A lower-side supported inspection robot for a corrugated guardrail

Abstract

The present invention discloses a lower-side supported inspection robot for a corrugated guardrail, which includes a corrugated guide wheel mechanism, a driving wheel mechanism and a housing; the corrugated guide wheel mechanism is installed on the housing, and the corrugated guide wheel mechanism includes at least one set of corrugated guide wheels. Each corrugated guide wheel has a corrugated profile matching the corrugated structure of the corrugated guardrail, and each set of corrugated guide wheels is configured to roll along a corrugated structure of the corrugated guardrail; the driving wheel mechanism is installed on the housing, and the driving wheel mechanism includes a plurality of first lower-side support wheels configured to rollingly contact the front rolling surface of the lower edge of the corrugated guardrail, a plurality of second lower-side support wheels configured to rollingly contact the back rolling surface of the lower edge of the corrugated guardrail, and a plurality of third lower-side support wheels configured to rollingly contact the side rolling line of the lower edge of the corrugated guardrail. At least one of the plurality of first lower-side support wheels and the plurality of second lower-side support wheels is a walking driving wheel, and the inspection robot is installed on the corrugated guardrail in a manner spaced apart from the upper edge of the corrugated guardrail.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots, and particularly to an underside-supported inspection robot for corrugated guardrails. Background Art

[0002] Currently, the inspection methods for highway construction mainly include manual inspection, fixed roadside, and mobile robot inspection. Manual inspection is time-consuming, laborious, and inefficient, and the coverage of fixed roadside robots is limited. With the progress of technology, it has become a trend to use mobile inspection robots to replace manual labor for high-risk work.

[0003] CN109514577A discloses an inspection robot that uses a crawler-type walking mechanism to travel on the ground. Such an inspection robot may improperly intrude into the motor vehicle lane or the construction location, affecting road traffic or construction.

[0004] CN110497379A discloses a highway inspection robot that travels along the guardrail. The highway inspection robot includes a traveling device, a limiting device, a power generation device, and an inspection device. The traveling device travels along the guardrail and includes at least two traveling mechanisms, and the traveling mechanisms are flexibly connected by pins. Each traveling mechanism includes a traveling motor, a walking frame, rollers, a first pulley, a second pulley, a driven shaft, a synchronous belt, and a driving shaft. The limiting devices are respectively arranged on the top plate and the bottom plate of the walking frame of each traveling mechanism; each limiting device includes a first side pressing wheel, a support frame, a second side pressing wheel, and a support. However, this inspection robot needs to be provided with limiting devices on the top plate and the bottom plate, and the limiting device on the top plate may interfere with the guardrail column or the connection part between the guardrail column and the guardrail, affecting the practicability of this inspection robot.

[0005] In view of this, there is an urgent need for an inspection robot solution that can avoid the influence of guardrail columns on the travel of the inspection robot.

[0006] The content described in this background art is only for facilitating the understanding of the relevant technologies in this field and is not regarded as an admission of the prior art. Summary of the Invention

[0007] Therefore, the task of the present invention is to provide an inspection robot that can be free from the influence of guardrail columns when walking along the corrugated guardrail.

[0008] In an embodiment of the present invention, there is provided an underside-supported inspection robot for corrugated guardrails, where the inspection robot includes a waveform guiding wheel mechanism, a driving wheel mechanism, and a housing;

[0009] Among them, the waveform guide wheel mechanism is installed on the housing. The waveform guide wheel mechanism includes at least one set of waveform guide wheels. Each waveform guide wheel has a waveform profile matching the waveform structure of the corrugated guardrail. Each set of waveform guide wheels is configured to roll along one waveform structure of the corrugated guardrail;

[0010] Among them, the driving wheel mechanism is installed on the housing. The driving wheel mechanism includes a plurality of first lower side support wheels configured to rollingly contact the front rolling surface of the lower edge of the corrugated guardrail, a plurality of second lower side support wheels configured to rollingly contact the back rolling surface of the lower edge of the corrugated guardrail, and a plurality of third lower side support wheels configured to rollingly contact the side rolling line of the lower edge of the corrugated guardrail. At least one of the plurality of first lower side support wheels and the plurality of second lower side support wheels is a driving wheel for walking. Thus, the inspection robot is held on the corrugated guardrail by clamping the lower edge of the corrugated guardrail through the three-side support structure of the first lower side support wheels, the second lower side support wheels, and the third lower side support wheels;

[0011] Among them, the inspection robot is installed on the corrugated guardrail in a manner spaced apart from the upper edge of the corrugated guardrail.

[0012] Optionally, the inspection robot further includes a plurality of back side support wheels configured to contact the back side of the corrugated guardrail.

[0013] Optionally, the waveform guide wheel is a magnetic wheel.

[0014] Optionally, the at least one set of waveform guide wheels includes a first set of waveform guide wheels matching the upper waveform structure of the corrugated guardrail, a second set of waveform guide wheels matching the middle waveform structure of the corrugated guardrail, and a third set of waveform guide wheels matching the lower waveform structure of the corrugated guardrail.

[0015] Optionally, the plurality of first lower side support wheels are driving wheels for walking, and the plurality of second lower side support wheels and third lower side support wheels are idler wheels for walking.

[0016] Optionally, the number of the first lower side support wheels is the same as that of the second lower side support wheels, so that one of the second lower side support wheels is radially corresponding to each first lower side support wheel.

[0017] Optionally, the third lower side support wheels are respectively located at the front and rear ends of the first lower side support wheels and the second lower side support wheels.

[0018] Optionally, the driving wheel mechanism further includes a driver and a transmission wheel drivenly connected by the driver.

[0019] Optionally, the driving wheel mechanism further includes a first spring floating structure for providing radial floating for the first lower supporting wheel and a second spring floating structure for providing radial floating for the second lower supporting wheel.

[0020] Optionally, the inspection robot further includes an inspection mechanism.

[0021] Wherein, the housing includes an inspection mechanism interface located at the top of the housing, and the inspection mechanism is detachably mounted to the housing through the inspection mechanism interface.

[0022] Wherein, the inspection mechanism includes a telescopic and / or cantilever bracket and an image acquisition device installed at the end of the bracket.

[0023] Compared with the prior art, the embodiments of the present invention include the following beneficial effects:

[0024] 1. By guiding the travel through the waveform guiding wheel of the waveform guiding wheel mechanism to match the waveform structure of the corrugated guardrail, and combining the clamping holding ability of the three-side supporting structure at the lower edge of the corrugated guardrail, the inspection robot of the embodiments of the present invention ensures that the inspection robot can travel smoothly along the corrugated guardrail during the inspection process without setting a ground supporting mechanism in contact with the ground, realizing the efficient operation of the inspection robot.

[0025] 2. By arranging the three-side supporting structure at the lower edge of the corrugated guardrail and installing the inspection robot at an interval from the top of the guardrail, the interference of the guardrail posts or the connection part between the guardrail posts and the guardrail to the operation of the inspection robot along the corrugated guardrail is avoided, and this design greatly improves the practicability and application range of the inspection robot.

[0026] 3. By realizing the walking driving function by the three-side supporting structure, decoupling the walking driving function from the waveform guiding wheel mechanism guiding along the waveform structure, avoiding the force difference between the wheels brought when the waveform guiding wheel is driven, ensuring the guiding effect of the waveform guiding wheel along the waveform structure, and further improving the running stability of the inspection robot.

[0027] 4. The inspection mechanism adopts a modular and detachable design, realizing flexible task switching and convenient maintenance through the inspection mechanism interface at the top of the housing, not only improving the functional expandability of the inspection robot, but also simplifying the maintenance work, and further improving the practicability and operation convenience of the inspection robot.

[0028] It will be understood that various embodiments of the present invention may only achieve some of the above technical effects without achieving all of the above technical effects, and it is not excluded that various embodiments of the present invention also have additional optional features and technical effects. Some of the other optional features and technical effects of the embodiments of the present invention are described below, and some can be understood by reading this text. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The components shown are not limited by the scale shown in the drawings. The same or similar reference numerals in the drawings denote the same or similar components, where:

[0030] Figure 1 A schematic side view of a corrugated guardrail is shown;

[0031] Figure 2 A schematic perspective view of an inspection robot according to an embodiment of the present invention when installed on a corrugated guardrail is shown;

[0032] Figure 3 A schematic side view of an inspection robot according to an embodiment of the present invention when installed on a corrugated guardrail, where the housing is removed to show the internal structure;

[0033] Figure 4 A schematic structural view of an inspection robot according to an embodiment of the present invention is shown;

[0034] Figure 5 A schematic structural view of a corrugated guide wheel set of a corrugated guide wheel mechanism of an inspection robot according to an embodiment of the present invention is shown;

[0035] Figure 6 A schematic structural view of a corrugated guide wheel of a corrugated guide wheel mechanism of an inspection robot according to an embodiment of the present invention is shown;

[0036] Figure 7 A schematic structural view of a corrugated guide wheel of a corrugated guide wheel mechanism of an inspection robot according to an embodiment of the present invention, where the wheel body of the corrugated guide wheel is removed to show the internal structure;

[0037] Figure 8 A cross-sectional view of a corrugated guide wheel of a corrugated guide wheel mechanism of an inspection robot according to an embodiment of the present invention is shown;

[0038] Figure 9 A schematic structural view of a drive wheel mechanism of an inspection robot according to an embodiment of the present invention is shown;

[0039] Figure 10 Shows Figure 9 One of the partial exploded views of the drive wheel mechanism of the inspection robot of the illustrated embodiment;

[0040] Figure 11 Shows Figure 9 Another partial exploded view of the drive wheel mechanism of the inspection robot of the illustrated embodiment;

[0041] Figure 12Shows a schematic structural diagram of the driving wheel mechanism of the inspection robot according to another embodiment of the present invention;

[0042] Figure 13 Shows a schematic structural diagram of the driving wheel mechanism of the inspection robot according to yet another embodiment of the present invention;

[0043] Figure 14 Shows Figure 13 Partial exploded view of the driving wheel mechanism of the inspection robot of the illustrated embodiment; and

[0044] Figure 15 Shows a schematic structural diagram of the underside support type inspection robot for a corrugated guardrail according to an embodiment of the present invention, in which an inspection mechanism mounted on the top of the housing is shown.

[0045] In the present disclosure, the same or similar reference numerals are used to denote the same or similar features or components.

[0046] List of reference numerals

[0047] 1 - Inspection robot;

[0048] 10 - Waveform guiding wheel mechanism;

[0049] 11 - Waveform guiding wheel; 110 - Wheel body; 111 - Wheel shaft; 112 - First magnet strip; 113 - Second magnet strip; 114 - Third magnet strip; 115 - Fourth magnet strip; 116 - End cap; 117 - End cap;

[0050] 12 - Bracket;

[0051] 13 - First group of waveform guiding wheels; 14 - Second group of waveform guiding wheels; 15 - Third group of waveform guiding wheels;

[0052] 20 - Driving wheel mechanism;

[0053] 21 - First underside support wheel (travel driving wheel); 210 - Wheel body; 211 - Wheel shaft; 212 - First tooth transmission part; 213 - Second tooth transmission part;

[0054] 22 - Second underside support wheel (travel idler wheel); 220 - Wheel body; 221 - Wheel shaft; 222 - Bearing;

[0055] 23 - Third underside support wheel (travel idler wheel);

[0056] 24 - Transmission wheel; 242 - Tooth transmission part; 242’ - First tooth transmission part; 243’ - Second tooth transmission part;

[0057] 25 - Driver;

[0058] 261 - Transmission toothed belt; 262 - Transmission toothed belt; 263 - Transmission toothed belt; 264 - Transmission toothed belt;

[0059] 27 - First spring floating mechanism; 271 - First floating block; 272 - First spring; 273 - First spring guide pin; 274 - First limiting member; 275 - First mounting member; 276 - Guide rod; 2761 - Limiting flange; 277 - Third spring;

[0060] 28 - Second spring floating mechanism; 281 - Second floating block; 282 - Second spring; 283 - Second spring guide pin; 284 - Second limiting member; 285 - Second mounting member; 287 - Fourth spring;

[0061] 41 - Dorsal support wheel;

[0062] 50 - Housing; 51 - Interface;

[0063] 60 - Inspection mechanism; 61 - Telescopic support section; 62 - Cantilever support section; 63 - Image acquisition device;

[0064] L - Guardrail, L1 - Upper corrugated structure, L2 - Intermediate corrugated structure, L3 - Lower corrugated structure;

[0065] P - Guardrail post. Detailed implementation manner

[0066] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in combination with the specific implementation manners and the accompanying drawings. Herein, the illustrative implementation manners of the present invention and their descriptions are used to explain the present invention, but do not limit the present invention.

[0067] The term "including" and its variations used herein represent open inclusion, that is, "including but not limited to". Unless otherwise stated, the term "or" represents "and / or". The term "based on" represents "at least partially based on". The term "an exemplary embodiment" and "an embodiment" represent "at least one exemplary embodiment". The term "another embodiment" represents "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0068] The present invention will be further described below in combination with the embodiments and the accompanying drawings. The specific embodiments are only used to further describe the present invention in detail and do not limit the protection scope of the claims of the present invention.

[0069] In multiple embodiments of the present invention, a patrol robot for roads is provided. More specifically, embodiments of the present invention provide an underside-supported patrol robot for corrugated guardrails. Here, it will be understood that the patrol robot provided by the embodiments of the present invention can be widely applicable to various roads as long as the roadside of the road has a corrugated guardrail. In an exemplary embodiment, the road is a highway. Here, it will be understood that the patrol robot provided by the embodiments of the present invention can be applicable to different scenarios of roads, such as highways, including but not limited to newly built road / highway scenarios (as long as the corrugated guardrail has been built), road / highway reconstruction and expansion scenarios, and road / highway in-use scenarios. In the following multiple exemplary embodiments, the patrol robot according to the embodiments of the present invention will be described in combination with the highway reconstruction and expansion scenario. However, as described above, the patrol robot of the embodiments of the present invention can be applicable to other road scenarios with corrugated guardrails. For example, the patrol robot of the embodiments of the present invention can patrol the roadside of an in-service highway to confirm traffic safety or road violations.

[0070] Multiple embodiments of the present invention will be described below with reference to the accompanying drawings.

[0071] Reference Figure 1 , a schematic diagram of a road corrugated guardrail L is shown. The corrugated guardrail is a three-wave guardrail, but the embodiments of the present invention are not limited thereto. The patrol robot of the embodiments of the present invention can also be used for corrugated guardrails with more or fewer corrugated structures. As Figure 1 shown, the corrugated guardrail L can be supported by guardrail posts P, and the corrugated panel L is configured to have three corrugated structures, specifically including an upper corrugated structure L1, a middle corrugated structure L2, and a lower corrugated structure L3 ( Figure 3 ).

[0072] According to the different connection methods between the guardrail posts and the corrugated guardrail, the corrugated guardrail has different spatial structures, especially different back-side spatial structures. As Figure 1 shown, the corrugated guardrail L shown is connected to the guardrail post P through a connecting part, and the height of the connecting part is relatively small, so that a relatively large back-side space of the corrugated guardrail is formed between the corrugated guardrail L and the guardrail post P and below the connecting part.

[0073] Below, the patrol robot of the embodiments of the present invention will be described by taking the corrugated guardrail shown in Figure 1 as an example.

[0074] With combined reference to Figures 2 to 4 , a schematic diagram of an underside-supported patrol robot 1 for a corrugated guardrail according to an embodiment of the invention is shown.

[0075] As Figures 2 to 4As shown, the inspection robot 1 according to an embodiment of the present invention includes a waveform guide wheel mechanism 10, a drive wheel mechanism 20, and a housing 50.

[0076] With reference to Figures 2 to 5 , the waveform guide wheel mechanism 10 is mounted to the housing 50. The waveform guide wheel mechanism 10 includes at least one set of waveform guide wheels, and each set of waveform guide wheels 11 is configured to roll along a waveform structure of a waveform guardrail L. As Figure 4 and Figure 5 shown, each waveform guide wheel 11 has a waveform profile matching the waveform structure of the waveform guardrail L. More specifically, each set of waveform guide wheels (waveform guide wheels) may include a plurality (such as 2) of waveform guide wheels 11 and a bracket 12 for supporting the waveform guide wheels 11.

[0077] As Figure 3 and Figure 4 shown, the waveform guide wheel mechanism 10 includes three sets of waveform guide wheels (three waveform guide wheel sets), wherein the first set of waveform guide wheels 13 matches the upper waveform structure L1 of the waveform guardrail L, the second set of waveform guide wheels 14 matches the middle waveform structure L2 of the waveform guardrail L, and the third set of waveform guide wheels 15 matches the lower waveform structure L3 of the waveform guardrail L.

[0078] With reference to Figures 6 to 8 , a waveform guide wheel 11 of the waveform guide wheel mechanism of the inspection robot according to an embodiment of the present invention is shown. As Figures 6 to 8 shown, the waveform guide wheel 11 may be a magnetic wheel and includes a wheel body 110 and a wheel shaft 111. With reference to Figure 3 and Figure 6 , a concave waveform profile matching the convex waveform structure of the waveform guardrail is formed in the wheel body 110, so that the waveform guide wheel 11 can be well guided along the convex waveform structure.

[0079] As Figures 6 to 8 shown, the waveform guide wheel 11 also optionally includes end caps 116 and 117 that cover both ends of the wheel body 110. As Figure 7 and Figure 8 shown, a first set of magnet bars 112 located on the first side of the waveform profile and a second set of magnet bars 113 located on the second side of the waveform profile are provided in the wheel body 110, and the first set of magnet bars 112 and the second set of magnet bars 113 are respectively arranged at radial intervals around the wheel shaft 111 of the waveform guide wheel 11. The first set of magnet bars 112 and the second set of magnet bars 113 may be inclinedly installed in the wheel body 110 relative to the wheel shaft 111, so that the first set of magnet bars 112 is arranged parallel to the first side of the waveform profile, and the second set of magnet bars 113 is arranged parallel to the second side of the waveform profile.

[0080] As a preferred structure, as Figure 8As shown, in the wheel body 110, a third set of magnet bars 114 located on the first side of the waveform profile and a fourth set of magnet bars 115 located on the second side of the waveform profile are provided. As Figure 8 shown, each magnet bar in the third set of magnet bars 114 is stacked on the corresponding magnet bar of the first set of magnet bars 112 and is away from the side surface of the waveform profile. Each magnet bar in the fourth set of magnet bars 115 is stacked on the corresponding magnet bar of the second set of magnet bars 113 and is away from the side surface of the waveform profile. As Figure 8 shown, the magnet bars in the third set of magnet bars 114 are shorter than the magnet bars in the first set of magnet bars 112; the magnet bars in the fourth set of magnet bars 115 are shorter than the magnet bars in the second set of magnet bars 113. As Figure 8 shown, the magnet bars of the first set of magnet bars 112 and the optional third set of magnet bars 114 are placed in the grooves formed in the end cap 116; the magnet bars of the second set of magnet bars 113 and the optional fourth set of magnet bars 115 are placed in the grooves formed in the end cap 117. Among them, the magnet bars can be made of neodymium magnets or neodymium iron boron magnets. In a specific example, the magnet bars are N52 neodymium magnet bars. However, it can be understood that those skilled in the art can select other types of magnets according to requirements, which fall within the scope of the present invention.

[0081] With reference to Figure 3 and Figure 4 and Figures 9 to 11 , a drive wheel mechanism according to an embodiment of the present invention is shown.

[0082] As Figure 3 and Figure 4 shown, the drive wheel mechanism 20 can be mounted to the housing 50. The drive wheel mechanism 20 can include a plurality of first lower side support wheels 21, a plurality of second lower side support wheels 22, and a plurality of third lower side support wheels 23. As Figure 3 and Figure 4 shown, the first lower side support wheel 21 is in rolling surface contact with the front surface of the lower edge of the corrugated guardrail L, the second lower side support wheel 22 is in rolling surface contact with the back surface of the lower edge of the corrugated guardrail L, and the third lower side support wheel 23 is in rolling line contact with the side edge of the lower edge of the corrugated guardrail L. Thus, with reference to Figure 2 and Figure 3 , the inspection robot according to the embodiment of the present invention is supported on the corrugated guardrail without any ground support, but only supported on the corrugated guardrail by the above drive wheel mechanism. Specifically, the inspection robot is supported on the corrugated guardrail only by the clamping and holding ability of the three-side support structure including the first lower side support wheel, the second lower side support wheel, and the third lower side support wheel.

[0083] As Figures 9 to 11 shown, the drive wheel mechanism 20 further includes a driver 25 and a transmission wheel 24 drivingly connected by the driver 25. Continuing to combine Figure 3and Figure 4 and with reference to Figures 9 to 11 , the first lower side support wheel 21 is configured as a traveling drive wheel, and the second lower side support wheel 22 and the third lower side support wheel 23 are configured as traveling idler wheels. As Figure 11 shown, the first lower side support wheel 21 (traveling drive wheel) may include a wheel body 210 and a wheel axle 211, and the wheel body 210 may be fixedly installed with the wheel axle 211 to rotate synchronously. The second lower side support wheel 22 may also include a wheel body 220 and a wheel axle 221, and optionally further includes a bearing 222. The bearing 222 is sleeved on the wheel axle 221, and the wheel body 220 is sleeved on the bearing 222, so that the wheel body 220 can rotate freely relative to the wheel axle 221. The third lower side support wheel 23 as a traveling idler wheel may correspondingly include a wheel axle body, a wheel axle and an optional bearing (not labeled).

[0084] As Figures 9 to 11 shown, a plurality of first lower side support wheels 21 (traveling drive wheels) are configured to be arranged side by side in the traveling direction, and a plurality of second lower side support wheels 22 are configured to be arranged side by side in the traveling direction. As Figures 9 to 11 shown, the number of the first lower side support wheels 21 and the second lower side support wheels 22 (for example, 4) is the same, and each first lower side support wheel 21 is radially provided with a second lower side support wheel 22 corresponding thereto, so as to clamp the lower edge of the corrugated guardrail L between the first lower side support wheel 21 and the second lower side support wheel 22 ( Figure 3 best shown). As Figures 9 to 11 shown, a plurality of (2) third lower side support wheels 23 are respectively located at the front and rear ends of the first lower side support wheels 21 and the second lower side support wheels 22.

[0085] As Figures 9 to 11 shown, the first lower side support wheels 21 may be grouped to form at least one traveling drive wheel group, and the transmission wheel 24 is drivingly connected to at least one of the traveling drive wheel groups through a transmission toothed belt 261, and the traveling drive wheels in the same group are drivingly connected through transmission toothed belts 262, 263, 264 (as Figure 11 shown). More specifically, as Figures 9 to 11 shown, a plurality of first lower side support wheels 21 (traveling drive wheels) are grouped to form a plurality of (3) traveling drive wheel groups (each group has 2 traveling drive wheels) in series linkage, and the transmission wheel 24 is drivingly connected to the starting traveling drive wheel of the first series-connected traveling drive wheel group through a transmission toothed belt 261, and the ending traveling drive wheels of each traveling drive wheel group form the starting traveling drive wheel of the next series-connected traveling drive wheel group. Correspondingly, as Figures 9 to 11 shown, the transmission wheel 24 may include at least one toothed transmission portion 242. Figure 11 As optimally shown therein, the toothed transmission portion 242 may be provided on the outer peripheral surface of the transmission wheel 24. Figures 9 to 11As shown, the first lower side support wheel 21 (travel drive wheel) may further include at least one (e.g., 2) tooth transmission parts provided on the wheel axle 211. Specifically, as Figures 9 to 11 shown, except that the end travel drive wheel of the last series-connected travel drive wheel group only includes a single tooth transmission part (the second tooth transmission part 213), the wheel axles 211 of the remaining first lower side support wheels 21 (travel drive wheels) may include a first tooth transmission part 212 and a second tooth transmission part 213. In the illustrated embodiment, the first tooth transmission part 212 provided on the first lower side support wheel 21 (travel drive wheel) can be used to drive other (downstream) first lower side support wheels 21 (travel drive wheels) of the same group through a transmission belt, and the second tooth transmission part 213 can be driven by the transmission wheel 24 or other (upstream / starting end) first lower side support wheels 21 (travel drive wheels) of the same group through a transmission belt.

[0086] Continue to refer to Figures 9 to 11 , the drive wheel mechanism 20 may further include a first spring floating structure 27 that provides radial floating for the first lower side support wheels 21 (travel drive wheels).

[0087] As Figures 9 to 11 shown, the first spring floating structure 27 includes a plurality of first floating blocks 271, a plurality of first springs 272, a first limiting member 274, and a guide rod 276 having a limiting flange 2761. Each first floating block 271 supports a first lower side support wheel 21 (travel drive wheel), and more specifically, supports the wheel axle 211 of the first lower side support wheel 21 (travel drive wheel). Accordingly, the first floating block 271 may be provided with a wheel axle hole (not labeled) for accommodating the wheel axle 211. Each first floating block 271 is movably supported on the limiting flange 2761 of the guide rod 276 along the guide rod 276. In the Figures 9 to 11 illustrated embodiment, the first limiting member 274 is fixedly installed. At least one (e.g., 2) first springs 272 may be provided between each first floating block 271 and the first limiting member 274. More specifically, the first springs 272 may be respectively received in spring holes (not labeled) in the first floating block 271 and the first limiting member 274. As Figures 9 to 11 shown, the first spring floating structure 27 may further include a first spring guide pin 273 fixedly installed on the first floating block 271 and / or the first limiting member 274, and the first spring guide pin 273 extends through the first spring 272 to guide the elastic expansion and contraction of the first spring 272. In the illustrated embodiment, the first spring guide pin 273 extends through the through hole of the first limiting member 274 and is fixed to the spring hole of the first floating block 271. In addition, the first spring floating structure 27 may further include a first mounting member 275 located at the end of the guide rod 276, which can be used to maintain the structural stability of the first spring floating structure 27.

[0088] AsFigures 9 to 11 As shown, the driving wheel mechanism 20 may further include a second spring floating structure 28 that provides radial floating for the second lower support wheel 22.

[0089] As Figures 9 to 11 shown, the second spring floating structure 28 includes a plurality of second floating blocks 281, a plurality of second springs 282, a second limiting member 284, and a guide rod 276 having a limiting flange 2761. Each second floating block 281 supports a second lower support wheel 22, and more specifically, supports the axle 221 of the second lower support wheel 22. Correspondingly, the second floating block 281 may be provided with an axle hole (not labeled) for accommodating the axle 221. Each second floating block 281 is movably supported on the limiting flange 2761 of the guide rod 276 along the guide rod 276. In Figures 9 to 11 the embodiment shown, the second limiting member 284 is fixedly installed. At least one (e.g., 2) second spring 282 may be provided between each second floating block 281 and the second limiting member 284. More specifically, the second springs 282 may be respectively received in spring holes (not labeled) in the second floating blocks 281 and the second limiting member 284. As Figures 9 to 11 shown, the second spring floating structure 28 may further include a second spring guide pin 283 fixedly installed on the second floating block 281 and / or the second limiting member 284. The second spring guide pin 283 extends through the second spring 282 to guide the elastic expansion and contraction of the second spring 282. In the embodiment shown, the second spring guide pin 283 extends through the through hole of the second limiting member 284 and is fixed to the spring hole of the second floating block 281. In addition, the second spring floating structure 28 may further include a second mounting member 285 located at the end of the guide rod 286 (not labeled), which may be used to maintain the structural stability of the second spring floating structure 28.

[0090] In Figures 9 to 11 the embodiment shown, the first spring floating structure 27 and the second spring floating structure 28 may share the guide rod and the limiting flange of the guide rod, that is, the guide rod extends through the optional first mounting member, the first limiting member, the first floating block, the second floating block, the second limiting member, and the optional second mounting member, wherein in the normal state, the first floating block and the second floating block respectively abut against opposite sides of the limiting flange of the guide rod. However, it can be conceived that the second spring floating structure 28 may have a guide rod independent of the guide rod for the first spring floating structure 27, which falls within the scope of the invention.

[0091] With reference to Figures 1 to 13 and Figures 9 to 11 , by arranging the driving wheel mechanism at the lower edge of the corrugated guardrail, the inspection robot can be installed at an interval from the top of the guardrail, that is, without a top mounting structure, thereby avoiding the top mounting structure from Figure 1Interference between guardrail posts and guardrail connection portions shown. Here, it will be appreciated that embodiments of the present invention can be very advantageously used to install inspection robots for corrugated guardrails in a non-ground mounted manner.

[0092] By combining an elastic floating structure in the driving wheel mechanism and arranging the walking driving wheels in groups through a transmission toothed belt, an effective obstacle avoidance capability can be provided for the inspection robot. In this article, obstacle avoidance covers crossing uneven walking surfaces such as protrusions and depressions at the connection part, and also covers deformation of the corrugated guardrail due to various reasons. As an explanation and not a limitation, the spring floating structure according to an embodiment of the present invention can provide radial floating capability for the supporting wheel to ensure that the supporting wheel itself that encounters an obstacle (including deformation) can cross the obstacle, and arranging the first lower supporting wheel as the walking driving wheel in groups can help the walking supporting wheel currently facing the obstacle to overcome the problem of lack of driving force with the help of the driving force of other walking driving wheels in the same group, so that when encountering an obstacle, it can not only avoid the obstacle radially, but also ensure the walking driving capability to cross the obstacle in the walking direction.

[0093] Although not shown in the figures, in a preferred embodiment, the first lower support wheel and the second lower support wheel are preloaded when in the installed state, that is, there is a floating spring force applied in the direction of the corrugated guardrail in the installed state, thereby providing better supporting force while helping to avoid recessed obstacles.

[0094] refer to Figure 12 , shows a driving wheel mechanism according to another embodiment of the present invention. Figure 12 In the illustrated embodiment, the driving wheel mechanism 20 also includes a plurality of first lower side supporting wheels 21, a plurality of second lower side supporting wheels 22, a plurality of third lower side supporting wheels 23, a driving wheel 24, a driver 25, a first spring floating structure 27, a second spring floating structure 28, and a plurality of transmission toothed belts for transmission. Figure 12 In the embodiment shown, the first lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt 261, and the travel drive wheels in the same group are connected through a transmission toothed belt. Figure 12 The embodiment shown is Figures 9 to 11The difference between the illustrated embodiments is that the first limiting member is not fixedly installed, but is movably installed along the guide rod, and a third spring 277 is provided between the first limiting member and the first mounting member, thereby providing the first lower supporting wheel 21 (travel driving wheel) with a radial secondary spring floating ability, and this secondary spring floating is an integral floating for a plurality of first lower supporting wheels 21 (travel driving wheels), rather than a floating for a single first lower supporting wheel 21 (travel driving wheel). Here, the first limiting member constitutes the main limiting member, and the first mounting member constitutes the secondary limiting member. In a more preferred embodiment, the third spring 277 may have a spring force significantly greater than that of the first spring 272. Preferably, a corresponding third spring is provided for each first spring provided for each first floating block, and the spring force of the corresponding third spring is significantly greater than the spring force of the corresponding first spring.

[0095] Optionally, Figure 12 The illustrated embodiment and Figures 9 to 11 Another difference between the illustrated embodiments is that the second limiting member 284 is not fixedly installed, but is movably installed along the guide rod, and a fourth spring 287 is provided between the second limiting member 284 and the second mounting member 275, thereby providing the second lower supporting wheel 22 with a radial secondary spring floating ability, and this secondary spring floating is an integral floating for a plurality of second lower supporting wheels 22, rather than a floating for a single second lower supporting wheel 22. Here, the second limiting member 284 constitutes the main limiting member, and the second mounting member 285 constitutes the secondary limiting member. In a more preferred embodiment, the fourth spring 287 may have a spring force significantly greater than that of the second spring 282. Preferably, a corresponding fourth spring is provided for each second spring provided for each second floating block, and the spring force of the corresponding fourth spring is significantly greater than the spring force of the corresponding second spring.

[0096] Figure 12 The drive wheel mechanism of the illustrated embodiment exhibits significantly better obstacle avoidance ability. By way of explanation and not limitation, this may be because when the drive wheel mechanism of this embodiment faces obstacles of longer dimensions (including deformations), multiple supporting wheels exhibit better overall obstacle avoidance ability while ensuring the travel driving ability of the grouped travel driving wheels.

[0097] Referring to Figure 13 and Figure 14 , a drive wheel mechanism according to another embodiment of the present invention is shown. In Figure 13 and Figure 14 In the illustrated embodiment, the drive wheel mechanism 20 also includes a plurality of first lower supporting wheels 21, a plurality of second lower supporting wheels 22, and a plurality of third lower supporting wheels 23, a drive wheel 24, a driver 25, a first spring floating structure 27 and a second spring floating structure 28, and a plurality of transmission toothed belts for transmission (in Figure 13 andFigure 14 In the illustrated embodiments, some identical or similar components such as limit members, mounting members, and guide rods are omitted or truncated for better showing the differences). In Figure 13 and Figure 14 the illustrated embodiments, the first lower side support wheels 21 can also be grouped to form at least one traveling drive wheel group, and the drive wheel 24 is drivingly connected to at least one of the traveling drive wheel groups through a transmission belt. The traveling drive wheels in the same group are drivingly connected through a transmission belt. However, the difference is that in the embodiments as shown in Figure 13 and Figure 14 the illustrated embodiments, a plurality of lower side support wheels 21 (traveling drive wheels) are grouped to form a plurality of (two) traveling drive wheel groups. The traveling drive wheels in the same group are drivingly connected by the corresponding drive wheel 24 through transmission belts 262 and 263, and the traveling drive wheels 21 in different groups are independently driven by the drive wheel 24. There are a plurality of (two shown in the figure) drive wheels 24, including a main drive wheel directly connected to the driver 25 and at least one driven drive wheel drivingly connected to the main drive wheel through a transmission belt 261. Each drive wheel 24 is drivingly connected to a corresponding traveling drive wheel group. Accordingly, each drive wheel 24 includes a first tooth transmission portion 242' and a second tooth transmission portion 243'. In the illustrated embodiments, the drive wheel 24 can have two wheel bodies, and tooth transmission portions are provided on the outer peripheral surfaces of each wheel body. The wheel body of the main drive wheel can be fixedly connected to the drive shaft of the driver in a non-rotatable relative manner, and the wheel body of the driven drive wheel can be fixedly connected to the axle of the driven drive wheel in a non-rotatable relative manner. The axle of the driven drive wheel is then rotatably supported in a fixed base.

[0098] As shown in Figure 13 and Figure 14 the illustrated embodiments, the drive wheel mechanism 20 further includes a plurality of (such as two) tension wheels 29 corresponding to the plurality of traveling drive wheel groups. The tension wheels 29 tension the corresponding traveling drive wheel groups through transmission belts 262 and 263. Although not shown in the figure, in a preferred embodiment, a spring can be provided between the tension wheels 29 for adjacent traveling drive wheel groups, so that the tension balance between adjacent traveling drive wheel groups can be achieved.

[0099] Although not shown in the figure, in an alternative embodiment, a plurality of traveling drive wheels can be grouped to form a single traveling drive wheel group, and the drive wheel 24 synchronously drives and connects all the traveling drive wheels 21 in the single traveling drive wheel group through a single transmission belt 261.

[0100] In a further embodiment, the drive wheel mechanism 20 can further include a plurality of back side support wheels 41 configured to contact the back side of the corrugated guardrail, as shown in Figure 3 and Figure 4 the illustrated embodiments.

[0101] As shown in Figure 15As shown, the inspection robot 1 may further include an inspection mechanism 60. The housing 50 includes an inspection mechanism interface 51 located at the top of the housing. The inspection mechanism 60 is detachably mounted to the housing 50 through the inspection mechanism interface 51. The inspection mechanism 60 includes a bracket and an image acquisition device 63 mounted at the end of the bracket. The bracket may include a plurality of bracket segments, such as bracket segments 61 and 62. The bracket segments 61 and 62 may be pivotally connected to each other, so that the bracket segment 62 may form a cantilever. Optionally, the bracket, such as the bracket segment 61, may be telescopic. The telescopic and / or cantilever structure of the bracket is advantageous for... Figure 15 As shown, the bracket, such as the bracket segment 62, may further include an end pivot, so that the image acquisition device 63 may pivot between a horizontal image acquisition position and a top-down image acquisition position. This is advantageous for the inspection function. For example, relevant images of hooks, safety belts, and safety vests may be acquired at the horizontal image acquisition position, and relevant images of open fire gas sources (such as acetylene cylinders and oxygen cylinders) may be acquired at the top-down image acquisition position.

[0102] Here, it will be understood that the inspection robot of the embodiments of the present invention may be provided with or without an inspection mechanism. For example, in some embodiments, the inspection robot may not be provided with an inspection mechanism, and an inspection mechanism adapted to the inspection mechanism interface may be installed on the inspection robot as needed. In other embodiments, the inspection robot may be equipped with a variety of different inspection mechanisms (including but not limited to image acquisition devices). A variety of different inspection mechanisms may all be adapted to the inspection mechanism interface 51, which falls within the scope of the present invention.

[0103] Although the present invention has been described in detail above with general descriptions and specific embodiments, based on the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope protected by the present invention. In this article, multiple embodiments of the present invention are described. For the sake of brevity, the descriptions of each embodiment are not exhaustive, and the same or similar features or parts between the various embodiments may be omitted. In this article, "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean applicable to at least one embodiment or example according to the present invention, rather than all embodiments. The above terms do not necessarily mean referring to the same embodiment or example. Without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0104] Exemplary systems and methods of the present invention have been specifically shown and described with reference to the above embodiments, which are merely examples of the best mode for implementing the systems and methods. Those skilled in the art will understand that various changes can be made to the embodiments of the systems and methods described herein when implementing the systems and / or methods without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A bottom-supported inspection robot for corrugated guardrails, characterized in that: The inspection robot comprises a wave-shaped guide wheel mechanism, a drive wheel mechanism and a housing; Wherein, the waveform guide wheel mechanism is installed to the shell, the waveform guide wheel mechanism includes at least one group of waveform guide wheels, each group of waveform guide wheels is configured to roll along a waveform structure of the waveform guardrail, the waveform guide wheel is a magnetic wheel and includes a wheel body and a wheel axle, the wheel body forms a concave waveform profile matching the convex waveform structure of the waveform guardrail, the wheel body is provided with a first group of magnet bars located on a first side of the waveform profile and a second group of magnet bars located on a second side of the waveform profile, the first group of magnet bars and the second group of magnet bars are respectively arranged radially around the wheel axle, the first group of magnet bars are arranged parallel to the first side of the waveform profile, and the second group of magnet bars are arranged parallel to the second side of the waveform profile, the wheel body is provided with a third group of magnet bars located on the first side of the waveform profile and a fourth group of magnet bars located on the second side of the waveform profile, each magnet bar of the third group of magnet bars is stacked on the corresponding magnet bar of the first group of magnet bars and away from the side of the waveform profile, and each magnet bar of the fourth group of magnet bars is stacked on the corresponding magnet bar of the second group of magnet bars and away from the side of the waveform profile; Wherein, the driving wheel mechanism is installed to the shell, and the driving wheel mechanism includes a plurality of first lower side supporting wheels configured to contact the front rolling surface of the lower edge of the corrugated guardrail, a plurality of second lower side supporting wheels configured to contact the back rolling surface of the lower edge of the corrugated guardrail, and a plurality of third lower side supporting wheels configured to contact the side rolling line of the lower edge of the corrugated guardrail, wherein at least one of the plurality of first lower side supporting wheels and the plurality of second lower side supporting wheels is a walking driving wheel, thereby the inspection robot is held on the corrugated guardrail by clamping the three-side supporting structure of the first lower side supporting wheel, the second lower side supporting wheel and the third lower side supporting wheel to the lower edge of the corrugated guardrail; The inspection robot has no top mounting structure and is installed to the corrugated guardrail in a manner of being spaced apart from the upper edge of the corrugated guardrail.

2. The bottom support inspection robot for corrugated guardrail according to claim 1, characterized in that: The inspection robot further includes a plurality of back-side supporting wheels configured to contact the back side of the corrugated guardrail.

3. The bottom support inspection robot for corrugated guardrail according to claim 1, characterized in that: The at least one group of wave guide wheels includes a first group of wave guide wheels matching the upper wave structure of the wave guardrail, a second group of wave guide wheels matching the middle wave structure of the wave guardrail, and a third group of wave guide wheels matching the lower wave structure of the wave guardrail.

4. The bottom support inspection robot for corrugated guardrail according to claim 1, characterized in that: The plurality of first lower side supporting wheels are travel driving wheels, and the plurality of second lower side supporting wheels and the third lower side supporting wheel are travel idle wheels.

5. The bottom support inspection robot for corrugated guardrail according to claim 4, characterized in that: The number of the first lower supporting wheels is the same as the number of the second lower supporting wheels, so that each first lower supporting wheel is radially corresponding to one second lower supporting wheel.

6. The bottom support inspection robot for corrugated guardrail according to claim 4, characterized in that: The third lower supporting wheel is located at the front and rear ends of the first lower supporting wheel and the second lower supporting wheel respectively.

7. The bottom support inspection robot for corrugated guardrail according to claim 4, characterized in that: The driving wheel mechanism also includes a driver and a transmission wheel driven and connected by the driver.

8. The bottom support inspection robot for corrugated guardrail according to claim 5, characterized in that: The driving wheel mechanism further includes a first spring floating structure providing radial floating for the first lower supporting wheel and a second spring floating structure providing radial floating for the second lower supporting wheel.

9. The bottom support inspection robot for corrugated guardrail according to any one of claims 1 to 8, characterized in that: The inspection robot also includes an inspection mechanism. The housing includes an inspection mechanism interface located at the top of the housing, and the inspection mechanism is detachably mounted to the housing through the inspection mechanism interface. Wherein, the inspection mechanism includes a retractable and / or cantilever bracket and an image acquisition device installed at the end of the bracket.

Images