Rail switching structure and rail-hung inspection robot

Abstract

The application relates to the technical field of inspection robots, and discloses a track switching structure and a track-hung inspection robot, which comprises a mobile chassis, the bottom of the mobile chassis is connected with a connecting column, the mobile chassis is externally provided with a main track, a plurality of secondary tracks are fixedly connected to the outer wall of the main track, a sliding groove corresponding to the position of the mobile chassis is arranged in the main track and the secondary track, a moving groove corresponding to the position of the connecting column is arranged in the bottom surface of the sliding groove, a connecting block is rotatably connected to the surface of the mobile chassis, a motor groove is arranged in the lower part of the connecting block, a driving motor is fixedly connected in the motor groove, the output end of the driving motor is fixedly connected with the surface of the mobile chassis, a lifting assembly is connected to the upper part of the connecting block, and a guide assembly is connected in the moving groove at the connection position of the main track and the secondary track. The track switching structure and the track-hung inspection robot enhance the safety and stability of the track-changing process of the inspection robot.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to a track switching structure and a track-mounted inspection robot. Background Technology

[0002] The rail-mounted inspection robot is a robot that can perform special inspection 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 gimbal cameras, as well as various environmental monitoring module sensors. It can capture and sense the surrounding environment in real time, realize remote online monitoring and data analysis, and can also replace humans in completing routine inspections, fault diagnosis, early warning alarms and other tasks.

[0003] A typical rail-mounted inspection robot consists of a track, a mobile chassis, the robot itself, and a camera. To improve the inspection efficiency of rail-mounted inspection robots, a combination of main and secondary tracks is used for inspection. During operation, a preliminary and rapid inspection is first performed on the main track. When a problem is detected, the robot moves to the secondary track to get closer to the equipment for a more detailed inspection. The process of switching from the main track to the secondary track requires the use of a track switching structure to perform the track change.

[0004] As disclosed in the prior art, patent CN215149280U discloses a track-changing device for a rail-mounted inspection robot, which solves the technical problem that existing inspection systems only have inspection functions and are relatively simple in function. This track-changing device includes a fixed frame, a movable frame, a drive mechanism, and two parallel auxiliary tracks. The fixed frame is located above the main track; the movable frame is mounted on the fixed frame; the two auxiliary tracks are parallel to the main track and positioned below the movable frame, with the inspection robot suspended on either auxiliary track; the drive mechanism is mounted on the fixed frame and is used to drive the movable frame to move in a direction perpendicular to the main track, enabling either auxiliary track to connect with the main track and form the inspection robot's running track.

[0005] However, the above-mentioned track switching structure has certain drawbacks in use: when the rail-mounted inspection robot uses the traditional track switching structure to change tracks, the traditional track switching structure is prone to generating large 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 large 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, thus affecting the normal use of the inspection robot. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a track switching structure and a track-mounted inspection robot, ensuring stable track switching for the inspection robot.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a track switching structure, including a movable chassis, a connecting column connected to the bottom of the movable chassis, a main track installed on the outside of the movable chassis, a plurality of secondary tracks fixedly connected to the outer wall of the main track, a sliding groove corresponding to the position of the movable chassis being formed in the main track and the secondary tracks, a moving groove corresponding to the position of the connecting column being formed on the bottom surface of the sliding groove, a connecting block rotatably connected to the surface of the movable chassis, a motor groove being formed at the lower part of the connecting block, a drive motor being fixedly connected in the motor groove, the output end of the drive motor being fixedly connected to the surface of the movable chassis, a lifting component being connected to the upper part of the connecting block, and a conductive component being connected in the moving groove at the connection between the main track and the secondary tracks.

[0008] Furthermore, the lifting assembly includes an electric push rod, a connecting rod, and a support plate. The upper part of the connecting block has an installation groove corresponding to the position of the electric push rod. 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 both the main track and the secondary track has a connecting groove corresponding to the position of the support plate.

[0009] Furthermore, a fixing block is fixedly connected between the connecting column and the mobile chassis. Conducting components are provided around the fixing block. The conducting components include a connecting plate, a positioning plate, a plug rod, and a fixing rod. A sliding groove corresponding to the position of the mobile chassis is opened on the surface of the connecting plate. The connecting plate is slidably connected to the sliding groove. A symmetrically arranged slot is opened on both sides. A plug rod is slidably connected in the slot. A fixing rod is fixedly connected to one side of each plug rod. Placement slots corresponding to the positions of the fixing rods are opened on both sides of the connecting plate. Slots corresponding to the positions of the plug rods and fixing rods are opened on the inner wall of the sliding groove. A telescopic component is connected inside the connecting plate. A fixing component is connected between the connecting plate and the fixing block.

[0010] Furthermore, the telescopic assembly includes a connecting plate and a spring. The connecting plate has a telescopic groove with a connecting slot. One end of the insert rod located in the telescopic groove is fixedly connected to the connecting plate. A spring is fixedly connected between two connecting plates located in the same telescopic groove. A retraction unit is connected to the outer wall of the insert rod.

[0011] Furthermore, the fixing component includes a snap-fit ​​rod and a pressure block. The two side walls of the fixing block located in the bottom moving groove of the main track are fixedly connected to two symmetrically arranged snap-fit ​​rods. The end of each snap-fit ​​rod away from the fixing block is fixedly connected to a pressure block. The surface of the connecting plate is provided with a positioning groove corresponding to the position of the snap-fit ​​rod, and the surface of the connecting plate is provided with a snap-fit ​​groove corresponding to the position of the pressure block. The snap-fit ​​groove and the snap-fit ​​groove are connected.

[0012] Furthermore, the shrink unit includes a snap-fit ​​block, the snap-fit ​​block having an inclined surface on the side away from the center of the connecting plate, the snap-fit ​​block being fixedly connected to the outer wall of the insert rod, the snap-fit ​​block being slidably connected to the snap-fit ​​groove, and the pressure block having an inclined surface on the side near the center of the connecting plate, the inclined surface of the snap-fit ​​block matching the inclined surface of the pressure 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 slide groove.

[0014] Furthermore, multiple ball bearings are embedded on the side of the positioning plate near the bottom of the chute.

[0015] Furthermore, the inner walls of the support plate and the moving groove do not fit together.

[0016] The present invention also provides a rail-mounted inspection robot, including a robot body, the robot body including the above-described track switching structure, and the robot body being 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 rail-mounted inspection robot, through the use of lifting components and drive motors, enables rapid switching between different tracks. Compared to existing track-changing methods, this invention reduces the robot's downtime during track switching, lowers friction and wear during the process, increases the lifespan of the mobile chassis, reduces maintenance costs, improves inspection efficiency, ensures a smooth transition, and effectively avoids derailment risks at track junctions by utilizing conductive components. It also ensures that all wheels of the mobile chassis are supported, guaranteeing stability before and after track switching, thus enhancing the safety and stability of the inspection robot during track switching. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the entire invention;

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

[0021] Figure 3 This is a three-dimensional structural diagram of the mobile chassis, lifting assembly, and conductive assembly of the present invention;

[0022] Figure 4 This is a three-dimensional structural diagram of the mobile chassis, lifting assembly, and fixing block of the present invention;

[0023] Figure 5 This is a three-dimensional sectional view of the mobile chassis, fixing block, and connecting block of the present invention.

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

[0025] Figure 7This is a three-dimensional split cross-sectional view of the conductive component and the telescopic component of the present invention;

[0026] Figure 8 This is a three-dimensional structural diagram of the insertion rod, fixing rod, snap-fit ​​block and connecting plate of the present invention;

[0027] Figure 9 This is a three-dimensional structural diagram of the connecting plate, positioning plate, ball bearings, and insert rod of the present invention;

[0028] Figure 10 This is a three-dimensional structural diagram of the fixing block, the snap-fit ​​rod, and the pressure block of the present invention.

[0029] In the diagram: 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. Drive motor; 11. Mounting groove; 12. Electric push rod; 13. Connecting rod; 14. Support plate; 15. Connecting groove; 16. Fixing block; 17. Connecting plate; 18. Sliding groove; 19. Slot; 20. Insert rod; 21. Fixing rod; 22. Placement groove; 23. Telescopic groove; 24. Connecting plate; 25. Spring; 26. Snap-fit ​​groove; 27. Snap-fit ​​block; 28. Positioning groove; 29. ​​Snap-fit ​​rod; 30. Pressure block; 31. Ball bearing; 32. Slot; 33. Positioning plate. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Please see Figures 1 to 10 A track switching structure includes a movable chassis 6, a connecting column 7 connected to the bottom of the movable chassis 6, a main track 2 installed on the outside of the movable chassis 6, a plurality of secondary tracks 3 fixedly connected to the outer wall of the main track 2, a sliding groove 4 corresponding to the position of the movable chassis 6 being opened in the main track 2 and the secondary tracks 3, a moving groove 5 corresponding to the position of the connecting column 7 being opened on the bottom surface of the sliding groove 4, a connecting block 8 being rotatably connected to the surface of the movable chassis 6, a motor groove 9 being opened at the lower part of the connecting block 8, a drive motor 10 being fixedly connected in the motor groove 9, the output end of the drive motor 10 being fixedly connected to the surface of the movable chassis 6, a lifting component being connected to the upper part of the connecting block 8, and a conductive component being connected in the moving groove 5 at the connection between the main track 2 and the secondary tracks 3.

[0032] In the track switching structure of this invention, when the track-mounted inspection robot needs to switch from the main track 2 to the secondary track 3 for inspection, the track-mounted inspection robot first stops at the intersection of the main track 2 and the secondary track 3. Then, the lifting component will lift the movable chassis 6, causing the track-mounted inspection robot and the movable chassis 6 to rise. At this time, the movable chassis 6 will separate from the bottom surface of the slide 4. Then, the drive motor 10 starts, driving the movable chassis 6 and the track-mounted inspection robot to rotate 90 degrees. At this time, the movable chassis 6 moves from the slide 4 in the main track 2 to the slide 4 in the secondary track 3. Then, the lifting component lowers the movable chassis 6, so that the movable chassis 6 and the slide 4 re-contact, and can then perform inspection along the secondary track 3.

[0033] By using a lifting assembly and a drive motor 10, the rail-mounted inspection robot can quickly switch between different tracks. Compared with existing track-changing methods, this invention reduces the stopping time of the inspection robot during track switching, reduces friction and wear during track switching, increases the service life of the mobile chassis 6, reduces the maintenance cost of the inspection robot, improves inspection efficiency, ensures a smooth transition of the inspection robot, and effectively avoids the risk of derailment that may occur when the inspection robot switches tracks at track junctions by using a connecting assembly. It also ensures that all wheels of the mobile chassis 6 are supported, ensuring the stability of the mobile chassis 6 before and after track switching, and enhancing the safety and stability of the inspection robot during track switching.

[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. The upper part of the connecting block 8 is provided with an installation groove 11 corresponding to the position of the electric push rod 12. 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. 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 using the lifting assembly to change tracks, the electric push rod 12 will retract the connecting rod 13. At this time, the support plate 14 will descend to contact the connecting groove 15. Then, with the support of the bottom surface of the connecting groove 15, the retraction of the electric push rod 12 will pull the electric push rod 12 up, thereby driving the moving chassis 6 to rise. Then, the drive motor 10 can drive the moving chassis 6 to rotate, thus realizing track changing.

[0036] As a preferred embodiment of the present invention, a fixing block 16 is fixedly connected between the connecting column 7 and the movable chassis 6. The fixing block 16 is provided with a conductive component around its perimeter. The conductive component includes a connecting plate 17, a positioning plate 33, a plug rod 20, and a fixing rod 21. A sliding groove 18 corresponding to the position of the movable chassis 6 is opened on the surface of the connecting plate 17. The connecting plate 17 is slidably connected to the movable groove 5. A symmetrically arranged slot 19 is opened on both sides. A plug rod 20 is slidably connected in the slot 19. A fixing rod 21 is fixedly connected to one side of each plug rod 20. Placement grooves 22 corresponding to the positions of the fixing rods 21 are opened on both sides of the connecting plate 17. A slot 32 corresponding to the positions of the plug rods 20 and the fixing rods 21 is opened on the inner wall of the movable groove 5. A telescopic component is connected inside the connecting plate 17. A fixing component is connected between the connecting plate 17 and the fixing block 16.

[0037] Specifically, when the inspection robot is running on the main track 2, the conductive components in the main track 2 will be connected to the front and rear sides of the fixed block 16, and the conductive components in the secondary track 3 will be fixed near the main track 2. Under the action of the telescopic components, the insert rod 20 and the fixed rod 21 of the conductive components in the main track 2 will retract into the connecting plate 17. The insert rod 20 and the fixed rod 21 of the conductive components 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 the connection between the main track 2 and the secondary track 3, the connecting plate 17 and its sliding groove 18 will provide support and limit for the mobile chassis 6, ensuring that the inspection robot can operate normally using the mobile chassis 6 and preventing the mobile chassis 6 from getting stuck in the moving groove 5 on the secondary track 3.

[0038] When the inspection robot needs to move into the secondary track 3, the plug rod 20 and the fixing rod 21 on the conductive component in the main track 2 will be inserted into the corresponding slot 32, and the conductive 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] This setup allows the inspection robot to adapt to routes with multiple secondary tracks 3, preventing the moving slots 5 on other tracks from affecting the moving chassis 6 on the main moving track.

[0040] As a preferred embodiment of the present invention, the telescopic assembly includes a connecting plate 24 and a spring 25. The connecting plate 17 has a telescopic groove 23 with a connecting slot 19. One end of the insert rod 20 located in the telescopic groove 23 is fixedly connected to the connecting plate 24. The two connecting plates 24 located in the same telescopic groove 23 are fixedly connected to the spring 25. The outer wall of the insert rod 20 is connected to a retraction unit.

[0041] Specifically, the cooperation between the spring 25 and the connecting plate 24 ensures a stable connection between the insertion rod 20, the fixing rod 21 and the slot 32. The elasticity 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 loosening, and avoiding the insertion rod 20 and the fixing rod 21 from coming out of the slot 32 due to accidents.

[0042] As a preferred embodiment of the present invention, the fixing component includes a snap-fit ​​rod 29 and a pressure block 30. The fixing block 16 is located in the bottom moving groove 5 of the main track 2, and two symmetrically arranged snap-fit ​​rods 29 are fixedly connected to the two side walls. The end of each snap-fit ​​rod 29 away from the fixing block 16 is fixedly connected to the pressure block 30. The surface of the connecting plate 17 is provided with a positioning groove 28 corresponding to the position of the snap-fit ​​rod 29, and the surface of the connecting plate 17 is provided with a snap-fit ​​groove 26 corresponding to the position of the pressure block 30. The snap-fit ​​groove 26 is connected to the snap-fit ​​groove 19.

[0043] Specifically, the L-shaped structure formed by the snap-fit ​​rod 29 and the pressure block 30 can ensure the stable connection between the fixing block 16 and the connecting plate 17 during the movement of the mobile chassis 6, preventing the conductive components from separating from the fixing block 16 and affecting the normal operation of the mobile chassis 6 after the rail change.

[0044] As a preferred technical solution of the present invention, the shrink unit includes a snap-fit ​​block 27, the snap-fit ​​block 27 having an inclined surface on the side away from the center of the connecting plate 17, the snap-fit ​​block 27 being fixedly connected to the outer wall of the insert rod 20, the snap-fit ​​block 27 being slidably connected to the snap-fit ​​groove 26, and the pressure block 30 having an inclined surface on the side near the center of the connecting plate 17, the inclined surface of the snap-fit ​​block 27 matching the inclined surface of the pressure block 30 in shape and position.

[0045] Specifically, when the inspection robot needs to switch from the main track 2 to the secondary track 3, the fixed block 16, the locking rod 29, and the pressure block 30 will rise under the drive of the lifting component. At this time, a gap will appear between the pressure block 30 and the locking block 27. Under the pressure of the spring 25, the locking block 27 moves to both sides, thereby driving the insertion rod 20 to move, so that the insertion rod 20 and the fixed rod 21 are inserted into the slot 32, thereby fixing the connecting plate 17 in the main track 2. Then, the moving 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. Then, the moving chassis 6 descends, and the pressure block 30 will enter the locking groove 26 in the secondary track 3. By pressing the locking block 27 with the inclined surface, the two locking blocks 27 move towards the center, thereby driving the insertion rod 20 to separate from the fixed rod 21 and the slot 32. At this time, the connecting plate 17 in the secondary track 3 loses its fixation, but is fixed by the pressure block 30 and the fixed block 16.

[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 slide groove 4.

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

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

[0049] Specifically, as the connecting plate 17 moves with the mobile chassis 6, the ball bearings 31 form rolling contact between the positioning plate 33 and the bottom surface of the slide groove 4, thereby replacing the traditional sliding contact, reducing frictional resistance, reducing wear on the connecting plate 17, increasing the service life of the connecting plate 17 and the positioning plate 33, and reducing maintenance costs caused by wear.

[0050] As a preferred embodiment of the present invention, the inner walls of the support plate 14 and the moving groove 5 are not in contact with each other.

[0051] Specifically, this design allows 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 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, reducing noise and energy loss caused by friction, and also reducing the operating resistance of the inspection robot.

[0052] The present invention also provides a rail-mounted inspection robot, including a robot body 1, the robot body 1 including any of the above-mentioned track switching structures, and the robot body 1 being fixedly connected to the bottom end of the 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, by adopting the track switching structure, the robot body 1 of the present invention has better stability during track switching and avoids the risk of derailment that may occur when the robot body 1 changes tracks at the track junction.

[0054] Of course, other structures and working principles of the robot body 1 are understandable and achievable by those skilled in the art, and will not be described in detail in this invention.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which 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 mobile chassis (6) is set inside the main track (2). Multiple secondary tracks (3) are fixedly connected to the outer wall of the main track (2). Slide grooves (4) corresponding to the position of the mobile chassis (6) are opened in the main track (2) and the secondary tracks (3). Moving grooves (5) corresponding to the position of the connecting column (7) are opened on the bottom surface of the slide grooves (4). A connecting block (8) is rotatably connected to the upper surface of the mobile chassis (6). A motor groove (9) is opened at the lower part of the connecting block (8). A drive motor (10) is fixedly connected in the motor groove (9). The output end of the drive 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). A conductive component is connected in the moving groove (5) at the connection between the main track (2) and the secondary track (3). A fixed connection is fixed between the connecting column (7) and the mobile chassis (6). The fixed block (16) is provided with a connecting component around its perimeter. The connecting component includes a connecting plate (17), a positioning plate (33), a plug rod (20), and a fixing rod (21). The surface of the connecting plate (17) is provided with a sliding groove (18) corresponding to the position of the movable chassis (6). The connecting plate (17) is slidably connected to the movable groove (5). The two sides are provided with symmetrically arranged slots (19). The plug rod (20) is slidably connected in the slot (19). Each plug rod (20) is fixedly connected to a fixing rod (21) on one side. The two sides of the connecting plate (17) are provided with a placement groove (22) corresponding to the position of the fixing rod (21). The inner wall of the movable groove (5) is provided with a slot (32) corresponding to the position of the plug rod (20) and the fixing rod (21). The connecting plate (17) is connected with a telescopic component. The connecting plate (17) and the fixed block (16) are connected with a fixing component.

2. The track switching structure according to claim 1, characterized in that, The lifting assembly includes an electric push rod (12), a connecting rod (13) and a support plate (14). The upper part of the connecting block (8) is provided with an installation groove (11) corresponding to the position of the electric push rod (12). 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). 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. The track switching structure according to claim 1, characterized in that, The telescopic assembly includes a connecting plate (24) and a spring (25). The connecting plate (17) has a telescopic groove (23) with a connecting slot (19). One end of the insert rod (20) located in the telescopic groove (23) is fixedly connected to the connecting plate (24). The two connecting plates (24) located in the same telescopic groove (23) are fixedly connected to the spring (25). The outer wall of the insert rod (20) is connected to a retraction unit.

4. The track switching structure according to claim 3, characterized in that, The fixing component includes a snap-fit ​​rod (29) and a pressure block (30). The two side walls of the fixing block (16) located in the bottom moving groove (5) of the main track (2) are fixedly connected to two symmetrically arranged snap-fit ​​rods (29). The end of each snap-fit ​​rod (29) away from the fixing block (16) is fixedly connected to a pressure block (30). The surface of the connecting plate (17) is provided with a positioning groove (28) corresponding to the position of the snap-fit ​​rod (29). The surface of the connecting plate (17) is provided with a snap-fit ​​groove (26) corresponding to the position of the pressure block (30). The snap-fit ​​groove (26) is connected to the snap-fit ​​groove (19).

5. The track switching structure according to claim 4, characterized in that, The shrinking unit includes a snap-fit ​​block (27), the snap-fit ​​block (27) is inclined on the side away from the center of the connecting plate (17), the snap-fit ​​block (27) is fixedly connected to the outer wall of the insert rod (20), the snap-fit ​​block (27) is slidably connected to the snap-fit ​​groove (26), the pressure block (30) is inclined on the side near the center of the connecting plate (17), and the inclined surface of the snap-fit ​​block (27) matches the inclined surface of the pressure block (30) in shape and position.

6. The track switching structure according to claim 1, characterized in that, The connecting plate (17) is fixedly connected to the two sides of the positioning plate (33), and the positioning plate (33) is in contact with the bottom surface of the slide (4).

7. A track switching structure according to claim 6, characterized in that, The positioning plate (33) has multiple balls (31) embedded on one side near the bottom of the slide (4).

8. The track switching structure according to claim 2, characterized in that, The inner walls of the support plate (14) and the moving groove (5) are not in contact with each other.

9. A rail-mounted inspection robot, comprising a robot body (1), characterized in that, The robot body (1) includes the track switching structure described in any one of claims 1-8, and the robot body (1) is fixedly connected to the bottom end of the connecting column (7).

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