Orbital transfer device of inspection robot

Abstract

The invention relates to the technical field of aerial tracks, in particular to a track transfer device of an inspection robot, which comprises a first track and a plurality of second tracks and further comprises an annular track transfer seat, the first track and the plurality of second tracks are annularly distributed on the periphery of the outer side of the annular track transfer seat, and a track transfer assembly is movably arranged in the annular track transfer seat. The track transfer assembly comprises a connecting track, a driving assembly is arranged on the annular track transfer seat, and the track transfer assembly is driven by the driving assembly to rotate by a set angle, so that the track transfer assembly is in butt joint with the first track or the multiple second tracks, and track transfer operation is achieved; through the arrangement of the rail transfer assembly, rapid butt joint passing of the crossed rails can be achieved, and path switching can be achieved without depending on a large-curvature bent rail.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial tracks, in particular to a track changing device for an inspection robot. Background Art

[0002] The accelerated advancement of automation and unmanned operations in intelligent manufacturing is driving the evolution of aerial rail robotic systems towards higher-dimensional intelligence. Currently, advanced manufacturing companies generally adopt a three-dimensional, networked aerial rail architecture. This architecture creates a three-dimensional workspace through a multi-layered, intersecting rail network, and uses intelligent navigation algorithms to enable autonomous robot path planning. Compared to the limitations of traditional single-plane rails that rely on physically curved tracks for steering, this system is particularly suitable for complex, confined working environments in the power and chemical industries. The intelligent inspection system for thermal power plants, based on this technical architecture, achieves three-dimensional coverage of key areas such as boiler rooms, coal handling trestles, and booster stations by constructing a high-precision digital twin rail network. The system's multimodal perception robot integrates an array of sensors, including infrared thermal imaging, gas detection, and voiceprint diagnostics, to dynamically collect key parameters such as equipment temperature, vibration spectrum, and gas concentration during autonomous navigation.

[0003] However, the existing cross-tracks mainly rely on large-curvature curved tracks to achieve path switching when the robot turns. The curved tracks require a large turning radius (usually ≥1.5m), which is difficult to deploy flexibly in equipment-intensive industrial scenarios such as thermal power plants. It is easy to cause spatial conflicts with existing pipelines, cable trays and other facilities. In addition, long-term curved track operation can easily lead to stress concentration in the track structure, which may induce track deformation or loosening of connectors in the high-vibration environment of thermal power plants, increasing the risk of robot derailment. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a track changing device for an inspection robot.

[0005] The present invention adopts the following technical solution: a track changing device for an inspection robot, comprising a first track and a plurality of second tracks, and also comprising an annular track changing seat, wherein the first track and the plurality of second tracks are distributed in an annular shape around the outer side of the annular track changing seat;

[0006] A track changing assembly is movably arranged in the annular track changing seat, and the track changing assembly includes a connecting track. A driving assembly is arranged on the annular track changing seat, and the driving assembly drives the track changing assembly to rotate a set angle so that it docks with the first track or multiple second tracks to realize the track changing operation.

[0007] As a further description of the above technical solution: two sets of locking safety components are symmetrically arranged on the side walls at both ends of the connecting track, and two sets of linkage components are symmetrically arranged on the upper part of both ends of the connecting track, and the linkage components are transmission-connected to the locking safety components;

[0008] When the driving component drives the track changing component to rotate a set angle so that it docks with the first track or multiple second tracks, the linkage component synchronously drives the locking safety component to close the locking state, so that the inspection robot located on the connecting track can enter the first track or multiple second tracks through the connecting track. When the driving component drives the track changing component to rotate a set angle so that it is misaligned with the first track or multiple second tracks, the linkage component synchronously drives the locking safety component to open the locking state, so that the inspection robot located on the connecting track is limited and fixed on the connecting track.

[0009] As a further description of the above technical solution: a concave platform is provided on the inner wall of the annular track change seat, and an annular sliding groove is provided on the upper surface of the concave platform;

[0010] The track changing assembly includes a ring frame, the lower surface of which is welded with an arc-shaped slider, which is slidably connected to the annular slide groove, a gear ring is welded on the outer wall of the ring frame, and multiple parallel beams are welded inside the ring frame. The connecting rails are welded and fixed to the beams through connecting columns.

[0011] As a further description of the above technical solution: the locking safety component includes a concave notch on the upper surface of the connecting track, a circular groove is provided on the side wall of the connecting track at a position opposite to the concave notch, a drive shaft is rotatably connected at the center of the inner wall of the circular groove, a drive disk is fixed on the drive shaft, the drive disk is located in the circular groove, and a locking block is also fixed on one side of the drive disk on the drive shaft.

[0012] As a further description of the above technical solution: the linkage assembly includes a special-shaped transmission block and a linkage block. The special-shaped transmission block is fixedly set on the inner wall of the annular track change seat and is located below the annular frame. The linkage block is slidably set on the upper surface of the connecting track. A rack is welded on the side wall of the linkage block, and the rack is meshed and connected with the drive disk.

[0013] As a further description of the above technical solution: a strip slide groove is opened on the upper surface of the connecting rail, a limiting shaft is welded at the center line inside the strip slide groove, a rectangular slider that can slide back and forth in the strip slide groove is sleeved on the limiting shaft, the rectangular slider is welded and fixed to the linkage block, and a return spring is sleeved on one side of the rectangular slider on the limiting shaft.

[0014] As a further description of the above technical solution: the special-shaped transmission block is composed of a lifting part, a holding part and a falling part, and the lifting part, the holding part and the falling part are integrally formed;

[0015] The lifting part, the holding part and the falling part all have outer arc surfaces, and the outer arc surfaces of the lifting part, the holding part and the falling part are all on the inner arc surface of the annular rail changing seat, so that the special-shaped transmission block can be fitted on the inner wall of the annular rail changing seat;

[0016] When the driving assembly drives the track changing assembly to rotate, the linkage block passes through the lifting part, the holding part and the falling part in sequence, thereby pushing the linkage block to move toward the center of the connecting track, remain stationary, and then move back to the end of the connecting track.

[0017] As a further description of the above technical solution: the drive assembly includes a motor base welded and fixed to the outer wall of the annular track change seat, a drive motor is bolted to the motor base, the output shaft of the drive motor passes through the motor base and extends to the outside and is fixed with a drive gear, an arc-shaped notch is opened on the outer wall of the annular track change seat, the drive gear extends through the arc-shaped notch into the annular track change seat and is meshed with the ring gear.

[0018] As a further description of the above technical solution: a fixing block is welded on the upper part of the outer wall of the annular track change seat, and a hanger is fixed on the fixing block with bolts.

[0019] As a further description of the above technical solution: a track connecting seat is welded at a position opposite to the first track or multiple second tracks on the lower part of the outer wall of the annular track changing seat, and the track connecting seat is fixed to the first track or multiple second track bolts by fastening bolts.

[0020] Beneficial effects:

[0021] The present invention provides a track-changing device for an inspection robot. By providing a track-changing assembly, the device can achieve rapid docking and passage of intersecting tracks without relying on curved tracks with large curvatures to achieve path switching. This overcomes the difficulties in flexible deployment in equipment-intensive industrial scenarios such as thermal power plants, and the potential for spatial conflicts with existing pipelines, cable trays, and other facilities. Furthermore, long-term curved track operation can easily lead to stress concentration in the track structure, which can induce track deformation or loosening of connectors in the high-vibration environment of thermal power plants, increasing the risk of the robot derailing.

[0022] Furthermore, the connecting track is movably arranged on the annular track changing seat, and the first track and the second track are both relatively positioned by the track connecting seat provided on the lower part of the outer wall of the annular track changing seat. When in use, the connecting track and the first track and the second track do not need to be connected with a positioning structure, thereby reducing the complexity of their docking or undocking operations. The connecting track and the first track and the second track can be directly controlled to dock or undocking by the driving assembly, thereby further improving the efficiency of track changing.

[0023] An innovative collaborative control mechanism of the linkage component and the locking safety component is adopted to realize intelligent safety management and control of the track changing process. When the driving component drives the track changing component to rotate to the preset angle so that the connecting track is accurately docked with the first track or any second track, the linkage component automatically triggers the locking safety component to release the locking state through mechanical transmission. At this time, the inspection robot can smoothly transition to the target track along the connecting track; conversely, when the track changing component rotates to the track misalignment state, the linkage component immediately drives the locking safety component to enter the locking state, and reliably fixes the inspection robot on the connecting track. The automatic locking mechanism of the mechanical linkage can effectively prevent the risk of the robot falling when the track is not aligned. The purely mechanical linkage structure avoids the signal delay or failure problems that may occur in electrical control, and can still work stably in the strong electromagnetic interference environment of the thermal power plant, eliminating the independent drive actuator in the traditional solution and reducing the system complexity. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further explained below in conjunction with the accompanying drawings and examples:

[0025] Figure 1 A schematic structural diagram of a track changing device for an inspection robot provided in an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the bottom structure of a track changing device of an inspection robot provided by an embodiment of the present invention;

[0027] Figure 3 A schematic structural diagram of an annular track change seat provided in an embodiment of the present invention;

[0028] Figure 4 A cross-sectional view of an annular track change seat provided in an embodiment of the present invention;

[0029] Figure 5 A schematic structural diagram of a track change assembly provided in an embodiment of the present invention;

[0030] Figure 6 A schematic structural diagram of a beam provided in an embodiment of the present invention;

[0031] Figure 7 A schematic structural diagram of a connecting track provided in an embodiment of the present invention;

[0032] Figure 8 The embodiment of the present invention provides Figure 7 Magnified view of area B in ;

[0033] Figure 9 A schematic diagram of the structure of a linkage block provided in an embodiment of the present invention;

[0034] Figure 10 The embodiment of the present invention provides Figure 1 A magnified view of area A in ;

[0035] Figure 11 A top view of the special-shaped transmission block provided in an embodiment of the present invention.

[0036] Reference numerals: 1, first track; 2, second track; 3, annular track-changing seat; 31, recessed platform; 32, annular chute; 33, fixed block; 34, arc-shaped notch; 35, suspension rod; 36, track connecting seat; 4, track-changing assembly; 41, annular frame; 411, arc-shaped slider; 42, gear ring; 43, crossbeam; 44, connecting column; 45, connecting track; 46, linkage assembly; 461, strip chute; 462, linkage block; 463 , special-shaped transmission block; 4631, lifting part; 4632, holding part; 4633, falling part; 464, rack; 465, limit shaft; 466, return spring; 467, rectangular slider; 47, locking safety component; 471, concave notch; 472, circular groove; 473, drive shaft; 474, drive disk; 475, locking block; 5, drive component; 51, motor seat; 52, drive motor; 53, drive gear. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the present invention is further described below with reference to specific diagrams. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless they conflict.

[0038] Example 1

[0039] See also Figures 1-6 and Figure 10 An embodiment of the present invention provides a technical solution: a track changing device for an inspection robot, comprising a first track 1 and multiple second tracks 2, and an annular track changing seat 3, wherein the first track 1 and the multiple second tracks 2 are distributed in an annular shape around the outer side of the annular track changing seat 3; a track changing assembly 4 is movably arranged in the annular track changing seat 3, and the track changing assembly 4 includes a connecting track 45. A driving assembly 5 is arranged on the annular track changing seat 3, and the driving assembly 5 drives the track changing assembly 4 to rotate a set angle so that it docks with the first track 1 or the multiple second tracks 2 to realize the track changing operation.

[0040] It should be noted that both ends of the connecting track 45 and the ends where the first track 1 and the second track 2 connect to the connecting track 45 have matching arc-shaped cutouts. To avoid interference when the connecting track 45 connects to the first track 1 and the second track 2, the two ends of the connecting track 45 are arc-shaped protrusions, and the ends where the first track 1 and the second track 2 connect to the connecting track 45 are arc-shaped concave.

[0041] A recessed platform 31 is provided on the inner wall of the annular track changing seat 3, and an annular slide groove 32 is provided on the upper surface of the recessed platform 31; the track changing assembly 4 includes an annular frame 41, an arc-shaped slider 411 is welded to the lower surface of the annular frame 41, and the arc-shaped slider 411 is slidably connected to the annular slide groove 32, a gear ring 42 is welded on the outer wall of the annular frame 41, and a plurality of parallel beams 43 are welded inside the annular frame 41, and the connecting rail 45 is welded and fixed to the beam 43 through a connecting column 44; a fixing block 33 is welded to the upper part of the outer wall of the annular track changing seat 3, and a suspension rod 35 is bolted to the fixing block 33; a track connecting seat 36 is welded to the lower part of the outer wall of the annular track changing seat 3 at a position opposite to the first track 1 or multiple second tracks 2, and the track connecting seat 36 is bolted to the first track 1 or multiple second tracks 2 by fastening bolts.

[0042] Specifically, the connecting rail 45 for connecting the first rail 1 and the second rail 2 is fixed to the annular frame 41 through the connecting column 44 and the crossbeam 43, and the annular frame 41 is slidably connected to the annular slide groove 32 provided on the annular rail changing seat 3 through the arc-shaped slider 411, so that the entire connecting rail 45 and the gravity applied by the inspection robot through the connecting rail 45 will eventually be applied to the annular rail changing seat 3, that is, the connecting rail 45 is movably set on the annular rail changing seat 3, and the first rail 1 and the second rail 2 are relatively positioned by the rail connecting seat 36 provided on the lower part of the outer wall of the annular rail changing seat 3. When in use, the connecting rail 45 and the first rail 1 and the second rail 2 do not need to be connected to the positioning structure, thereby reducing the complexity of the docking or undocking operation. The driving component 5 can directly control the connecting rail 45 to dock or undock with the first rail 1 and the second rail 2, thereby further improving the efficiency of the rail changing.

[0043] In this embodiment, by providing a track change assembly 4, rapid docking and passage of cross tracks can be achieved without relying on large-curvature curved tracks to achieve path switching. This overcomes the difficulties in flexible deployment in equipment-intensive industrial scenarios such as thermal power plants, and the easy occurrence of spatial conflicts with existing pipelines, cable trays and other facilities. In addition, long-term curved track operation can easily lead to stress concentration in the track structure, which may induce track deformation or loosening of connectors in the high-vibration environment of thermal power plants, increasing the risk of robot derailment.

[0044] Furthermore, the connecting rail 45 is movably arranged on the annular track changing seat 3, and the first track 1 and the second track 2 are relatively positioned by the track connecting seat 36 arranged at the lower part of the outer wall of the annular track changing seat 3. When in use, the connecting rail 45 and the first track 1 and the second track 2 do not need to be connected to the positioning structure, which reduces the complexity of the docking or undocking operation. The connecting rail 45 can be directly controlled to dock or undock with the first track 1 and the second track 2 through the driving component 5, further improving the efficiency of the track change.

[0045] Example 2

[0046] This embodiment adds a linkage component 46 and a locking safety component 47 to the above embodiment. By setting the linkage component 46 and the locking safety component 47, the inspection robot can be locked and positioned when changing tracks through the connecting track 45. When the connecting track 45 is docked with the first track 1 or multiple second tracks 2, the locking position is automatically released.

[0047] Two sets of locking safety components 47 are symmetrically provided on the side walls at both ends of the connecting track 45, and two sets of linkage components 46 are symmetrically provided on the upper part of both ends of the connecting track 45. The linkage components 46 are transmission-connected to the locking safety components 47;

[0048] When the driving component 5 drives the track changing component 4 to rotate a set angle so that it docks with the first track 1 or multiple second tracks 2, the linkage component 46 synchronously drives the locking safety component 47 to close the locking state, so that the inspection robot located on the connecting track 45 can enter the first track 1 or multiple second tracks 2 through the connecting track 45. When the driving component 5 drives the track changing component 4 to rotate a set angle so that it is misaligned with the first track 1 or multiple second tracks 2, the linkage component 46 synchronously drives the locking safety component 47 to open the locking state, so that the inspection robot located on the connecting track 45 is limited and fixed on the connecting track 45.

[0049] The locking safety component 47 includes a concave notch 471 formed on the upper surface of the connecting track 45, and a circular groove 472 is formed on the side wall of the connecting track 45 at a position opposite to the concave notch 471. A drive shaft 473 is rotatably connected to the center of the inner wall of the circular groove 472, and a drive disk 474 is fixed on the drive shaft 473. The drive disk 474 is located in the circular groove 472, and a locking block 475 is also fixed on the drive shaft 473 on one side of the drive disk 474.

[0050] The linkage assembly 46 includes a special-shaped transmission block 463 and a linkage block 462. The special-shaped transmission block 463 is fixedly set on the inner wall of the annular track change seat 3 and is located below the annular frame 41. The linkage block 462 is slidably set on the upper surface of the connecting track 45. A rack 464 is welded on the side wall of the linkage block 462, and the rack 464 is engaged with the drive disk 474.

[0051] A strip-shaped slide groove 461 is provided on the upper surface of the connecting rail 45, and a limiting shaft 465 is welded at the inner center line of the strip-shaped slide groove 461. A rectangular slider 467 that can slide back and forth in the strip-shaped slide groove 461 is sleeved on the limiting shaft 465. The rectangular slider 467 is welded and fixed to the linkage block 462. A return spring 466 is sleeved on one side of the rectangular slider 467 on the limiting shaft 465.

[0052] The special-shaped transmission block 463 is composed of a lifting portion 4631, a retaining portion 4632 and a falling portion 4633, and the lifting portion 4631, the retaining portion 4632 and the falling portion 4633 are integrally formed;

[0053] The lifting portion 4631, the retaining portion 4632 and the falling portion 4633 all have outer arc surfaces, and the outer arc surfaces of the lifting portion 4631, the retaining portion 4632 and the falling portion 4633 are all on the inner arc surface of the annular rail change seat 3, so that the special-shaped transmission block 463 can be fitted on the inner wall of the annular rail change seat 3;

[0054] When the driving assembly 5 drives the track changing assembly 4 to rotate, the linkage block 462 passes through the lifting part 4631, the retaining part 4632 and the falling part 4633 in sequence, thereby pushing the linkage block 462 to move toward the center of the connecting track 45, remain stationary, and then move back to the end of the connecting track 45.

[0055] Specifically, when the driving assembly 5 drives the track-changing assembly 4 to rotate the set angle so that it docks with the first track 1 or the plurality of second tracks 2, the driving assembly 5 drives the connecting track 45 to rotate so that the end of the connecting track 45 docks with the end of the first track 1 or the plurality of second tracks 2. As the connecting track 45 rotates, the linkage block 462 is driven to move so that the linkage block 462 moves from the lifting portion 4631 to the position of the holding portion 4632. At this time, the connecting track 45 is docked with the first track 1 or the plurality of second tracks 2 to complete the docking, and the linkage block 462 moves from the lifting portion 4631 to the holding portion 4632. During the process of being in the position, the lifting portion 4631 will continue to push the linkage block 462 to move toward the center of the connecting track 45. At this time, the return spring 466 is in a compressed state, and the linkage block 462 drives the rack 464 to move toward the center of the connecting track 45. The rack 464 drives the driving plate 474 to rotate, and the driving plate 474 drives the driving shaft 473 to rotate. The driving shaft 473 drives the locking block 475 to rotate to a horizontal state. At this time, the locking block 475 is in an unlocked state, that is, when the locking block 475 is in a horizontal state, it does not affect the walking assembly of the inspection robot passing through the groove provided on the side wall of the connecting track 45.

[0056] When the connecting track 45 continues to rotate, causing the connecting track 45 to be misaligned with the first track 1 or multiple second tracks 2, the linkage block 462 then moves from the retaining portion 4632 to the falling portion 4633, and then under the action of the rebound force of the reset spring 466, pushes the linkage block 462 to move toward the end of the connecting track 45, thereby driving the rack 464 to a point, and the rack 464 drives the drive shaft 473 to rotate through the drive disk 474, and the drive shaft 473 drives the locking block 475 to rotate to a vertical state. At this time, the locking block 475 is in a locked state, that is, when the locking block 475 is in a vertical state, the walking assembly of the inspection robot cannot pass through the groove opened on the side wall of the connecting track 45, and the inspection robot is limited and fixed on the connecting track 45 to prevent the inspection robot from falling during the docking process.

[0057] In this embodiment, an innovative collaborative control mechanism of the linkage component 46 and the locking safety component 47 is adopted to realize intelligent safety management of the track change process. When the driving component 5 drives the track change component 4 to rotate to a preset angle so that the connecting track 45 is accurately docked with the first track 1 or any second track 2, the linkage component 46 automatically triggers the locking safety component 47 to release the locking state through mechanical transmission. At this time, the inspection robot can smoothly transition to the target track along the connecting track 45; conversely, when the track change component 4 rotates to the track misalignment state, the linkage component 46 immediately drives the locking safety component 47 to enter the locking state, and reliably fixes the inspection robot on the connecting track 45. The automatic locking mechanism of the mechanical linkage effectively prevents the risk of the robot falling when the tracks are not aligned. The purely mechanical linkage structure avoids the signal delay or failure problems that may occur in electrical control, and can still work stably in the strong electromagnetic interference environment of the thermal power plant, eliminating the independent drive actuator in the traditional solution, reducing system complexity and maintenance costs, and automatically realizing unlocking and locking states, further improving the efficiency of track change.

[0058] Example 3

[0059] The drive assembly 5 includes a motor base 51 welded and fixed to the outer wall of the annular track changing seat 3, and a drive motor 52 is bolted to the motor base 51. The output shaft of the drive motor 52 passes through the motor base 51 and extends to the outside and is fixed with a drive gear 53. An arc-shaped notch 34 is opened on the outer wall of the annular track changing seat 3, and the drive gear 53 extends through the arc-shaped notch 34 to the inside of the annular track changing seat 3 and is meshed with the ring gear 42.

[0060] Specifically, the driving assembly 5 works by controlling the driving motor 52 to work, driving the driving gear 53 to rotate, and driving the ring gear 42 to rotate through the driving gear 53. The rotation of the ring gear 42 drives the annular frame 41 to rotate, and the annular frame 41 drives the connecting rail 45 to rotate, so that it docks with the first rail 1 or multiple second rails 2.

[0061] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above-described embodiments. The above-described embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A track changing device for an inspection robot, comprising a first track (1) and a plurality of second tracks (2), characterized in that: It also includes an annular track changing seat (3), wherein the first track (1) and a plurality of second tracks (2) are distributed in an annular shape around the outer side of the annular track changing seat (3); A track changing assembly (4) is movably arranged in the annular track changing seat (3), and the track changing assembly (4) includes a connecting track (45). A driving assembly (5) is arranged on the annular track changing seat (3), and the driving assembly (5) drives the track changing assembly (4) to rotate a set angle so that the track changing assembly (4) is docked with a first track (1) or a plurality of second tracks (2), thereby realizing a track changing operation.

2. The track changing device of the inspection robot according to claim 1, characterized in that: Two sets of locking safety components (47) are symmetrically arranged on the side walls at both ends of the connecting track (45), and two sets of linkage components (46) are symmetrically arranged on the upper parts of both ends of the connecting track (45), and the linkage components (46) are transmission-connected with the locking safety components (47); When the driving component (5) drives the track changing component (4) to rotate at a set angle so that it docks with the first track (1) or the plurality of second tracks (2), the linkage component (46) synchronously drives the locking safety component (47) to close the locking state, so that the inspection robot located on the connecting track (45) can enter the first track (1) or the plurality of second tracks (2) through the connecting track (45); when the driving component (5) drives the track changing component (4) to rotate at a set angle so that it is misaligned with the first track (1) or the plurality of second tracks (2), the linkage component (46) synchronously drives the locking safety component (47) to open the locking state, so that the inspection robot located on the connecting track (45) is limited and fixed on the connecting track (45).

3. The track changing device of the inspection robot according to claim 2, characterized in that: A concave platform (31) is provided on the inner wall of the annular track changing seat (3), and an annular sliding groove (32) is provided on the upper surface of the concave platform (31); The track changing assembly (4) comprises an annular frame (41), an arc-shaped slider (411) is welded on the lower surface of the annular frame (41), the arc-shaped slider (411) is slidably connected to the annular slide groove (32), a gear ring (42) is welded on the outer wall of the annular frame (41), a plurality of parallel cross beams (43) are welded inside the annular frame (41), and the connecting rail (45) is welded and fixed to the cross beam (43) through a connecting column (44).

4. The track changing device of the inspection robot according to claim 3, characterized in that: The locking safety component (47) includes a concave notch (471) formed on the upper surface of the connecting track (45); a circular groove (472) is formed on the side wall of the connecting track (45) at a position opposite to the concave notch (471); a driving shaft (473) is rotatably connected to the center of the inner wall of the circular groove (472); a driving disk (474) is fixed on the driving shaft (473); the driving disk (474) is located in the circular groove (472); and a locking block (475) is fixed on one side of the driving disk (474) on the driving shaft (473).

5. The track changing device of the inspection robot according to claim 4, characterized in that: The linkage assembly (46) includes a special-shaped transmission block (463) and a linkage block (462). The special-shaped transmission block (463) is fixedly arranged on the inner wall of the annular rail change seat (3) and is located below the annular frame (41). The linkage block (462) is slidably arranged on the upper surface of the connecting track (45). A rack (464) is welded on the side wall of the linkage block (462), and the rack (464) is meshed with the driving disk (474).

6. The track changing device of the inspection robot according to claim 5, characterized in that: A strip-shaped slide groove (461) is provided on the upper surface of the connecting track (45), a limiting shaft (465) is welded at the inner center line of the strip-shaped slide groove (461), a rectangular slider (467) capable of sliding back and forth in the strip-shaped slide groove (461) is sleeved on the limiting shaft (465), and the rectangular slider (467) is welded and fixed to the linkage block (462), and a return spring (466) is sleeved on one side of the rectangular slider (467) on the limiting shaft (465).

7. The track changing device of the inspection robot according to claim 5, characterized in that: The special-shaped transmission block (463) is composed of a lifting portion (4631), a holding portion (4632) and a falling portion (4633), and the lifting portion (4631), the holding portion (4632) and the falling portion (4633) are integrally formed; The lifting portion (4631), the retaining portion (4632) and the falling portion (4633) all have outer arc surfaces, and the outer arc surfaces of the lifting portion (4631), the retaining portion (4632) and the falling portion (4633) are all on the inner arc surface of the annular rail change seat (3), so that the special-shaped transmission block (463) can be fitted on the inner wall of the annular rail change seat (3); When the driving assembly (5) drives the track changing assembly (4) to rotate, the linkage block (462) passes through the lifting portion (4631), the holding portion (4632) and the falling portion (4633) in sequence, thereby pushing the linkage block (462) to move toward the center of the connecting track (45), remain stationary, and then move back to the end of the connecting track (45).

8. The track changing device of the inspection robot according to claim 3, characterized in that: The drive assembly (5) comprises a motor seat (51) welded and fixed to the outer wall of the annular rail changing seat (3); a drive motor (52) is bolted to the motor seat (51); an output shaft of the drive motor (52) passes through the motor seat (51) and extends to the outside and is fixed with a drive gear (53); an arc-shaped notch (34) is formed on the outer wall of the annular rail changing seat (3); the drive gear (53) extends through the arc-shaped notch (34) into the annular rail changing seat (3) and is meshed with the gear ring (42).

9. The track changing device of the inspection robot according to claim 1, characterized in that: A fixing block (33) is welded to the upper portion of the outer wall of the annular track changing seat (3), and a suspension rod (35) is fixed to the fixing block (33) by bolts.

10. The track changing device of the inspection robot according to claim 1, characterized in that: A track connection seat (36) is welded at a position on the lower portion of the outer wall of the annular track change seat (3) opposite to the first track (1) or the plurality of second tracks (2), and the track connection seat (36) is bolted to the first track (1) or the plurality of second tracks (2) by fastening bolts.

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