A power grid / distribution room overhead line type inspection robot rotary rail changing device

Abstract

The utility model relates to the technical field of rail changing device, the utility model provides power grid / distribution room hanging rail type inspection robot rotation rail changing device, it includes the fixed frame, the bottom fixed connection of fixed frame has four annular array distribution's fixed guide rail, wherein one outside wall movable mounting of fixed guide rail has the moving bin, rotation rail electromagnetic locking assembly, rotation rail electromagnetic locking assembly sets up in the upper and lower both sides of fixed frame, pressure compensation formula hanging rail drive component, pressure compensation formula hanging rail drive component sets up in the inside of moving bin, track cleaning component, track cleaning component sets up in the left and right sides of moving bin. Through the above technical scheme, the problem that the docking gap is too big, the track misplacement etc. in the prior art is solved, the dust, the chippings accumulated on the track surface can cause the robot walking wheel to slip, the jam, lack the pressure compensation structure, the contact pressure of the roller and the track cannot be adjusted technical problem.

Description

Technical Field

[0001] This utility model relates to the field of track-changing device technology, specifically to a rotating track-changing device for a track-mounted inspection robot for power grids / distribution rooms. Background Technology

[0002] In the inspection of power grids and substations, the application of rail-mounted inspection robots is becoming increasingly widespread, and their rotary track-changing device technology is also constantly evolving. In existing technologies, some devices use a motor-driven turntable to achieve track rotation switching, allowing the inspection robot to transition between tracks with different orientations. Others employ hydraulic or pneumatic systems to precisely control the movement of the track-changing mechanism, ensuring stability during the track-changing process. Additionally, some designs utilize intelligent sensors to monitor the robot's position and track status in real time, automatically adjusting the track-changing operation. These technologies, to a certain extent, meet the track-changing needs of inspection robots in different scenarios.

[0003] In existing technologies, track alignment during track changes requires manual alignment or relies on the precision of mechanical transmission, which can easily lead to problems such as excessive gaps and track misalignment. When the robot passes through the track change area, the rollers may vibrate violently due to uneven track surfaces, or even detach from the gaps, causing the robot to fall and be damaged. In addition, in existing technologies, dust and debris accumulated on the track surface can cause the robot's wheels to slip, get stuck, or even stop due to track jamming, resulting in interruptions or delays in inspection tasks. In existing technologies, without a pressure compensation structure, the contact pressure between the rollers and the track cannot be adjusted. If there are protrusions, depressions, or impurities on the track, the rollers are prone to getting stuck or suddenly shifting. At the same time, the lack of a buffer function means that the impact from uneven track surfaces directly affects the drive motor and transmission components, leading to frequent motor overload, excessive wear of the lead screw and threaded blocks, and ultimately, failures such as motor burnout and lead screw stripping. Utility Model Content

[0004] To overcome the above-mentioned defects, this utility model provides a rotating track-changing device for a rail-mounted inspection robot in a power grid / distribution room. This solves the problems in the prior art where the precision of mechanical transmission is relied upon, which can easily lead to problems such as excessive gaps and track misalignment. Dust and debris accumulated on the track surface can cause the robot's wheels to slip, get stuck, or even stop due to track jamming. In the absence of a pressure compensation structure, the contact pressure between the rollers and the track cannot be adjusted, and if there are protrusions, depressions, or impurities on the track, the rollers are prone to getting stuck or suddenly shifting.

[0005] According to one aspect, at least one embodiment of the present invention provides a rotating track-changing device for a rail-mounted inspection robot in a power grid / distribution room, comprising: A fixed frame is fixedly connected to the bottom of the fixed frame with four fixed guide rails arranged in a circular array. A movable compartment is movably installed on the outer wall of one of the fixed guide rails. A controller is fixedly connected to the bottom left side of the movable compartment, and an inspection robot is fixedly connected to the bottom center of the movable compartment. A rotary track-changing electromagnetic locking assembly is disposed on the upper and lower sides of the fixed frame; A pressure-compensated rail drive assembly is installed inside the mobile compartment. The pressure-compensated rail drive assembly is used to drive the inspection robot to move on the track and prevents the inspection robot from falling accidentally through a pressure compensation mechanism. A track cleaning assembly is disposed on the left and right sides of the mobile compartment, and is used to clean dust and impurities on the track.

[0006] For example, in at least one embodiment of the present invention, a rotating track-changing device for a power grid / distribution room rail-mounted inspection robot is provided. The rotating track-changing electromagnetic locking component includes a motor, which is fixedly connected to the top of a fixed frame. The output end of the motor extends through to the bottom of the fixed frame and is fixedly connected to a rotating disk. A rotating guide rail is fixedly connected to the bottom of the rotating disk. Both the rotating guide rail and the fixed guide rail are I-shaped plate structures.

[0007] For example, in a rotating track-changing device for a power grid / distribution room rail-mounted inspection robot provided in at least one embodiment of this utility model, a circular slot is provided on both the left and right sides of the rotating guide rail. A spring is fixedly connected inside the circular slot, and a plug-in block is fixedly connected to one end of the spring near the fixed guide rail. A circular slot is provided on the side of the fixed guide rail near the rotating guide rail, and an electromagnetic block is fixedly connected inside the circular slot. When the electromagnetic block is energized, it attracts the plug-in block to insert into the inside of the circular slot.

[0008] For example, in a rotating track-changing device for a rail-mounted inspection robot in a power grid / distribution room provided in at least one embodiment of this utility model, the controller is electrically connected to a motor and an electromagnetic block respectively.

[0009] For example, in a rotating track-changing device for a rail-mounted inspection robot in a power grid / distribution room provided by at least one embodiment of this utility model, the pressure-compensated rail-mounted drive assembly includes a second motor and two buffer assemblies arranged symmetrically front and rear. The second motor is fixedly connected to the front side of the moving chamber. A bidirectional lead screw running in a front-rear direction is rotatably connected inside the moving chamber. A first slide rod fixedly connected to the inner wall of the moving chamber is provided on the right side of the bidirectional lead screw, and a second slide rod fixedly connected to the inner wall of the moving chamber is provided on the left side of the bidirectional lead screw.

[0010] For example, in at least one embodiment of the present invention, a rotating track-changing device for a rail-mounted inspection robot in a power grid / distribution room includes a buffer assembly comprising two threaded blocks. The two threaded blocks are threaded to one side of the outer wall of a bidirectional lead screw and slidably connected to a slide rod. A buffer spring is fixedly connected to the opposing surfaces of the two threaded blocks and sleeved on the outer wall of the slide rod. A limit frame is fixedly connected to the left side of each of the two threaded blocks, and a slider is fixedly connected to the left side of each of the two limit frames and slidably connected to the outer wall of the slide rod. A sleeved buffer spring is fixedly connected to the opposing surfaces of the two sliders. A buffer spring is installed on the outer wall of the slide bar. Rotary seats are movably connected inside the front and rear limit frames. A rotating shaft is fixedly connected inside the rotating seats. The top of the movable compartment has two straight slots that are adapted to the size and position of the rotating shaft. The top of the rotating shaft passes through the straight slots and extends to the top of the movable compartment and is fixedly connected to a transverse roller. A pressure sensor is fixedly connected to the outer wall of the transverse roller. The transverse roller is in rolling connection with the outer wall of the fixed guide rail. A servo motor is fixedly connected to the bottom of the threaded block. The output end of the servo motor is fixedly connected to the rotating seat through a coupling.

[0011] For example, in a rotating track-changing device for a power grid / distribution room rail-mounted inspection robot provided in at least one embodiment of this utility model, four rectangular support plates are fixedly connected to the top of the mobile compartment, and vertical rollers that are rolled and connected to the outer wall of the fixed guide rail are rotatably connected to the opposite surfaces of the front and rear support plates. The controller is electrically connected to the second motor, the servo motor, and the pressure sensor respectively.

[0012] For example, in a rotating track-changing device for a power grid / distribution room rail-mounted inspection robot provided in at least one embodiment of the present invention, the track cleaning component includes four fixing blocks. The four fixing blocks are respectively fixedly connected to the left and right sides of the fixed guide rail and are arranged in a rectangular shape. The top of each of the four fixing blocks is fixedly connected to a cleaning roller that fits against the outer wall of the fixed guide rail.

[0013] The beneficial effects of the embodiments of this utility model are as follows: In this invention, the rotary track-changing electromagnetic locking component enables the inspection robot to quickly switch between multiple fixed guide rails. The electromagnetic block generates a stable magnetic force when energized, ensuring a tight fit between the rotating guide rail and the target fixed guide rail's insertion block, avoiding the risk of robot derailment due to gaps, thus significantly improving inspection efficiency and coverage. The pressure-compensated rail drive component monitors the contact pressure between the rollers and the track in real time and dynamically compensates for pressure changes, ensuring the rollers are always in close contact with the track. Simultaneously, when there are minor deformations, installation errors, or local protrusions in the track, the buffer spring and movable rotating seat absorb the impact energy, preventing the impact from directly acting on the drive motor and transmission components, thus avoiding frequent motor overload and excessive wear of the lead screw and threaded block, ensuring the inspection task proceeds continuously along the preset path. The track cleaning component removes dust, metal shavings, dirt, and other impurities from the track surface in real time, preventing these foreign objects from getting stuck at the contact points between the robot's wheels and the track, preventing problems such as robot jamming and uneven speed, ensuring the robot can complete the inspection task smoothly and at a uniform speed along the preset path. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of this utility model and these drawings without any creative effort.

[0015] Figure 1 This is a schematic diagram of the overall structure in one embodiment of the present invention; Figure 2 This is a structural schematic diagram of the present invention from an upward perspective; Figure 3 This is a schematic diagram of the internal structure of the rotary track-changing electromagnetic locking assembly of this utility model; Figure 4 This is a schematic diagram of the structure of the pressure-compensated rail drive assembly of this utility model; Figure 5 This is another structural schematic diagram of the pressure-compensated rail drive assembly of this utility model; Figure 6 This is a schematic diagram of the track cleaning component and buffer component of this utility model.

[0016] In the diagram: 1. Fixed frame; 10. Fixed guide rail; 11. Moving compartment; 12. Controller; 13. Inspection robot; 2. Rotary track-changing electromagnetic locking assembly; 20. Motor 1; 21. Rotary disk; 22. Rotary guide rail; 23. Circular slot hole 1; 24. Spring; 25. Insertion block; 26. Circular slot hole 2; 27. Electromagnetic block; 3. Pressure-compensated hanging rail drive assembly; 30. Motor 2; 31. Bidirectional lead screw; 32. Buffer assembly; 320. Threaded block 1; 321. Buffer spring 1; 322. Limit frame; 323. Slider 1; 324. Buffer spring 2; 325. Rotary seat; 326. Rotary shaft; 327. Horizontal roller; 328. Servo motor; 33. Slide rod 1; 34. Slide rod 2; 35. Support plate; 36. Vertical roller; 37. Straight slot hole; 4. Track cleaning assembly; 40. Fixed block; 41. Cleaning roller. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit its scope.

[0018] To keep the drawings concise, only the parts relevant to the utility model are shown schematically in each drawing; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of the components with the same structure or function is schematically shown, or only one is labeled. In this document, "a" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0019] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0022] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] like Figures 1-3 As shown, it illustrates a rotating track-changing device for a rail-mounted inspection robot in a power grid / distribution room according to this utility model, comprising: The fixed frame 1 has four fixed guide rails 10 arranged in a ring array at its bottom. A mobile compartment 11 is movably installed on the outer wall of one of the fixed guide rails 10. A controller 12 is fixedly connected to the bottom left side of the mobile compartment 11. An inspection robot 13 is fixedly connected to the bottom center of the mobile compartment 11. Rotary track changing electromagnetic locking assembly 2 is installed on the upper and lower sides of the fixed frame 1. Pressure-compensated rail drive assembly 3 is installed inside the mobile compartment 11. The pressure-compensated rail drive assembly 3 is used to drive the inspection robot 13 to move on the track and prevents the inspection robot 13 from falling accidentally through the pressure compensation mechanism. Track cleaning component 4 is located on the left and right sides of the mobile compartment 11. Track cleaning component 4 is used to clean dust and impurities on the track.

[0024] In some examples, the mounting frame 1 is made of high-strength aluminum alloy, and its bottom is fixedly connected to four fixed guide rails 10 arranged in a circular array by bolts. The fixed guide rails 10 are made of steel and processed into an I-shaped plate structure. A movable compartment 11 is movably installed on the outer wall of one of the fixed guide rails 10. The movable compartment 11 is made of stainless steel. A controller 12 is fixedly connected to the bottom left side of the movable compartment 11 by screws. An STM32F103 series microcontroller is selected as the main controller. An inspection robot 13 is fixedly connected to the bottom center of the movable compartment 11 by welding. The inspection robot 13 is equipped with a high-definition camera and an infrared temperature sensor for inspecting the equipment in the power grid / distribution room.

[0025] The rotary track-changing electromagnetic locking assembly 2 includes a motor 20, which is fixedly connected to the top of the fixed frame 1. The output end of the motor 20 extends through to the bottom of the fixed frame 1 and is fixedly connected to a rotating disk 21. A rotary guide rail 22 is fixedly connected to the bottom of the rotating disk 21. Both the rotary guide rail 22 and the fixed guide rail 10 are I-shaped plate structures.

[0026] The rotating guide rail 22 has a circular slot 23 on both the left and right sides. A spring 24 is fixedly connected inside the circular slot 23. A plug block 25 is fixedly connected to the end of the spring 24 near the fixed guide rail 10. A circular slot 26 is opened on the side of the fixed guide rail 10 near the rotating guide rail 22. An electromagnetic block 27 is fixedly connected inside the circular slot 26. When the electromagnetic block 27 is energized, it attracts the plug block 25 and makes it plug into the inside of the circular slot 26.

[0027] The controller 12 is electrically connected to the motor 20 and the electromagnetic block 27 respectively.

[0028] In some examples, motor 20 is a servo motor, which is fixedly connected to the top of the fixed frame 1 by bolts. The rotating disk 21 is made of cast iron, and a rotating guide rail 22 is fixedly connected to the bottom of the rotating disk 21 by welding. The rotating guide rail 22 is the same as the fixed guide rail 10, both of which are I-shaped plate structures and made of steel. The spring 24 is a cylindrical compression spring. A plug-in block 25 is fixedly connected to the end of the spring 24 near the fixed guide rail 10 by welding. The plug-in block 25 is made of ferromagnetic material. A circular slot 26 is opened on the side of the fixed guide rail 10 near the rotating guide rail 22. An electromagnetic block 27 is fixedly connected to the inside of the circular slot 26 by bolts. When the electromagnetic block 27 is energized, it attracts the plug-in block 25 and makes it plug into the inside of the circular slot 26.

[0029] When a track change is required, the controller 12 first de-energizes the relevant electromagnetic block 27, causing it to lose its attractive force on the plug-in block 25. Under the elastic force of the spring 24, the plug-in block 25 disengages from the second circular slot 26, releasing the lock between the rotating guide rail 22 and the current fixed guide rail 10. Subsequently, the controller 12 starts the motor 20, whose output drives the rotating disk 21 and the rotating guide rail 22 to rotate to the corresponding position of the target fixed guide rail 10. Once in position, the controller 12 energizes the electromagnetic block 27 on the target fixed guide rail 10, generating a magnetic force to attract the plug-in block 25 on the rotating guide rail 22, causing it to stretch the spring 24 and insert into the second circular slot 26. Within 6 minutes, the rotating guide rail 22 is locked to the target fixed guide rail 10. Finally, the pressure-compensated rail drive assembly 3 drives the mobile compartment 11 and the inspection robot 13 to enter the target fixed guide rail 10 through the rotating guide rail 22, realizing track change. In this embodiment, the rotating track change electromagnetic locking assembly 2 enables the inspection robot 13 to switch quickly between multiple fixed guide rails 10. After the electromagnetic block 27 is energized, it generates a stable magnetic force, which can ensure that the rotating guide rail 22 and the plug block 25 of the target fixed guide rail 10 are tightly connected, avoiding the risk of robot derailment caused by the docking gap, thereby greatly improving inspection efficiency and coverage.

[0030] like Figures 4-6 As shown, it illustrates a pressure-compensated rail drive assembly 3 in another embodiment of the present invention. The pressure-compensated rail drive assembly 3 includes a second motor 30 and two buffer assemblies 32 arranged symmetrically front and rear. The second motor 30 is fixedly connected to the front side of the moving chamber 11. A bidirectional lead screw 31 running in a front-rear direction is rotatably connected inside the moving chamber 11. A first slide rod 33 fixedly connected to the inner wall of the moving chamber 11 is provided on the right side of the bidirectional lead screw 31, and a second slide rod 34 fixedly connected to the inner wall of the moving chamber 11 is provided on the left side of the bidirectional lead screw 31.

[0031] The buffer assembly 32 includes two threaded blocks 320, which are threaded to one side of the outer wall of the bidirectional lead screw 31 and slidably connected to the slide rod 33. A buffer spring 321, sleeved on the outer wall of the slide rod 33, is fixedly connected to the opposite surfaces of the two threaded blocks 320. A limit frame 322 is fixedly connected to the left side of each of the two threaded blocks 320. A slider 323, slidably connected to the outer wall of the slide rod 34, is fixedly connected to the left side of each limit frame 322. A buffer spring 324, sleeved on the outer wall of the slide rod 34, is fixedly connected to the opposite surfaces of the two sliders 323. The two limit frames 320... The internal movable connection of 22 is a rotating seat 325, and the internal fixed connection of the rotating seat 325 is a rotating shaft 326. The top of the movable compartment 11 has two straight slot holes 37 that are adapted to the size and position of the rotating shaft 326. The top of the rotating shaft 326 passes through the straight slot holes 37 and extends to the top of the movable compartment 11 and is fixedly connected to a transverse roller 327. A pressure sensor is fixedly connected to the outer wall of the transverse roller 327. The transverse roller 327 is in rolling connection with the outer wall of the fixed guide rail 10. The bottom of the threaded block 320 is fixedly connected to a servo motor 328. The output end of the servo motor 328 is fixedly connected to the rotating seat 325 through a coupling.

[0032] The top of the mobile compartment 11 is fixedly connected to four rectangular support plates 35. The opposite surfaces of the front and rear support plates 35 are rotatably connected to vertical rollers 36 that are rolled to the outer wall of the fixed guide rail 10. The controller 12 is electrically connected to the second motor 30, the servo motor 328, and the pressure sensor respectively.

[0033] In some examples, the pressure-compensated rail drive assembly 3 is located inside the moving chamber 11, including a second motor 30 and two symmetrically arranged buffer assemblies 32. The second motor 30 is a servo motor, and the first buffer spring 321 and the second buffer spring 324 are both cylindrical compression springs. The top of the moving chamber 11 has two straight slot holes 37 that are adapted to the size and position of the rotating shaft 326. The top of the rotating shaft 326 passes through the straight slot holes 37 and extends to the top of the moving chamber 11 and is fixedly connected to a transverse roller 327 by welding. The transverse roller 327 is made of polyurethane, and a pressure sensor is fixedly connected to its outer wall by adhesive. An FSR402 force-sensitive resistor is selected as the pressure sensor. The transverse roller 327 is rolledly connected to the outer wall of the fixed guide rail 10. The output end of the servo motor 328 is fixedly connected to the rotating seat 325 through a coupling. The opposite surfaces of the two front and rear support plates 35 are rotatably connected to vertical rollers 36 that are rolledly connected to the outer wall of the fixed guide rail 10 through bearings. The vertical rollers 36 are also made of polyurethane.

[0034] When the device is started, the pressure-compensated rail drive assembly 3 begins to work. The controller 12 controls the servo motor 328 to start, and its output end drives the rotating seat 325 and rotating shaft 326 to rotate through the coupling, so that the horizontal roller 327 rolls on the outer wall of the fixed guide rail 10. At the same time, the vertical roller 36 rolls along the side of the fixed guide rail 10, jointly driving the mobile compartment 11 and the inspection robot 13 to move along the fixed guide rail 10. The pressure sensor on the outer wall of the horizontal roller 327 detects the contact pressure with the fixed guide rail 10 in real time and transmits the signal to the controller 12. If the pressure is abnormal, the controller 12 starts the second motor 30, which drives the bidirectional lead screw 31 to rotate, so that the two threaded blocks 320 in the two buffer assemblies 32 slide relative to or towards each other along the slide bar 33, adjusting the pressure of the horizontal roller 327 on the fixed guide rail 10, realizing pressure compensation, and preventing the inspection robot 13 from falling accidentally.

[0035] When minor protrusions or difficult-to-clean impurities appear on the surface of the fixed guide rail 10, the transverse roller 327 is subjected to an instantaneous impact force. This force is transmitted to the rotating seat 325 through the rotating shaft 326, causing the rotating seat 325 to float within a small range in the cavity of the limiting frame 322. At this time, the first buffer spring 321 and the second buffer spring 324 absorb the impact energy through deformation, preventing the impact force from being directly transmitted to components such as the servo motor 328, thereby achieving the dual functions of buffer protection and stable operation. In this embodiment, the pressure-compensated hanging rail drive assembly 3 can monitor the contact pressure between the roller and the rail in real time and dynamically compensate for pressure changes, ensuring that the roller is always in close contact with the rail. At the same time, when there are minor deformations, installation errors, or local protrusions in the rail, the buffer springs and the movable rotating seat can absorb the impact energy, preventing the impact from directly acting on the drive motor and transmission components, which would cause frequent motor overload and excessive wear of the lead screw and threaded block, thereby ensuring that the inspection task is carried out continuously according to the preset path.

[0036] like Figure 6 As shown, it illustrates a track cleaning component 4 in another embodiment of the present invention. The track cleaning component 4 includes four fixing blocks 40, which are respectively fixedly connected to the left and right sides of the fixed guide rail 10 and are arranged in a rectangular shape. Each of the four fixing blocks 40 has a cleaning roller 41 fixedly connected to its top, which is in contact with the outer wall of the fixed guide rail 10.

[0037] In some examples, the track cleaning assembly 4 is located on the left and right sides of the moving chamber 11, and the top of each of the four fixed blocks 40 is fixedly connected to a cleaning roller 41 that fits against the outer wall of the fixed guide rail 10. The surface of the cleaning roller 41 is covered with nylon brushes.

[0038] During the movement, the track cleaning component 4 works synchronously. The cleaning rollers 41 on the left and right sides of the moving chamber 11 are supported by the fixing blocks 40. When the moving chamber 11 moves, they are in contact with the outer wall of the fixed guide rail 10. The nylon brushes on their surfaces clean the dust and impurities on the track. In this embodiment, the track cleaning component 4 can remove dust, metal shavings, dirt and other impurities from the track surface in real time, preventing these foreign objects from getting stuck at the contact points between the robot's wheels and the track, preventing the robot from experiencing problems such as walking jams and uneven speeds, and ensuring that the robot can complete the inspection task smoothly and at a uniform speed according to the preset path.

[0039] The working principle of this utility model is as follows: First, when a track change is required, the controller 12 first controls the relevant electromagnetic block 27 to de-energize, so that its attractive force on the plug block 25 disappears. Under the elastic force of the spring 24, the plug block 25 disengages from the circular slot 26, releasing the lock between the rotating guide rail 22 and the current fixed guide rail 10. Then, the controller 12 starts the motor 20, whose output end drives the rotating disk 21 and the rotating guide rail 22 to rotate to the corresponding position of the target fixed guide rail 10. After reaching the position, the controller 12 controls the electromagnetic block 27 on the target fixed guide rail 10 to be energized, generating a magnetic force to attract the plug block 25 on the rotating guide rail 22, causing it to stretch the spring 24 and... Insert the rotating guide rail 22 into the second circular slot 26 to lock it with the target fixed guide rail 10. Finally, the pressure-compensated rail drive assembly 3 drives the moving compartment 11 and the inspection robot 13 to enter the target fixed guide rail 10 through the rotating guide rail 22 to achieve track change. In this embodiment, the rotating track change electromagnetic locking assembly 2 enables the inspection robot 13 to switch quickly between multiple fixed guide rails 10. After the electromagnetic block 27 is energized, it generates a stable magnetic force, which can ensure that the rotating guide rail 22 and the plug block 25 of the target fixed guide rail 10 are tightly connected, avoiding the risk of robot derailment caused by the docking gap, thereby greatly improving inspection efficiency and coverage.

[0040] When the device is started, the pressure-compensated rail drive assembly 3 begins to work. The controller 12 controls the servo motor 328 to start, and its output end drives the rotating seat 325 and rotating shaft 326 to rotate through the coupling, so that the horizontal roller 327 rolls on the outer wall of the fixed guide rail 10. At the same time, the vertical roller 36 rolls along the side of the fixed guide rail 10, jointly driving the mobile compartment 11 and the inspection robot 13 to move along the fixed guide rail 10. The pressure sensor on the outer wall of the horizontal roller 327 detects the contact pressure with the fixed guide rail 10 in real time and transmits the signal to the controller 12. If the pressure is abnormal, the controller 12 starts the second motor 30, which drives the bidirectional lead screw 31 to rotate, so that the two threaded blocks 320 in the two buffer assemblies 32 slide relative to or towards each other along the slide bar 33, adjusting the pressure of the horizontal roller 327 on the fixed guide rail 10, realizing pressure compensation, and preventing the inspection robot 13 from falling accidentally.

[0041] When minor protrusions or difficult-to-clean impurities appear on the surface of the fixed guide rail 10, the transverse roller 327 is subjected to an instantaneous impact force. This force is transmitted to the rotating seat 325 through the rotating shaft 326, causing the rotating seat 325 to float within a small range in the cavity of the limiting frame 322. At this time, the first buffer spring 321 and the second buffer spring 324 absorb the impact energy through deformation, preventing the impact force from being directly transmitted to components such as the servo motor 328, thereby achieving the dual functions of buffer protection and stable operation. In this embodiment, the pressure-compensated hanging rail drive assembly 3 can monitor the contact pressure between the roller and the rail in real time and dynamically compensate for pressure changes, ensuring that the roller is always in close contact with the rail. At the same time, when there are minor deformations, installation errors, or local protrusions in the rail, the buffer springs and the movable rotating seat can absorb the impact energy, preventing the impact from directly acting on the drive motor and transmission components, which would cause frequent motor overload and excessive wear of the lead screw and threaded block, thereby ensuring that the inspection task is carried out continuously according to the preset path.

[0042] During the movement, the track cleaning component 4 works synchronously. The cleaning rollers 41 on the left and right sides of the moving chamber 11 are supported by the fixing blocks 40. When the moving chamber 11 moves, they are in contact with the outer wall of the fixed guide rail 10. The nylon brushes on their surfaces clean the dust and impurities on the track. In this embodiment, the track cleaning component 4 can remove dust, metal shavings, dirt and other impurities from the track surface in real time, preventing these foreign objects from getting stuck at the contact points between the robot's wheels and the track, preventing the robot from experiencing problems such as walking jams and uneven speeds, and ensuring that the robot can complete the inspection task smoothly and at a uniform speed according to the preset path.

[0043] It should be noted that the controller 12, inspection robot 13, electromagnetic block 27, pressure sensor, and various motors are all common models on the market, and each component is a device or equipment that exists in the prior art or can be implemented by the prior art. Their power supply, specific composition and principle are clear to those skilled in the art. At the same time, the fixed connection method mentioned in this utility model can adopt the connection methods that exist in the prior art and are common, such as bolts, welding and bonding, so they will not be described in detail.

[0044] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A rotating rail changing device for a power grid / power distribution room hanging rail type inspection robot, characterized in that, include: A fixed frame (1) is fixedly connected to the bottom of the fixed frame (1) with four fixed guide rails (10) arranged in a ring array. A mobile compartment (11) is movably installed on the outer wall of one of the fixed guide rails (10). A controller (12) is fixedly connected to the bottom left side of the mobile compartment (11). An inspection robot (13) is fixedly connected to the bottom center of the mobile compartment (11). Rotary track changing electromagnetic locking assembly (2), the rotary track changing electromagnetic locking assembly (2) is arranged on the upper and lower sides of the fixed frame (1); Pressure-compensated rail drive assembly (3) is installed inside the mobile compartment (11). The pressure-compensated rail drive assembly (3) is used to drive the inspection robot (13) to move on the track and prevent the inspection robot (13) from falling accidentally through the pressure compensation mechanism. Track cleaning assembly (4) is provided on the left and right sides of the mobile compartment (11) and is used to clean dust and impurities on the track.

2. The rotating rail changing device of the grid / power distribution room hanging rail type inspection robot according to claim 1, characterized in that, The rotary track-changing electromagnetic locking assembly (2) includes a motor (20), which is fixedly connected to the top of the fixed frame (1). The output end of the motor (20) extends through to the bottom of the fixed frame (1) and is fixedly connected to a rotating disk (21). A rotating guide rail (22) is fixedly connected to the bottom of the rotating disk (21). Both the rotating guide rail (22) and the fixed guide rail (10) are I-shaped plate structures.

3. The rotating track changing device of a grid / power distribution room hanging rail type inspection robot according to claim 2, characterized in that, The rotating guide rail (22) has a circular slot (23) on both the left and right sides. A spring (24) is fixedly connected inside the circular slot (23). A plug-in block (25) is fixedly connected to one end of the spring (24) near the fixed guide rail (10). A circular slot (26) is opened on one side of the fixed guide rail (10) near the rotating guide rail (22). An electromagnetic block (27) is fixedly connected inside the circular slot (26). When the electromagnetic block (27) is energized, it attracts the plug-in block (25) and makes it plug into the circular slot (26).

4. The rotating rail changing device of the grid / power distribution room hanging rail type inspection robot according to claim 3, characterized in that, The controller (12) is electrically connected to the motor (20) and the electromagnetic block (27) respectively.

5. The rotating track changing device of a grid / power distribution room hanging rail type inspection robot according to claim 1, characterized in that, The pressure-compensated rail drive assembly (3) includes a second motor (30) and two buffer assemblies (32) arranged symmetrically in front and behind. The second motor (30) is fixedly connected to the front side of the moving chamber (11). The moving chamber (11) is rotatably connected to a bidirectional lead screw (31) running in the front and back. The right side of the bidirectional lead screw (31) is provided with a slide rod (33) fixedly connected to the inner wall of the moving chamber (11), and the left side of the bidirectional lead screw (31) is provided with a slide rod (34) fixedly connected to the inner wall of the moving chamber (11).

6. The rotating track changing device of a grid / power distribution room hanging rail type inspection robot according to claim 5, characterized in that, The buffer assembly (32) includes two threaded blocks (320), which are threaded to one side of the outer wall of the bidirectional lead screw (31) and slidably connected to the slide rod (33). A buffer spring (321) sleeved on the outer wall of the slide rod (33) is fixedly connected to the opposite surfaces of the two threaded blocks (320). A limit frame (322) is fixedly connected to the left side of each of the two threaded blocks (320). A slider (323) slidably connected to the outer wall of the slide rod (34) is fixedly connected to the left side of each of the two limit frames (322). A buffer spring (324) sleeved on the outer wall of the slide rod (34) is fixedly connected to the opposite surfaces of the two sliders (323). 2) The internal movable connection is a rotating seat (325), and the rotating seat (325) is fixedly connected to a rotating shaft (326). The top of the movable compartment (11) has two straight slot holes (37) that are adapted to the size and position of the rotating shaft (326). The top of the rotating shaft (326) passes through the straight slot holes (37) and extends to the top of the movable compartment (11) and is fixedly connected to a transverse roller (327). The outer wall of the transverse roller (327) is fixedly connected to a pressure sensor. The transverse roller (327) is rolledly connected to the outer wall of the fixed guide rail (10). The bottom of the threaded block (320) is fixedly connected to a servo motor (328). The output end of the servo motor (328) is fixedly connected to the rotating seat (325) through a coupling.

7. The rotating track-changing device for a rail-mounted inspection robot in a power grid / distribution room according to claim 6, characterized in that, The top of the mobile compartment (11) is fixedly connected to four rectangular support plates (35). The opposing surfaces of the front and rear support plates (35) are rotatably connected to vertical rollers (36) that are rolled to the outer wall of the fixed guide rail (10). The controller (12) is electrically connected to the second motor (30), the servo motor (328), and the pressure sensor, respectively.

8. The rotating track-changing device for a rail-mounted inspection robot in a power grid / distribution room according to claim 1, characterized in that, The track cleaning assembly (4) includes four fixing blocks (40), which are fixedly connected to the left and right sides of the fixed guide rail (10) and are arranged in a rectangular shape. The top of each of the four fixing blocks (40) is fixedly connected to a cleaning roller (41) that fits against the outer wall of the fixed guide rail (10).

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