components are arranged around the fixed block. The conductive components include a connecting plate, a positioning plate, an insertion rod and a fixed rod. A sliding groove corresponding to the position of the movable chassis is opened on the surface of the connecting plate, and the connecting plate is slidably connected to the movable groove. Both sides are provided with symmetrically arranged card grooves, and the insertion rods are slidably connected in the card grooves. A fixed rod is fixedly connected to one side of each insertion rod, placement grooves corresponding to the position of the fixed rod are opened on both sides of the connecting plate, and slots corresponding to the positions of the insertion rod and the fixed rod are opened on the inner wall of the movable groove. A telescopic component is connected in the connecting plate, and a fixed component is connected between the connecting plate and the fixed block.

[0010] Furthermore, the telescopic assembly includes a connecting plate and a spring, a telescopic slot connected to the card slot is opened in the connecting plate, one end of the insertion rod located in the telescopic slot is fixedly connected to the connecting plate, a spring is fixedly connected between two connecting plates located in the same telescopic slot, and the outer wall of the insertion rod is connected to the contraction unit.

[0011] Furthermore, the fixing assembly includes a clamping rod and a pressure block. The two side walls of the fixing block located in the movable groove at the bottom of the main track are fixedly connected to two symmetrically arranged clamping rods. One end of each clamping rod away from the fixing block is fixedly connected to a pressure block. A positioning groove corresponding to the position of the clamping rod is provided on the surface of the connecting plate. A clamping groove corresponding to the position of the pressure block is provided on the surface of the connecting plate. The clamping grooves are connected to the clamping grooves.

[0012] Furthermore, the shrinkage unit includes a clamping block, a side of the clamping block away from the center of the connecting plate is provided with an inclined surface, the clamping block is fixedly connected to the outer wall of the insertion rod, the clamping block is slidably connected to the clamping groove, and a side of the pressing block close to the center of the connecting plate is provided with an inclined surface, and the inclined surface of the clamping block matches the inclined surface of the pressing block in shape and position.

[0013] Furthermore, positioning plates are fixedly connected to both sides of the connecting plate, and the positioning plates are in contact with the bottom surface of the sliding groove.

[0014] Furthermore, a plurality of balls are embedded on one side of the positioning plate close to the bottom surface of the slide groove.

[0015] Furthermore, the support plate and the inner wall of the movable groove do not fit each other.

[0016] The present invention also provides a rail-mounted inspection robot, comprising a robot body, wherein the robot body comprises the track switching structure described above, and the robot body is fixedly connected to the bottom end of a connecting column.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] This track switching structure and the rail-mounted inspection robot realize the rapid switching of the rail-mounted inspection robot between different tracks by using a lifting component and a driving motor. Compared with the existing track changing method, the present invention reduces the pause time of the inspection robot during the track switching process, reduces the friction and wear during the track changing process, increases the service life of the mobile chassis, reduces the maintenance cost of the inspection robot, improves the inspection efficiency, ensures the smooth transition of the inspection robot, and utilizes the conductive component to effectively avoid the risk of derailment of the inspection robot when changing tracks at the intersection of the tracks, ensures that the wheels of the mobile chassis can be supported, ensures the stability of the mobile chassis before and after the track changing, and enhances the safety and stability of the inspection robot during the track changing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the three-dimensional cross-sectional structure of the main track and the secondary track of the present invention;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the mobile chassis, lifting assembly and conducting assembly of the present invention;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the mobile chassis, lifting assembly and fixed block of the present invention;

[0023] Figure 5 It is a schematic diagram of a three-dimensional split cross-sectional structure of a mobile chassis, a fixed block and a connecting block of the present invention;

[0024] Figure 6 It is a three-dimensional structural schematic diagram of the fixing block, the conducting component and the fixing component of the present invention;

[0025] Figure 7It is a schematic diagram of the three-dimensional split cross-sectional structure of the conducting component and the telescopic component of the present invention;

[0026] Figure 8 It is a three-dimensional structural schematic diagram of the insert rod, the fixing rod, the clamping block and the connecting plate of the present invention;

[0027] Fig. 9 It is a schematic diagram of the three-dimensional structure of the connecting plate, the positioning plate, the ball bearings and the inserting rod of the present invention;

[0028] Fig.10 It is a three-dimensional structural schematic diagram of the fixing block, the clamping rod and the pressing block of the present invention.

[0029] In the figure: 1. robot body; 2. main track; 3. secondary track; 4. slide groove; 5. moving groove; 6. moving chassis; 7. connecting column; 8. connecting block; 9. motor groove; 10. driving motor; 11. mounting groove; 12. electric push rod; 13. connecting rod; 14. supporting plate; 15. connecting groove; 16. fixing block; 17. connecting plate; 18. sliding groove; 19. clamping groove; 20. plug rod; 21. fixing rod; 22. placement groove; 23. telescopic groove; 24. connecting plate; 25. spring; 26. clamping groove; 27. clamping block; 28. positioning groove; 29. ​​clamping rod; 30. pressure block; 31. ball; 32. slot; 33. positioning plate. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] See also Figures 1 to 10 A track switching structure includes a mobile chassis 6, a connecting column 7 is connected to the bottom of the mobile chassis 6, a main track 2 is installed on the outside of the mobile chassis 6, a plurality of secondary tracks 3 are fixedly connected to the outer wall of the main track 2, a slide groove 4 corresponding to the position of the mobile chassis 6 is opened in the main track 2 and the secondary track 3, a moving groove 5 corresponding to the position of the connecting column 7 is opened on the bottom of the slide groove 4, a connecting block 8 is rotatably connected to the surface of the mobile chassis 6, a motor groove 9 is opened at the lower part of the connecting block 8, a driving motor 10 is fixedly connected in the motor groove 9, an output end of the driving motor 10 is fixedly connected to the surface of the mobile chassis 6, a lifting component is connected to the upper part of the connecting block 8, and a conducting component is connected in the moving groove 5 at the connection between the main track 2 and the secondary track 3.

[0032] According to the track switching structure of the present invention, when the rail-mounted inspection robot needs to switch from the main track 2 to the secondary track 3 for inspection, the rail-mounted inspection robot first stays at the intersection of the main track 2 and the secondary track 3, and then the lifting component will pull up the mobile chassis 6, so that the rail-mounted inspection robot and the mobile chassis 6 rise. At this time, the mobile chassis 6 will be separated from the bottom surface of the slide groove 4, and then the driving motor 10 will be started, driving the mobile chassis 6 and the rail-mounted inspection robot to rotate 90 degrees. At this time, the mobile chassis 6 moves from the slide groove 4 in the main track 2 to the slide groove 4 in the secondary track 3, and then the lifting component lowers the mobile chassis 6, so that the mobile chassis 6 and the slide groove 4 are re-contacted, and then the inspection can be carried out along the secondary track 3.

[0033] By using the lifting component and the drive motor 10, the rail-hanging inspection robot can quickly switch between different tracks. Compared with the existing track changing method, the present invention reduces the pause time of the inspection robot during the track switching process, reduces the friction and wear during the track changing process, increases the service life of the mobile chassis 6, reduces the maintenance cost of the inspection robot, improves the inspection efficiency, ensures the smooth transition of the inspection robot, and uses the conductive component to effectively avoid the risk of derailment of the inspection robot when changing tracks at the intersection of the tracks, ensures that the wheels of the mobile chassis 6 can be supported, ensures the stability of the mobile chassis 6 before and after the track changing, and enhances the safety and stability of the inspection robot during the track changing process.

[0034] As a preferred technical solution of the present invention, the lifting assembly includes an electric push rod 12, a connecting rod 13 and a support plate 14. A mounting groove 11 corresponding to the position of the electric push rod 12 is opened on the upper part of the connecting block 8. The output end of the electric push rod 12 is fixedly connected to the connecting rod 13. The top of the connecting rod 13 penetrates the surface of the connecting block 8 and is fixedly connected to the support plate 14. The top of the inner wall of the main track 2 and the secondary track 3 are both provided with a connecting groove 15 corresponding to the position of the support plate 14.

[0035] Specifically, when the lifting assembly is used to change tracks, the electric push rod 12 will retract the connecting rod 13. At this time, the support plate 14 will drop to contact the connecting groove 15. Then, with the support of the bottom surface of the connecting groove 15, the contraction of the electric push rod 12 will pull up the electric push rod 12, thereby driving the mobile chassis 6 to rise. Then, the driving motor 10 can drive the mobile chassis 6 to rotate to achieve track changing.

[0036] As a preferred technical solution of the present invention, a fixed block 16 is fixedly connected between the connecting column 7 and the mobile chassis 6, and conductive components are arranged around the fixed block 16. The conductive components include a connecting plate 17, a positioning plate 33, an insertion rod 20 and a fixed rod 21. A sliding groove 18 corresponding to the position of the mobile chassis 6 is opened on the surface of the connecting plate 17, and the connecting plate 17 is slidably connected to the mobile groove 5. Both sides are provided with symmetrically arranged card grooves 19, and the insertion rods 20 are slidably connected in the card grooves 19. A fixed rod 21 is fixedly connected to one side of each insertion rod 20, and placement grooves 22 corresponding to the position of the fixed rod 21 are opened on both sides of the connecting plate 17. The inner wall of the mobile groove 5 is provided with a slot 32 corresponding to the position of the insertion rod 20 and the fixed rod 21. A telescopic component is connected in the connecting plate 17, and a fixed component is connected between the connecting plate 17 and the fixed block 16.

[0037] Specifically, when the inspection robot is running on the main track 2, the conducting component in the main track 2 will be connected to the front and rear sides of the fixed block 16, and the conducting component in the secondary track 3 will be fixed at a position close to the main track 2. Under the action of the telescopic component, the plug rod 20 and the fixing rod 21 of the conducting component in the main track 2 will be retracted into the connecting plate 17, and the plug rod 20 and the fixing rod 21 of the conducting component on the secondary track 3 will be inserted into the corresponding slots 32 to provide fixation for the connecting plate 17. At this time, when the inspection robot passes by the connection between the main track 2 and the secondary track 3, the connecting plate 17 and the sliding groove 18 thereon will provide support and limit for the mobile chassis 6, ensuring the normal operation of the inspection robot using the mobile chassis 6 and preventing the mobile chassis 6 from being stuck in the moving groove 5 on the secondary track 3;

[0038] When the inspection robot needs to move to the secondary track 3, the insertion rod 20 and the fixing rod 21 on the conducting component in the main track 2 will be inserted into the corresponding slots 32, and the conducting component on the secondary track 3 will be fixed on the fixing block 16. At this time, the connecting plate 17 in the main track 2 will fill the moving slot 5 of the main track 2 to ensure the normal operation of the inspection robot in the secondary track 3;

[0039] Through this arrangement, the inspection robot can adapt to the travel route with multiple secondary tracks 3, avoiding the movement grooves 5 on other tracks from affecting the movement chassis 6 on the main movement track.

[0040] As a preferred technical solution of the present invention, the telescopic assembly includes a connecting disk 24 and a spring 25. A telescopic groove 23 connected to the card slot 19 is opened in the connecting plate 17. One end of the insertion rod 20 located in the telescopic groove 23 is fixedly connected to the connecting disk 24. A spring 25 is fixedly connected between the two connecting disks 24 located in the same telescopic groove 23. The outer wall of the insertion rod 20 is connected to a contraction unit.

[0041] Specifically, through the mutual cooperation between the spring 25 and the connecting plate 24, the stable connection between the insertion rod 20, the fixing rod 21 and the slot 32 can be ensured. The elastic force of the spring 25 can resist external vibration or impact, thereby maintaining a stable connection between the insertion rod 20 and the slot 32, preventing connection failure due to looseness, and avoiding the insertion rod 20 and the fixing rod 21 from falling out of the slot 32 due to accidents.

[0042] As a preferred technical solution of the present invention, the fixing assembly includes a clamping rod 29 and a pressure block 30. The two side walls of the fixing block 16 located in the movable groove 5 at the bottom of the main track 2 are fixedly connected to two symmetrically arranged clamping rods 29. The end of each clamping rod 29 away from the fixing block 16 is fixedly connected to a pressure block 30. A positioning groove 28 corresponding to the position of the clamping rod 29 is provided on the surface of the connecting plate 17. A clamping groove 26 corresponding to the position of the pressure block 30 is provided on the surface of the connecting plate 17. The clamping groove 26 is connected to the clamping groove 19.

[0043] Specifically, the L-shaped structure formed by the clamping rod 29 and the pressing block 30 can ensure the stable connection between the fixed block 16 and the connecting plate 17 during the movement of the mobile chassis 6, preventing the conductive component from separating from the fixed block 16 and affecting the normal operation of the mobile chassis 6 after the track change.

[0044] As a preferred technical solution of the present invention, the contraction unit includes a clamping block 27, a side of the clamping block 27 away from the center of the connecting plate 17 is set as an inclined surface, the clamping block 27 is fixedly connected to the outer wall of the insertion rod 20, the clamping block 27 is slidably connected to the clamping groove 26, and the side of the pressing block 30 close to the center of the connecting plate 17 is set as an inclined surface, and the inclined surface of the clamping block 27 matches the inclined surface shape and position of the pressing block 30.

[0045] Specifically, when the inspection robot needs to switch from the main track 2 to the secondary track 3, under the drive of the lifting assembly, the fixed block 16, the clamping rod 29 and the pressure block 30 will rise accordingly. At this time, a gap will appear between the pressure block 30 and the clamping block 27. Under the pressure of the spring 25, the clamping block 27 moves to both sides, thereby driving the insertion rod 20 to move, so that the insertion rod 20 and the fixing rod 21 are inserted into the slot 32, thereby achieving the fixation of the connecting plate 17 in the main track 2, and then the mobile chassis 6 rotates under the drive of the drive motor 10. At this time, the pressure block 30 will rotate to the top of the connecting plate 17 in the secondary track 3, and then the mobile chassis 6 descends, and the pressure block 30 will enter the clamping groove 26 in the secondary track 3, and squeeze the clamping block 27 through the inclined surface, so that the two clamping blocks 27 move toward the center, thereby driving the insertion rod 20 to separate from the fixing rod 21 and the slot 32. At this time, the connecting plate 17 in the secondary track 3 is fixed by the pressure block 30 and the fixing block 16 while losing its fixation.

[0046] As a preferred technical solution of the present invention, positioning plates 33 are fixedly connected to both sides of the connecting plate 17 , and the positioning plates 33 are in contact with the bottom surface of the sliding groove 4 .

[0047] Specifically, the positioning plate 33 can prevent the connecting plate 17 from falling off from the moving groove 5, ensuring that the connecting plate 17 can provide stable support for the mobile chassis 6, ensuring that the inspection robot will not shake or tilt when moving on the connecting plate 17, and ensuring its stability and safety.

[0048] As a preferred technical solution of the present invention, a plurality of balls 31 are embedded on one side of the positioning plate 33 close to the bottom surface of the slide groove 4 .

[0049] Specifically, when the connecting plate 17 moves with the moving chassis 6, the ball 31 forms a rolling contact between the positioning plate 33 and the bottom surface of the slide groove 4, thereby replacing the traditional sliding contact, reducing friction resistance, reducing the wear of the connecting plate 17, increasing the service life of the connecting plate 17 and the positioning plate 33, and reducing the maintenance cost caused by wear.

[0050] As a preferred technical solution of the present invention, the support plate 14 and the inner wall of the movable groove 5 do not fit each other.

[0051] Specifically, this arrangement enables the support plate 14 to come into contact with the inner wall of the moving groove 5 during the overall movement of the inspection robot, thereby reducing the friction and wear between the support plate 14 and the inner wall of the moving groove 5, extending the service life of the inspection robot, and reducing the noise and energy loss caused by friction, while also reducing the running resistance of the inspection robot.

[0052] The present invention further provides a rail-mounted inspection robot, comprising a robot body 1 , wherein the robot body 1 comprises any one of the above-mentioned track switching structures, and the robot body 1 is fixedly connected to the bottom end of a connecting column 7 .

[0053] Specifically, since the track switching structure according to the embodiment of the present invention has the above-mentioned technical effects, the robot body 1 according to the embodiment of the present invention should also have the corresponding technical effects, that is, the robot body 1 of the present invention adopts the track switching structure, so that the robot body 1 has better stability in the process of switching tracks, avoiding the risk of derailment of the robot body 1 when changing tracks at the junction of the tracks.

[0054] Of course, for those skilled in the art, other structures of the robot body 1 and its working principles can be understood and implemented, and will not be described in detail in the present invention.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A track switching structure, comprising a mobile chassis (6), characterized in that: The bottom of the mobile chassis (6) is connected to a connecting column (7), the outside of the mobile chassis (6) is equipped with a main track (2), the outer wall of the main track (2) is fixedly connected to a plurality of secondary tracks (3), the main track (2) and the secondary tracks (3) are provided with a slide groove (4) corresponding to the position of the mobile chassis (6), the bottom surface of the slide groove (4) is provided with a moving groove (5) corresponding to the position of the connecting column (7), the surface of the mobile chassis (6) is rotatably connected to a connecting block (8), the lower part of the connecting block (8) is provided with a motor groove (9), a driving motor (10) is fixedly connected in the motor groove (9), the output end of the driving motor (10) is fixedly connected to the surface of the mobile chassis (6), the upper part of the connecting block (8) is connected to a lifting component, and the moving groove (5) at the connection between the main track (2) and the secondary track (3) is connected to a conducting component.

2. A track switching structure according to claim 1, characterized in that: The lifting assembly comprises an electric push rod (12), a connecting rod (13) and a support plate (14); a mounting groove (11) corresponding to the position of the electric push rod (12) is provided on the upper part of the connecting block (8); the output end of the electric push rod (12) is fixedly connected to the connecting rod (13); the top end of the connecting rod (13) penetrates the surface of the connecting block (8) and is fixedly connected to the support plate (14); and the top of the inner wall of the main track (2) and the secondary track (3) are both provided with a connecting groove (15) corresponding to the position of the support plate (14).

3. A track switching structure according to claim 1 or 2, characterized in that: A fixed block (16) is fixedly connected between the connecting column (7) and the movable chassis (6). Conductive components are arranged around the fixed block (16). The conductive components include a connecting plate (17), a positioning plate (33), an insertion rod (20) and a fixed rod (21). A sliding groove (18) corresponding to the position of the movable chassis (6) is provided on the surface of the connecting plate (17). The connecting plate (17) is slidably connected to the movable groove (5). Both sides are provided with symmetrically arranged clamping grooves (19). The insertion rods (20) are slidably connected in the clamping grooves (19). One side of each insertion rod (20) is fixedly connected with a fixed rod (21). Both sides of the connecting plate (17) are provided with placement grooves (22) corresponding to the position of the fixed rod (21). The inner wall of the movable groove (5) is provided with slots (32) corresponding to the positions of the insertion rod (20) and the fixed rod (21). A telescopic component is connected in the connecting plate (17). A fixed component is connected between the connecting plate (17) and the fixed block (16).

4. A track switching structure according to claim 3, characterized in that: The telescopic assembly comprises a connecting disk (24) and a spring (25); a telescopic slot (23) connected to the card slot (19) is provided in the connecting plate (17); one end of the insertion rod (20) located in the telescopic slot (23) is fixedly connected to the connecting disk (24); a spring (25) is fixedly connected between two connecting disks (24) located in the same telescopic slot (23); and the outer wall of the insertion rod (20) is connected to a contraction unit.

5. A track switching structure according to claim 4, characterized in that: The fixing assembly comprises a clamping rod (29) and a pressing block (30); two side walls of the fixing block (16) located in the movable groove (5) at the bottom of the main track (2) are fixedly connected to two symmetrically arranged clamping rods (29); one end of each clamping rod (29) away from the fixing block (16) is fixedly connected to a pressing block (30); a positioning groove (28) corresponding to the position of the clamping rod (29) is provided on the surface of the connecting plate (17); a clamping groove (26) corresponding to the position of the pressing block (30) is provided on the surface of the connecting plate (17); and the clamping groove (26) is communicated with the clamping groove (19).

6. A track switching structure according to claim 5, characterized in that: The contraction unit comprises a clamping block (27), a side of the clamping block (27) away from the center of the connecting plate (17) is provided with an inclined surface, the clamping block (27) is fixedly connected to the outer wall of the plug rod (20), the clamping block (27) is slidably connected to the clamping groove (26), and a side of the pressing block (30) close to the center of the connecting plate (17) is provided with an inclined surface, and the inclined surface of the clamping block (27) matches the inclined surface of the pressing block (30) in shape and position.

7. A track switching structure according to claim 3, characterized in that: Positioning plates (33) are fixedly connected to both sides of the connecting plate (17), and the positioning plates (33) are in contact with the bottom surface of the sliding groove (4).

8. A track switching structure according to claim 7, characterized in that: A plurality of balls (31) are embedded on one side of the positioning plate (33) close to the bottom surface of the slide groove (4).

9. A track switching structure according to claim 2, 4, 5, 6, 7 or 8, characterized in that: The support plate (14) and the inner wall of the movable groove (5) do not fit each other.

10. A rail-mounted inspection robot, comprising a robot body (1), characterized in that: The robot body (1) comprises the track switching structure described in any one of claims 1 to 9, and the robot body (1) is fixedly connected to the bottom end of the connecting column (7).

Images