A rail changing device for an inspection robot

Abstract

The present application relates to the technical field of air track, and particularly relates to a track changing device of a patrol robot, which comprises a first track and a plurality of second tracks, and further comprises a ring-shaped track changing seat, wherein the first track and the plurality of second tracks are distributed in a ring shape around the outside of the ring-shaped track changing seat, a track changing assembly is movably arranged in the ring-shaped track changing seat, the track changing assembly comprises a connecting track, a driving assembly is arranged on the ring-shaped track changing seat, the track changing assembly is driven to rotate by a set angle through the driving assembly, so that the track changing assembly is docked with the first track or the plurality of second tracks, and track changing operation is realized; through the arrangement of the track changing assembly, the present application can realize quick docking and passing of the cross tracks, and does not need to rely on a large-curvature curved track to realize path switching.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of air track, in particular to a track changing device of a patrol robot. BACKGROUND

[0002] The acceleration of the development of automation and unmanned in the field of intelligent manufacturing is promoting the evolution of air track robot systems to a higher dimension of intelligence. Currently, advanced manufacturing enterprises generally adopt a three-dimensional and networked air track architecture, which constructs a three-dimensional working space through a multi-layer cross-track network and realizes autonomous path planning of robots with intelligent navigation algorithms. Compared with the limitations of traditional single-plane tracks that rely on physically curved tracks to achieve turning, this architecture is particularly suitable for complex and closed space working environments in fields such as power and chemical industry. Based on this technical architecture, an intelligent patrol system for thermal power plants realizes three-dimensional coverage of key areas such as boiler rooms, coal conveying trestles, and booster stations by constructing a high-precision digital twin track network. The multi-modal sensing robot carried by the system integrates sensor arrays such as infrared thermal imaging, gas detection, and voiceprint diagnosis and simultaneously completes the dynamic acquisition of key parameters such as equipment temperature, vibration spectrum, and gas concentration during autonomous navigation.

[0003] However, 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 makes it difficult to deploy flexibly in industrial scenarios with dense equipment such as thermal power plants, and is prone to spatial conflicts with existing pipelines, cable bridges, and other facilities. Long-term operation of curved tracks can cause stress concentration in the track structure and may induce track deformation or loose connections in the high-vibration environment of thermal power plants, increasing the risk of robot derailment. SUMMARY

[0004] To solve the above problems, the present application provides a track changing device of a patrol robot.

[0005] The present application adopts the following technical scheme, a track changing device of a patrol robot, comprising a first track and a plurality of second tracks, further comprising a ring-shaped track changing seat, wherein the first track and the plurality of second tracks are distributed in a ring shape on the outside of the ring-shaped track changing seat;

[0006] A track changing assembly is movably arranged in the ring-shaped track changing seat, the track changing assembly comprises a connecting track, a driving assembly is arranged on the ring-shaped track changing seat, the track changing assembly is driven to rotate by a set angle by the driving assembly, so that it is butt jointed with the first track or the plurality of second tracks, and the track changing operation is realized.

[0007] As a further description of the above technical scheme: two groups of locking safety assemblies are symmetrically arranged on the two end sidewalls of the connecting track, two groups of linkage assemblies are symmetrically arranged on the upper parts of the two ends of the connecting track, and the linkage assemblies are in transmission connection with the locking safety assemblies;

[0008] When the driving assembly drives the variable rail assembly to rotate by a set angle to be in alignment with the first rail or the plurality of second rails, the linkage assembly synchronously drives the locking safety assembly to close the locking state, so that the inspection robot on the connecting rail can enter the first rail or the plurality of second rails through the connecting rail. When the driving assembly drives the variable rail assembly to rotate by a set angle to be out of alignment with the first rail or the plurality of second rails, the linkage assembly synchronously drives the locking safety assembly to open the locking state, so that the inspection robot on the connecting rail is limited and fixed on the connecting rail.

[0009] As a further description of the above technical solution: a recess is formed in the inner wall of the annular variable rail seat, and an annular sliding groove is formed in the upper surface of the recess;

[0010] The variable rail assembly comprises an annular frame, an arc-shaped sliding block is welded to the lower surface of the annular frame, the arc-shaped sliding block is in sliding connection with the annular sliding groove, a gear ring is welded to the outer wall of the annular frame, a plurality of parallel cross beams are welded to the inner wall of the annular frame, and the connecting rail is welded and fixed to the cross beams through connecting columns.

[0011] As a further description of the above technical solution: the locking safety assembly comprises a concave notch formed in the upper surface of the connecting rail, a circular recess is formed in the side wall of the connecting rail at a position opposite to the concave notch, a driving shaft is rotatably connected to the inner wall of the circular recess at the center, a driving disc is fixed to the driving shaft, the driving disc is located in the circular recess, and a locking block is further fixed to one side of the driving shaft.

[0012] As a further description of the above technical solution: the linkage assembly comprises a special-shaped transmission block and a linkage block, the special-shaped transmission block is fixedly arranged on the inner wall of the annular variable rail seat and located below the annular frame, the linkage block is slidably arranged on the upper surface of the connecting rail, a rack is welded to the side wall of the linkage block, and the rack is in meshing connection with the driving disc.

[0013] As a further description of the above technical solution: a strip-shaped sliding groove is formed in the upper surface of the connecting rail, a limiting shaft is welded to the inner center line of the strip-shaped sliding groove, a rectangular sliding block capable of sliding forward and backward in the strip-shaped sliding groove is sleeved to the limiting shaft, the rectangular sliding block is welded and fixed to the linkage block, and a return spring is sleeved to one side of the limiting shaft and located on one side of the rectangular sliding block.

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

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

[0016] When the drive component drives the track-changing component to rotate, the linkage block passes through the lifting part, holding part and falling part in sequence, so as to push the linkage block to move towards the center of the connecting track, keep it 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 changer seat, a drive motor is bolted to the motor base, the output shaft of the drive motor extends through the motor base to the outside and is fixed with a drive gear, an arc-shaped notch is opened on the outer wall of the annular track changer seat, and the drive gear extends through the arc-shaped notch to the inside of the annular track changer seat and meshes with the gear ring.

[0018] As a further description of the above technical solution: a fixing block is welded to the upper part of the outer wall of the annular track changer seat, and a hanging rod is bolted to the fixing block.

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

[0020] Beneficial effects:

[0021] The present invention provides a track-changing device for an inspection robot. By setting a track-changing component, it can realize rapid docking and passage of intersecting tracks without relying on large-curvature curved tracks to achieve path switching. This overcomes the difficulties in flexible deployment in densely equipped industrial scenarios such as thermal power plants, which are prone to spatial conflicts with existing pipelines, cable trays and other facilities. Furthermore, long-term operation on curved tracks 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.

[0022] Furthermore, the connecting track is movably mounted on the annular track changer seat, and the first track and the second track are positioned relative to each other through the track connecting seat set on the lower part of the outer wall of the annular track changer seat. In use, the connecting track does not need to be connected to the first track and the second track through a positioning structure, reducing the complexity of their docking or undocking operations. The connecting track can be docked or undocking with the first track and the second track directly through the drive component, further improving the efficiency of track changing.

[0023] An innovative collaborative control mechanism combining linkage components and locking safety components is employed to achieve intelligent safety management during the track-changing process. When the drive component rotates the track-changing component to a preset angle, precisely aligning the connecting track with the first track or any second track, the linkage component automatically triggers the locking safety component to release the lock via mechanical transmission. At this point, the inspection robot can smoothly transition to the target track along the connecting track. Conversely, when the track-changing component rotates to a misaligned state, the linkage component immediately drives the locking safety component to enter the locking state, reliably fixing the inspection robot on the connecting track. Through the automatic locking mechanism of mechanical linkage, the risk of the robot falling when the track is misaligned is effectively prevented. The purely mechanical linkage structure avoids signal delays or failures that may occur in electrical control and can still work stably in the strong electromagnetic interference environment of thermal power plants. It eliminates the need for independent drive actuators in traditional solutions, reducing system complexity. Attached Figure Description

[0024] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0025] Figure 1 This is a schematic diagram of the trajectory-changing device for an inspection robot provided in an embodiment of the present invention;

[0026] Figure 2 This is a bottom view of the trajectory-changing device of an inspection robot provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the annular track-changing seat provided in an embodiment of the present invention;

[0028] Figure 4 This is a cross-sectional view of the annular track changer provided in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the track-changing assembly provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the crossbeam structure provided in an embodiment of the present invention;

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

[0032] Figure 8 Provided for embodiments of the present invention Figure 7 Enlarged view of area B in the image;

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

[0034] Figure 10 Provided for embodiments of the present invention Figure 1 Enlarged view of area A in the image;

[0035] Figure 11 This is a top view of the irregularly shaped transmission block provided in an embodiment of the present invention.

[0036] Reference numerals: 1. First track; 2. Second track; 3. Annular track changer seat; 31. Recessed platform; 32. Annular groove; 33. Fixing block; 34. Arc-shaped notch; 35. Hanger rod; 36. Track connecting seat; 4. Track changer assembly; 41. Annular frame; 411. Arc-shaped slider; 42. Gear ring; 43. Crossbeam; 44. Connecting column; 45. Connecting track; 46. Linkage assembly; 461. Strip groove; 462. Linkage block; 463. 4631. Irregularly shaped transmission block; 4632. Lifting part; 4633. Holding part; 4634. Falling part; 465. Rack; 466. Limiting shaft; 467. Return spring; 468. Rectangular slider; 47. Locking safety component; 471. Concave notch; 472. Circular groove; 473. Drive shaft; 474. Drive disc; 475. Locking block; 5. Drive assembly; 51. Motor base; 52. Drive motor; 53. Drive gear. Detailed Implementation

[0037] To make the technical means, creative features, objectives, and effects of this invention readily understandable, the invention is further described below with reference to specific illustrations. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0038] Example 1

[0039] Please see Figures 1-6 and Figure 10 This invention provides a technical solution: a trajectory-changing device for an inspection robot, comprising a first track 1 and multiple second tracks 2, and an annular trajectory-changing base 3, wherein the first track 1 and multiple second tracks 2 are arranged in a ring around the outer perimeter of the annular trajectory-changing base 3; a trajectory-changing component 4 is movably disposed within the annular trajectory-changing base 3, the trajectory-changing component 4 including a connecting track 45, and a driving component 5 is disposed on the annular trajectory-changing base 3, which drives the trajectory-changing component 4 to rotate by a set angle, so that it docks with the first track 1 or multiple second tracks 2 to realize the trajectory-changing operation.

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

[0041] The inner wall of the annular track changer 3 has a recessed platform 31, and the upper surface of the recessed platform 31 has an annular groove 32. The track changer assembly 4 includes an annular frame 41, the lower surface of the annular frame 41 is welded with an arc-shaped slider 411, the arc-shaped slider 411 is slidably connected with the annular groove 32, the outer wall of the annular frame 41 is welded with a toothed ring 42, and multiple parallel crossbeams 43 are welded inside the annular frame 41. The connecting rail 45 is welded and fixed to the crossbeams 43 by connecting columns 44. The upper part of the outer wall of the annular track changer 3 is welded with a fixing block 33, and a hanger 35 is bolted to the fixing block 33. The lower part of the outer wall of the annular track changer 3 is welded with a track connecting seat 36 at a position opposite to the first track 1 or multiple second tracks 2. The track connecting seat 36 is bolted to the first track 1 or multiple second tracks 2 by fastening bolts.

[0042] Specifically, the connecting track 45, which connects the first track 1 and the second track 2, is fixed to the annular frame 41 by the connecting column 44 and the crossbeam 43. The annular frame 41 is slidably connected to the annular groove 32 opened on the annular track changer seat 3 by the arc-shaped slider 411. Thus, the entire connecting track 45 and the gravity applied by the inspection robot through the connecting track 45 are ultimately applied to the annular track changer seat 3. That is, the connecting track 45 is movably set on the annular track changer seat 3, and the first track 1 and the second track 2 are relatively positioned by the track connecting seat 36 set on the lower part of the outer wall of the annular track changer seat 3. In use, the connecting track 45 does not need to be connected to the first track 1 and the second track 2 by the positioning structure, which reduces the complexity of its docking or undocking operation. The driving component 5 can directly control the docking or undocking of the connecting track 45 with the first track 1 and the second track 2, further improving the efficiency of track changing.

[0043] In this embodiment, by setting the track-changing component 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 difficulty of flexible deployment in densely equipped industrial scenarios such as thermal power plants, which is prone to 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 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 track 45 is movably mounted on the annular track changer 3, and the first track 1 and the second track 2 are both positioned relative to each other through the track connecting seat 36 provided on the lower part of the outer wall of the annular track changer 3. In use, the connecting track 45 does not need to be connected to the first track 1 and the second track 2 through a positioning structure, which reduces the complexity of its docking or undocking operation. The connecting track 45 can be docked or undocking with the first track 1 and the second track 2 directly through the drive component 5, which further improves the efficiency of track changing.

[0045] Example 2

[0046] Based on the above embodiments, this embodiment adds a linkage component 46 and a locking safety component 47. By setting the linkage component 46 and the locking safety component 47, the inspection robot that changes track by connecting track 45 can be locked and positioned. When the connecting track 45 is docked with the first track 1 or multiple second tracks 2, the locking and positioning is automatically released.

[0047] Two sets of locking safety components 47 are symmetrically arranged on the side walls at both ends of the connecting rail 45, and two sets of linkage components 46 are symmetrically arranged on the upper part of both ends of the connecting rail 45. The linkage components 46 are connected to the locking safety components 47 in a transmission manner.

[0048] When the drive component 5 drives the track-changing component 4 to rotate by a set angle, so that it aligns 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, allowing the inspection robot located on the connecting track 45 to enter the first track 1 or multiple second tracks 2 through the connecting track 45. When the drive component 5 drives the track-changing component 4 to rotate by 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 rail 45, and a circular groove 472 formed on the side wall of the connecting rail 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. A drive disk 474 is fixed on the drive shaft 473 and is located in the circular groove 472. A locking block 475 is also fixedly provided on the drive shaft 473 on one side of the drive disk 474.

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

[0051] A strip groove 461 is provided on the upper surface of the connecting track 45. A limiting shaft 465 is welded at the center line inside the strip groove 461. A rectangular slider 467 that can slide back and forth in the strip 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 the limiting shaft 465 on one side of the rectangular slider 467.

[0052] The irregularly shaped transmission block 463 is composed of a lifting part 4631, a holding part 4632 and a falling part 4633, and the lifting part 4631, the holding part 4632 and the falling part 4633 are integrally formed;

[0053] The lifting part 4631, the holding part 4632 and the falling part 4633 all have an outer arc surface, and the outer arc surfaces of the lifting part 4631, the holding part 4632 and the falling part 4633 are all on the inner arc surface of the annular track change seat 3, so that the irregularly shaped transmission block 463 can be fitted and set on the inner wall of the annular track change seat 3.

[0054] When the drive component 5 drives the track-changing component 4 to rotate, the linkage block 462 passes through the lifting part 4631, the holding part 4632 and the falling part 4633 in sequence, thereby pushing the linkage block 462 to move towards the center of the connecting track 45, keeping it stationary, and then moving back to the end of the connecting track 45.

[0055] Specifically, when the drive assembly 5 drives the track-changing assembly 4 to rotate by a set angle to align with the first track 1 or multiple second tracks 2, and the drive assembly 5 drives the connecting track 45 to rotate, during the process of the connecting track 45 aligning with the end of the first track 1 or multiple second tracks 2, as the connecting track 45 rotates, it drives the linkage block 462 to move, causing the linkage block 462 to move from the lifting part 4631 to the holding part 4632. At this time, the connecting track 45 is aligned with the first track 1 or multiple second tracks 2, and the linkage block 462 moves from the lifting part 4631 to the holding part 4632. During the positioning process, the lifting part 4631 continuously pushes the linkage block 462 to move towards the center of the connecting track 45. At this time, the return spring 466 is in a compressed state, the linkage block 462 drives the rack 464 to move towards the center of the connecting track 45, the rack 464 drives the drive disk 474 to rotate, the drive disk 474 drives the drive shaft 473 to rotate, and the drive 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 component of the inspection robot from passing through the groove opened on the side wall of the connecting track 45.

[0056] When the connecting track 45 continues to rotate, causing it to misalign with the first track 1 or multiple second tracks 2, the linkage block 462 moves from the holding part 4632 to the falling part 4633. Then, under the restoring force of the return spring 466, the linkage block 462 is pushed to move towards the end of the connecting track 45, thereby driving the rack 464 to rotate. The rack 464 drives the drive shaft 473 to rotate through the drive disc 474. The drive shaft 473 drives the locking block 475 to rotate into 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 component of the inspection robot cannot pass through the groove opened on the side wall of the connecting track 45, thus limiting and fixing the inspection robot on the connecting track 45 and preventing the inspection robot from falling during the docking process.

[0057] In this embodiment, an innovative collaborative control mechanism of linkage component 46 and locking safety component 47 is adopted to realize intelligent safety management and control of the track-changing process. When the drive component 5 drives the track-changing component 4 to rotate to a preset angle, so that the connecting track 45 is precisely connected with the first track 1 or any second track 2, the linkage component 46 automatically triggers the locking safety component 47 to unlock 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-changing component 4 rotates to the track misalignment state, the linkage component 46 immediately drives the locking safety component 47 to enter the locking state, reliably fixing the inspection robot on the connecting track 45. Through the automatic locking mechanism of mechanical linkage, the risk of robot falling when the track is misaligned is effectively prevented. The pure mechanical linkage structure avoids the signal delay or failure problem that may occur in electrical control. It can still work stably in the strong electromagnetic interference environment of thermal power plant. It eliminates the independent drive actuator in the traditional solution, reduces system complexity and maintenance costs, and automatically realizes the unlocking and locking states, further improving the efficiency of track changing.

[0058] Example 3

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

[0060] Specifically, the drive component 5 operates by controlling the drive motor 52 to rotate the drive gear 53, which in turn drives the gear ring 42 to rotate. The rotation of the gear ring 42 drives the ring frame 41 to rotate, which in turn drives the connecting track 45 to rotate, so that it connects with the first track 1 or multiple second tracks 2.

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

Claims

1. A trajectory-changing device for an inspection robot, comprising a first track (1) and a plurality of second tracks (2), characterized in that, It also includes a ring-shaped track changer (3), wherein the first track (1) and multiple second tracks (2) are arranged in a ring around the outer perimeter of the ring-shaped track changer (3); A track-changing component (4) is movably disposed inside the annular track-changing seat (3). The track-changing component (4) includes a connecting track (45). A drive component (5) is disposed on the annular track-changing seat (3). The drive component (5) drives the track-changing component (4) to rotate by a set angle so that it docks with the first track (1) or multiple second tracks (2) to realize the track-changing operation. Two sets of locking safety components (47) are symmetrically arranged on the side walls of both ends of the connecting rail (45), and two sets of linkage components (46) are symmetrically arranged on the upper part of both ends of the connecting rail (45). The linkage components (46) are connected to the locking safety components (47) in a transmission manner. A recessed platform (31) is provided on the inner wall of the annular track changer (3), and an annular sliding groove (32) is provided on the upper surface of the recessed platform (31). The track-changing assembly (4) includes a ring frame (41), an arc-shaped slider (411) is welded to the lower surface of the ring frame (41), the arc-shaped slider (411) is slidably connected to the annular groove (32), a toothed ring (42) is welded to the outer wall of the ring frame (41), and a plurality of parallel crossbeams (43) are welded inside the ring frame (41). The connecting track (45) is welded and fixed to the crossbeams (43) through a connecting column (44). The locking safety component (47) includes a concave notch (471) on the upper surface of the connecting rail (45), and a circular groove (472) on the side wall of the connecting rail (45) 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). A drive disk (474) is fixed on the drive shaft (473). The drive disk (474) is located in the circular groove (472). A locking block (475) is also fixed on one side of the drive shaft (473) located on the drive disk (474). The linkage assembly (46) includes a shaped transmission block (463) and a linkage block (462). The shaped transmission block (463) is fixedly disposed on the inner wall of the annular variable track seat (3) and located below the annular frame (41). The linkage block (462) is slidably disposed on the upper surface of the connecting track (45). A rack (464) is welded to the side wall of the linkage block (462). The rack (464) meshes with the drive disc (474). A strip groove (461) is provided on the upper surface of the connecting track (45). A limiting shaft (465) is welded at the center line inside the strip groove (461). A rectangular slider (467) that can slide back and forth in the strip 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). The irregularly shaped transmission block (463) is composed of a lifting part (4631), a holding part (4632) and a falling part (4633), and the lifting part (4631), the holding part (4632) and the falling part (4633) are integrally formed; The lifting part (4631), the holding part (4632) and the falling part (4633) all have an outer arc surface, and the outer arc surfaces of the lifting part (4631), the holding part (4632) and the falling part (4633) are all on the inner arc surface of the annular variable track seat (3), so that the irregular transmission block (463) can be fitted and set on the inner wall of the annular variable track seat (3); When the drive assembly (5) drives the track-changing assembly (4) to rotate, the linkage block (462) passes through the lifting part (4631), the holding part (4632) and the falling part (4633) in sequence to push the linkage block (462) to move towards the center of the connecting track (45), keep it stationary, and then move back to the end of the connecting track (45).

2. The trajectory-changing device for an inspection robot according to claim 1, characterized in that, When the drive component (5) drives the track-changing component (4) to rotate by 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 drive component (5) drives the track-changing component (4) to rotate by 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).

3. The trajectory-changing device for an inspection robot according to claim 1, characterized in that, The drive assembly (5) includes a motor base (51) welded and fixed to the outer wall of the annular track changer (3). A drive motor (52) is bolted to the motor base (51). The output shaft of the drive motor (52) extends through the motor base (51) to the outside and is fixed with a drive gear (53). An arc-shaped notch (34) is provided on the outer wall of the annular track changer (3). The drive gear (53) extends through the arc-shaped notch (34) into the annular track changer (3) and meshes with the gear ring (42).

4. The trajectory-changing device for an inspection robot according to claim 1, characterized in that, A fixing block (33) is welded to the upper part of the outer wall of the annular track changer seat (3), and a hanging rod (35) is bolted to the fixing block (33).

5. The trajectory-changing device for an inspection robot according to claim 1, characterized in that, 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). The track connecting seat (36) is fixed to the first track (1) or multiple second tracks (2) by fastening bolts.

Images