A magnetic wheel guided inspection robot for corrugated guardrails

Abstract

The present invention discloses a magnetically attracted magnetic wheel guided inspection robot for a corrugated guardrail, the inspection robot comprising a corrugated guide wheel mechanism, a driving wheel mechanism and a shell; wherein the corrugated guide wheel mechanism is mounted to the shell, the corrugated guide wheel mechanism comprises at least two groups of corrugated guide magnetic wheels, the corrugated guide magnetic wheels having a corrugated profile matching the corrugated structure of the corrugated guardrail, and each group of corrugated guide magnetic wheels is configured to roll along a corrugated structure of the corrugated guardrail; wherein the corrugated guide wheel mechanism also comprises at least one retaining magnet facing the corrugated structure of the corrugated guardrail and spaced apart from the corrugated structure; wherein the driving wheel mechanism is mounted to the shell, the driving wheel mechanism comprises a plurality of lower side supporting wheels configured to contact only the front rolling surface of the lower edge of the corrugated guardrail, wherein at least one of the plurality of lower side supporting wheels is a walking driving wheel; wherein the inspection robot is mounted to the corrugated guardrail in a manner spaced apart from the upper edge of the corrugated guardrail.

Description

Technical Field

[0001] The invention relates to the field of inspection robots, and in particular to a magnetic attraction type magnetic wheel guided inspection robot for corrugated guardrails. Background Art

[0002] At present, highway construction inspection methods mainly include manual inspection, fixed roadside inspection and mobile robot inspection. Manual inspection is time-consuming, labor-intensive and inefficient, and fixed roadside robots have limited coverage. With the advancement of technology, it has become a trend to use mobile inspection robots to replace manual work to complete high-risk tasks.

[0003] CN109514577A discloses a patrol robot that uses a crawler-type walking mechanism to move on the ground. This patrol robot may inappropriately invade a motor vehicle lane or a construction site, affecting road traffic or construction.

[0004] CN110497379A discloses a highway inspection robot that moves along a guardrail, the highway inspection robot includes a traveling device, a limiting device, a power generation device and an inspection device, the traveling device moves along the guardrail and includes at least two traveling mechanisms, the traveling mechanisms are flexibly connected by a latch, each traveling mechanism includes a traveling motor, a traveling frame, a roller, a first pulley, a second pulley, a driven shaft, a synchronous belt and a driving shaft, and the limiting device is respectively arranged on the top plate and the bottom plate of the traveling frame of each traveling mechanism; each limiting device includes a first side pressure wheel, a support frame, a second side pressure wheel and a support. However, the inspection robot needs to be provided with a limiting device located on the top plate and the bottom plate, the limiting device on the top plate may interfere with the guardrail column or the connection between the guardrail column and the guardrail, and the limiting device on the bottom plate will also occupy the space under the guardrail, affecting the practicality of the inspection robot.

[0005] In this regard, there is an urgent need for a patrol robot solution that can avoid the impact of guardrail posts on the patrol robot's movement and is widely applicable to various types of corrugated guardrails.

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

[0007] Therefore, an embodiment of the present invention intends to provide an inspection robot that can move along a corrugated guardrail without being affected by guardrail posts and can be applied to various types of corrugated guardrails.

[0008] In an embodiment of the present invention, a magnetic wheel guided inspection robot for a corrugated guardrail is provided, the inspection robot comprising a corrugated guide wheel mechanism, a drive wheel mechanism and a housing;

[0009] Wherein, the waveform guide wheel mechanism is mounted to the housing, the waveform guide wheel mechanism comprises at least two groups of waveform guide magnetic wheels, the waveform guide magnetic wheels have a waveform profile matching the waveform structure of the waveform guardrail, and each group of waveform guide magnetic wheels is configured to roll along one waveform structure of the waveform guardrail;

[0010] Wherein, the wave-shaped guide wheel mechanism further comprises at least one retaining magnet facing the wave-shaped structure of the wave-shaped guardrail and spaced apart from the wave-shaped structure;

[0011] wherein the driving wheel mechanism is mounted to the housing, the driving wheel mechanism comprising a plurality of lower side supporting wheels configured to contact only the front rolling surface of the lower edge of the corrugated guardrail, wherein at least one of the plurality of lower side supporting wheels is a traveling driving wheel;

[0012] Wherein, the inspection robot is installed on the corrugated guardrail in a manner of being spaced apart from the upper edge of the corrugated guardrail.

[0013] Optionally, the waveform guide magnetic wheel includes a magnetic wheel body and a wheel axle, and 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 are arranged in the magnetic wheel body, wherein the first group of magnet bars and the second group of magnet bars are respectively arranged radially at intervals around the wheel axle of the waveform guide magnetic wheel.

[0014] Optionally, the first group of magnet bars and the second group of magnet bars are installed in the wheel body at an angle relative to the wheel axle, so that 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.

[0015] Optionally, the at least two groups of waveform guide magnetic wheels include a first group of waveform guide magnetic wheels matching the upper waveform structure of the waveform guardrail and a second group of waveform guide magnetic wheels matching the lower waveform structure of the waveform guardrail;

[0016] Wherein, the at least one retaining magnet includes a first retaining magnet aligned with the upper corrugated structure, a second retaining magnet aligned with the middle corrugated structure of the corrugated guardrail, and a third retaining magnet aligned with the lower corrugated structure.

[0017] Optionally, the first retaining magnet is disposed between adjacent waveform guide magnetic wheels of the first group of waveform guide magnetic wheels, and the third retaining magnet is disposed between adjacent waveform guide magnetic wheels of the second group of waveform guide magnetic wheels.

[0018] Optionally, the magnetic force provided by the first group of waveform guide magnetic wheels and the first retaining magnet is greater than the magnetic force provided by the second group of waveform guide magnetic wheels and the third retaining magnet, and the magnetic force provided by the second group of waveform guide magnetic wheels and the third retaining magnet is greater than the magnetic force provided by the second retaining magnet.

[0019] Optionally, the driving wheel mechanism further includes a driver and a transmission wheel driven by the driver.

[0020] Optionally, the driving wheel mechanism further comprises a spring floating structure for providing radial floating for the lower supporting wheel.

[0021] Optionally, the drive wheel mechanism is configured not to extend beyond the side of the lower edge of the corrugated guardrail.

[0022] Optionally, the inspection robot further includes an inspection mechanism.

[0023] 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.

[0024] Wherein, the inspection mechanism includes a retractable and / or cantilever bracket and an image acquisition device installed at the end of the bracket.

[0025] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0026] 1. The waveform guide magnetic wheel of the waveform guide wheel mechanism is matched with the waveform structure of the waveform guardrail to guide the movement. When the driving wheel mechanism does not have the ability to hold the edge of the waveform guardrail, the holding magnet (and the waveform guide magnetic wheel) of the waveform guide wheel mechanism is set and the holding magnet (and the waveform guide magnetic wheel) is reasonably configured, so that the inspection robot can be magnetically held on the waveform guardrail. The inspection robot of the embodiment of the present invention can stably move along the waveform guardrail during the inspection process, thereby realizing efficient operation of the inspection robot.

[0027] At the same time, the magnetic holding design also enables the inspection robot according to the embodiment of the present invention to omit any back clamping structure for holding the inspection robot, and preferably enables the inspection robot to be installed in a manner that the side does not extend beyond the lower edge of the corrugated guardrail. This design further increases the range of corrugated guardrails applicable to the inspection robot according to the embodiment of the present invention, and is particularly suitable for corrugated guardrails that are directly connected to guardrail posts.

[0028] 2. The inspection robot is held by a magnetic holding structure, and the driving wheel mechanism is set at the lower edge of the corrugated guardrail. The inspection robot is installed at a distance from the top of the guardrail, thereby avoiding interference from the guardrail column or the connection between the guardrail column and the guardrail. The operation of the inspection robot along the corrugated guardrail is greatly improved. This design greatly improves the practicality and applicability of the inspection robot.

[0029] Therefore, the inspection robot of the embodiment of the present invention can not only be spaced apart from the top upper edge of the corrugated guardrail, but can even be installed in a manner that does not extend beyond the side of the lower edge of the corrugated guardrail as described above, thereby realizing the installation of the inspection robot of the embodiment of the present invention only on a single side (front) of the corrugated guardrail.

[0030] 3. The walking drive function is realized by a driving wheel mechanism installed on the lower edge of the corrugated guardrail, and the walking drive function is decoupled from the corrugated guide wheel mechanism guided along the corrugated structure, thereby avoiding the force difference between the wheels when the corrugated guide magnetic wheel is driven, and ensuring the guiding effect of the corrugated guide magnetic wheel along the corrugated structure, thereby further improving the stability of the inspection robot operation.

[0031] 4. The waveform guide magnetic wheel, especially in combination with the radial magnetic strip design, not only improves the friction force of the waveform guide magnetic wheel when it moves along the waveform structure, thereby improving the holding force of the waveform guide magnetic wheel on the waveform structure, but also the lateral magnetic holding force of the magnetic wheel enhances the ability of the waveform guide magnetic wheel to roll and return correctly along the waveform structure, ensuring the stability of the inspection robot when it is running at the deformation part or connection part of the waveform structure.

[0032] Furthermore, by arranging the radial magnetic strips to be substantially parallel to the corrugated profile and thus substantially parallel to the corrugated structure of the corrugated guardrail, a wedge force can be provided for the corrugated guide magnetic wheel, which is beneficial to maintaining the correct guidance of the magnetic wheel.

[0033] 5. The inspection mechanism adopts a modular and detachable design, and realizes flexible task switching and convenient maintenance through the inspection mechanism interface on the top of the shell. It not only improves the functional scalability of the inspection robot, but also simplifies maintenance work, further improving the practicality and operational convenience of the inspection robot.

[0034] It will be understood that various embodiments of the present invention may only achieve some of the above-mentioned technical effects, but not all of the above-mentioned technical effects, and it is not excluded that various embodiments of the present invention also have additional optional features and technical effects. Other optional features and technical effects of the embodiments of the present invention are partially described below, and partially understood by reading this article. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The elements shown are not limited to the proportions shown in the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements, wherein:

[0036] Figures 1A to 1C Schematic side views of various corrugated guardrails are shown;

[0037] Figure 2 A schematic stereogram showing a magnetic wheel guided inspection robot according to an embodiment of the present invention being installed on a corrugated guardrail;

[0038] Figure 3 A schematic side view of a magnetic wheel guided inspection robot according to an embodiment of the present invention being installed on a corrugated guardrail is shown, wherein the housing is removed to show the internal structure;

[0039] Figure 4 A schematic structural diagram of a magnetic wheel guided inspection robot according to an embodiment of the present invention is shown;

[0040] Figure 5 A schematic structural diagram of a waveform guide magnetic wheel group of a waveform guide wheel mechanism of a magnetic wheel guide inspection robot according to an embodiment of the present invention is shown;

[0041] Figure 6 A schematic structural diagram of a waveform guide magnetic wheel of a waveform guide wheel mechanism of a magnetic wheel guide inspection robot according to an embodiment of the present invention is shown;

[0042] Figure 7 A schematic structural diagram of a waveform guide magnetic wheel of a waveform guide wheel mechanism of a magnetic wheel guide inspection robot according to an embodiment of the present invention is shown, wherein the magnetic wheel body of the waveform guide magnetic wheel is removed to show the internal structure;

[0043] Figure 8 A cross-sectional view of a waveform guide magnetic wheel of a waveform guide wheel mechanism of a magnetic wheel guide inspection robot according to an embodiment of the present invention is shown;

[0044] Fig. 9 A schematic structural diagram of a driving wheel mechanism of a magnetic wheel guided inspection robot according to an embodiment of the present invention is shown;

[0045] Fig.10 Shows Fig. 9 A partially exploded view of the drive wheel mechanism of the magnetic wheel guided inspection robot of the illustrated embodiment; and

[0046] Fig.11 A schematic structural diagram of a driving wheel mechanism of a magnetic wheel guided inspection robot according to another embodiment of the present invention is shown;

[0047] Fig.12A schematic structural diagram of a driving wheel mechanism of a magnetic wheel guided inspection robot according to another embodiment of the present invention is shown; and

[0048] Fig.13 A schematic structural diagram of a magnetic attraction type magnetic wheel guided inspection robot for corrugated guardrails according to an embodiment of the present invention is shown, wherein an inspection mechanism installed on the top of the shell is shown.

[0049] In this disclosure, the same or similar reference numerals are used to indicate the same or similar features or components.

[0050] Description of reference numerals:

[0051] 1-Inspection robot;

[0052] 10- wave guide wheel mechanism;

[0053] 11-waveform guide magnetic wheel; 110-magnetic wheel body; 111-wheel axle; 112-first magnetic strip; 113-second magnetic strip; 114-third magnetic strip; 115-fourth magnetic strip; 116-end cover; 117-end cover;

[0054] 12-Stand;

[0055] 13-a first group of waveform guide magnetic wheels; 14-a second group of waveform guide magnetic wheels;

[0056] 16-first holding magnet; 17-second holding magnet; 18-third holding magnet;

[0057] 20- driving wheel mechanism;

[0058] 21-lower side supporting wheel (travel driving wheel); 210-wheel body; 211-wheel axle; 212-first gear transmission part; 213-second gear transmission part;

[0059] 24-transmission wheel; 242-tooth transmission part; 242'-first tooth transmission part; 243'-second tooth transmission part;

[0060] 25-Driver;

[0061] 261- transmission toothed belt; 262- transmission toothed belt; 263- transmission toothed belt; 264- transmission toothed belt;

[0062] 27-spring floating mechanism; 271-floating block; 272-first spring; 273-spring guide pin; 274-limiting member; 275-mounting member; 276-guide rod; 2761-limiting flange; 277-second spring;

[0063] 29- tension wheel;

[0064] 50-housing; 51-interface;

[0065] 60-inspection mechanism; 61-bracket segment; 62-bracket segment; 63-image acquisition device;

[0066] L-guardrail, L1-upper wave structure, L2-middle wave structure, L3-lower wave structure;

[0067] P-Guardrail Post. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific implementation methods and drawings. Here, the exemplary implementation methods of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0069] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0070] The present invention is further described below in conjunction with the embodiments and drawings. The specific embodiments are only used to further illustrate the present invention in detail and do not limit the protection scope of the claims of the present invention.

[0071] In multiple embodiments of the present invention, a patrol robot for roads is provided. More specifically, an embodiment of the present invention provides a magnetic suction type magnetic wheel guided patrol robot for corrugated guardrails. Here, it will be understood that the patrol robot provided by the embodiment of the present invention can be widely used in various roads, as long as the road side has corrugated guardrails. In an exemplary embodiment, the road is a highway. Here, it will be understood that the patrol robot provided by the embodiment of the present invention can be applied to different scenes of roads, such as highways, including but not limited to new road / highway scenes (as long as the corrugated guardrails have been built), road / highway reconstruction and expansion scenes, and road / highway scenes that have been put into use. In the following multiple exemplary embodiments, the patrol robot according to the embodiment of the present invention will be described in conjunction with the highway reconstruction and expansion scene. However, as mentioned above, the patrol robot according to the embodiment of the present invention can be applied to other road scenes with corrugated guardrails, for example, the patrol robot according to the embodiment of the present invention can be used to patrol the side of the highway that has been opened to traffic to confirm traffic safety or road violations.

[0072] Several embodiments of the present invention will be described below with reference to the accompanying drawings.

[0073] refer to Figures 1A to 1C , shows a schematic diagram of a road corrugated guardrail L, which is a three-wave guardrail. Figures 1A to 1C As shown, the corrugated guardrail L can be supported by the guardrail column P, and the corrugated guardrail L is constructed 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 ).

[0074] 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. Figure 1A The corrugated guardrail L shown is connected to the guardrail post P through a connecting portion, and the height of the connecting portion is relatively small, so that a relatively large back space of the corrugated guardrail is formed between the corrugated guardrail L and the guardrail post P and below the connecting portion. Figure 1B The corrugated guardrail L shown is connected to the guardrail post P through a connecting portion, and the height of the connecting portion is relatively large, so that a relatively small back space of the corrugated guardrail is formed between the corrugated guardrail L and the guardrail post P and below the connecting portion. Figure 1C The corrugated guardrail L shown is directly connected to the guardrail post P, so that there is almost no corrugated guardrail back space between the corrugated guardrail L and the guardrail post P.

[0075] The following will Figures 1A to 1C The inspection robot according to the embodiment of the present invention is described by taking the corrugated guardrail shown as an example.

[0076] Combined with reference Figures 2 to 4 , shows a magnetic attraction type magnetic wheel guided inspection robot 1 for corrugated guardrail according to an embodiment of the invention.

[0077] like Figures 2 to 4 As shown, the inspection robot 1 according to the embodiment of the present invention includes a wave-shaped guide wheel mechanism 10 , a driving wheel mechanism 20 and a housing 50 .

[0078] Combined with reference Figures 2 to 5 The wave-shaped guide wheel mechanism 10 is mounted to the housing 50. The wave-shaped guide wheel mechanism 10 includes at least two sets of wave-shaped guide magnetic wheels, each set of wave-shaped guide magnetic wheels 11 being configured to roll along a wave-shaped structure of the wave-shaped guardrail L. Figure 4 and Figure 5 As shown, each wave-shaped guide magnetic wheel 11 has a wave-shaped profile matching the wave-shaped structure of the wave-shaped guardrail L. More specifically, each group of wave-shaped guide magnetic wheels (wave-shaped guide magnetic wheel group) may include a plurality of (eg, 2) wave-shaped guide magnetic wheels 11 and a bracket 12 supporting the wave-shaped guide magnetic wheels 11 .

[0079] like Figure 3 and Figure 4As shown, the waveform guide wheel mechanism 10 includes two groups of waveform guide magnetic wheels (two waveform guide magnetic wheel groups), wherein the first group of waveform guide magnetic wheels 13 matches the upper waveform structure L1 of the waveform guardrail L, and the second group of waveform guide magnetic wheels 14 matches the lower waveform structure L3 of the waveform guardrail L.

[0080] like Figure 3 and Figure 4 As shown, the wave guide wheel mechanism 10 further includes at least one (e.g., three) retaining magnets facing the wave structure of the wave guardrail and spaced apart from the wave structure, such as a first retaining magnet 16 aligned with the upper wave structure, a second retaining magnet 17 aligned with the middle wave structure of the wave guardrail, and a third retaining magnet 18 aligned with the lower wave structure. Figure 4 The first retaining magnet 16 is disposed between the first group of wave-shaped guide magnetic wheels 13 , and the third retaining magnet 18 is disposed between the second group of wave-shaped guide magnetic wheels 14 .

[0081] Combined with reference Figures 6 to 8 , shows the waveform guide magnetic wheel 11 of the waveform guide wheel mechanism of the inspection robot according to an embodiment of the present invention. Figures 6 to 8 As shown, the wave-shaped guide magnetic wheel 11 may include a magnetic wheel body 110 and a wheel shaft 111. Figure 3 and Figure 6 As shown, a concave corrugated profile matching the convex corrugated structure of the corrugated guardrail is formed in the magnetic wheel body 110, so that the corrugated guide magnetic wheel 11 can be well guided along the convex corrugated structure.

[0082] like Figures 6 to 8 As shown, the wave-shaped guide magnetic wheel 11 may further include end caps 116 and 117, which cover both ends of the magnetic wheel body 110. Figure 7 and Figure 8 As shown, a first group of magnet bars 112 located on a first side of the waveform profile and a second group of magnet bars 113 located on a second side of the waveform profile are arranged in the magnetic wheel body 110, and the first group of magnet bars 112 and the second group of magnet bars 113 are radially spaced around the axle 111 of the waveform guide magnetic wheel 11. The first group of magnet bars 112 and the second group of magnet bars 113 can be installed in the magnetic wheel body 110 at an angle 111 relative to the axle, so that the first group of magnet bars 112 is arranged parallel to the first side of the waveform profile, and the second group of magnet bars 113 is arranged parallel to the second side of the waveform profile. Continue to refer to Figures 3 to 5, the magnetic forces corresponding to the three waveform structures L1, L2 and L3 can be set differently. Preferably, the magnetic force provided by the first group of waveform guide magnetic wheels and the first retaining magnet is greater than the magnetic force provided by the second group of waveform guide magnetic wheels and the third retaining magnet, and the magnetic force provided by the second group of waveform guide magnetic wheels and the third retaining magnet is greater than the magnetic force provided by the second retaining magnet. As an explanation but not limitation, this can effectively ensure the retention ability of the inspection robot.

[0083] As a preferred structure, Figure 8 As shown, a third group of magnet strips 114 located on the first side of the wave profile and a fourth group of magnet strips 115 located on the second side of the wave profile are provided in the magnetic wheel body 110. Figure 8 As shown, each magnet bar in the third group of magnet bars 114 is stacked on the corresponding magnet bar in the first group of magnet bars 112 and away from the side of the wavy profile. Each magnet bar in the fourth group of magnet bars 115 is stacked on the corresponding magnet bar in the second group of magnet bars 113 and away from the side of the wavy profile. Figure 8 As shown, the magnet bars in the third group of magnet bars 114 are shorter than the magnet bars in the first group of magnet bars 112; the magnet bars in the fourth group of magnet bars 115 are shorter than the magnet bars in the second group of magnet bars 113. Figure 8 As shown, the first group of magnet bars 112 and the optional third group of magnet bars 114 are placed in the grooves formed in the end cap 116; the second group of magnet bars 113 and the optional fourth group of magnet bars 115 are placed in the grooves formed in the end cap 117. In an embodiment of the present invention, the retaining magnets and magnet bars can be neodymium magnets or neodymium iron boron magnets. In a specific example, the retaining magnets and magnet bars are N52 neodymium magnets. However, it is understood that those skilled in the art can select other types of magnets according to needs, which falls within the scope of the present invention.

[0084] Combination Figure 3 and Figure 4 And refer to Fig. 9 and Fig.10 , shows a driving wheel mechanism according to an embodiment of the present invention.

[0085] Figure 3 and Figure 4 As shown, the drive wheel mechanism 20 can be mounted to the housing 50. The drive wheel mechanism 20 may include a plurality of lower support wheels 21 configured as travel drive wheels. Figure 3 and Figure 4As shown, the lower support wheel 21 is in contact with the front rolling surface of the lower edge of the corrugated guardrail L only. Therefore, in the embodiment of the present invention, the lower support wheel does not have the ability to clamp or hold. In other words, the inspection robot of the embodiment of the present invention is neither supported on the guardrail by the ground, nor can it be held on the corrugated guardrail by means of a driving wheel mechanism (lower support wheel). In this case, the inspection robot of the present invention only holds the inspection robot on the corrugated guardrail by the magnetic holding ability of the corrugated guide wheel mechanism. Such a structure enables the inspection robot according to the embodiment of the present invention to omit any dorsal clamping structure for holding the inspection robot, that is, to allow the inspection robot to be installed on one side without extending to the back side of the guardrail, further improving the range of applicable corrugated guardrails of the inspection robot of the embodiment of the present invention, especially corrugated guardrails suitable for direct connection with guardrail posts.

[0086] like Fig. 9 and Fig.10 As shown, the driving wheel mechanism 20 also includes a driver 25 and a transmission wheel 24 connected by the driver 25, which is used to drive the lower support wheel 21 configured as a travel driving wheel. Fig.10 As shown, the lower supporting wheel 21 (travel driving 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.

[0087] like Fig. 9 and Fig.10 As shown, a plurality of lower support wheels 21 (travel driving wheels) are configured to be arranged in parallel in the traveling direction.

[0088] like Fig. 9 and Fig.10 As shown, the lower support wheels 21 can be arranged in groups to form at least one travel drive wheel group, 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 transmission toothed belts 262, 263, and 264 (such as Fig.10 More specifically, Fig. 9 and Fig.10 As shown, multiple lower support wheels 21 (travel driving wheels) are arranged in groups to form multiple (3) travel driving wheel groups (two travel driving wheels in each group) that are linked in series. The transmission wheel 24 is connected to the starting travel driving wheel of the first series travel driving wheel group through a transmission toothed belt 261. The end travel driving wheel of each travel driving wheel group constitutes the starting travel driving wheel of the next series travel driving wheel group. Fig. 9 and Fig.10 As shown, the transmission wheel 24 may include at least one tooth transmission portion 242. Fig.10 The middle transmission wheel 24 is driven from Fig. 9 The mounting position shown is removed to better show the gear transmission portion 242, as shown in FIG. Fig.10 As shown, the gear transmission part 242 can be arranged on the outer peripheral surface of the transmission wheel 24. Fig. 9 and Fig.10 As shown, the lower support wheel 21 (travel driving wheel) may further include at least one (for example, two) tooth transmission parts arranged on the wheel axle 211. Specifically, as Fig. 9 and Fig.10 As shown, except for the end travel driving wheel of the last series travel driving wheel group which only includes a single tooth transmission part (second tooth transmission part 213), the wheel axles 211 of the remaining lower support wheels 21 (travel driving wheels) may include a first tooth transmission part 212 and a second tooth transmission part 213. In the embodiment shown, the first tooth transmission part 212 provided on the lower support wheel 21 (travel driving wheel) can be used to drive the other (downstream) lower support wheels 21 (travel driving wheels) of the same group through a transmission toothed belt, and the second tooth transmission part 213 can be driven by the transmission wheel 24 or the other (upstream / starting) lower support wheels 21 (travel driving wheels) of the same group through a transmission toothed belt.

[0089] Continue to refer Fig. 9 and Fig.10 The driving wheel mechanism 20 may further include a spring floating structure 27 for providing radial floating for the lower supporting wheel 21 (travel driving wheel).

[0090] like Figures 9 and 10 As shown, the spring floating structure 27 includes a plurality of floating blocks 271, a plurality of first springs 272, a limiting member 274 and a guide rod 276 having a limiting flange 2761. Each floating block 271 supports a lower support wheel 21 (travel driving wheel), more specifically, supports the axle 211 of the lower support wheel 21 (travel driving wheel). Accordingly, the floating block 271 may be provided with an axle hole (not marked) for accommodating the axle 211. Each floating block 271 is movably supported on the limiting flange 2761 of the guide rod 276 along the guide rod 276. Figures 9 and 10 In the illustrated embodiment, the stopper 274 is fixedly installed. At least one (e.g., two) first springs 272 may be disposed between each floating block 271 and the stopper 274. More specifically, the first springs 272 may be accommodated in spring holes (not marked) in the floating block 271 and the stopper 274, respectively. Figures 9 and 10 As shown, the spring floating structure 27 may further include a spring guide pin 273 fixedly mounted to the floating block 271 and / or the stopper 274, and the spring guide pin 273 extends through the first spring 272 to guide the elastic expansion and contraction of the first spring 272. In the embodiment shown, the spring guide pin 273 extends through the through hole of the stopper 274 and is fixed to the spring hole of the floating block 271. In addition, the spring floating structure 27 may further include a mounting member 275 located at the end of the guide rod 276, which may be used to maintain the structural stability of the spring floating structure 27.

[0091] Combined with reference to Figure 1 to Figure 3 as well as Figures 9 and 10 By arranging the driving wheel mechanism at the lower edge of the corrugated guardrail, the inspection robot can be installed at a distance from the top of the guardrail, that is, without a top mounting structure, thereby avoiding interference between the top mounting structure and the guardrail column and the guardrail connection portion shown in FIG. 1. Furthermore, the driving wheel mechanism is configured to substantially not extend beyond the side of the lower edge of the corrugated guardrail. In combination with the above-mentioned installation at a distance from the top of the guardrail, the inspection robot of the embodiment of the present invention is installed only on one side (front) of the corrugated guardrail, such as Figure 3 Such a design is also advantageous in that it can be more widely applied to various corrugated guardrails, for example, the structure can be applied not only to Figure 1A The corrugated guardrail shown has a larger back space and can be used for Figure 1B The corrugated guardrail shown has a small back side and can even be used for Figure 1C The corrugated guardrail shown in the guardrail post and the corrugated guardrail connection part has no back space. Here, people will understand that the embodiment of the present invention can be very advantageously installed in the mode of no ground installation and even no back installation for the inspection robot of the corrugated guardrail.

[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 lower supporting wheels as the walking driving wheels in groups can help the walking supporting wheels 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 lower support wheel is 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 Fig.11 , shows a driving wheel mechanism according to another embodiment of the present invention. Fig.11In the illustrated embodiment, the driving wheel mechanism 20 also includes a plurality of lower supporting wheels 21, a driving wheel 24, a driver 25, a spring floating structure 27, and a plurality of transmission toothed belts for transmission. Fig.11 In the embodiment shown, the 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 transmission toothed belts 262, 263, and 264. Fig.11 The embodiment shown is Fig. 9 and Fig.10 The difference between the illustrated embodiment is that the stopper 274 is not fixedly installed, but can be installed movably along the guide rod, and a second spring 277 is arranged between the stopper 274 and the mounting member 275, thereby providing a radial secondary spring floating capacity for the lower support wheel 21 (travel driving wheel), and the secondary spring floating is an integral floating for multiple lower support wheels 21 (travel driving wheels), rather than a floating for a single lower support wheel 21 (travel driving wheel). Here, the stopper 274 constitutes a main stopper, and the mounting member 275 constitutes a secondary stopper. In a more preferred embodiment, the second spring 277 can have a significantly greater spring force than the first spring 272, and preferably a corresponding second spring is arranged corresponding to the first spring arranged for each floating block, and the spring force of the corresponding second spring is significantly greater than the spring force of the corresponding first spring.

[0095] Fig.11 The driving wheel mechanism of the embodiment shown shows significantly better obstacle avoidance capability. As an explanation but not limitation, this may be because the driving wheel mechanism of the embodiment shows better overall obstacle avoidance capability when facing longer obstacles (including deformation) while ensuring the travel drive capability of the grouped travel drive wheels.

[0096] refer to Fig.12 , shows a driving wheel mechanism according to another embodiment of the present invention. Fig.12 In the illustrated embodiment, the driving wheel mechanism 20 also includes a plurality of lower support wheels 21, a driving wheel 24, a driver 25, a spring floating structure 27, and a plurality of transmission toothed belts for transmission (in Fig.12 In the illustrated embodiment, some identical or similar components such as guide rods are omitted or truncated to better show the differences). Fig.12 In the embodiment shown, the 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, and the travel drive wheels in the same group are connected through a transmission toothed belt. Fig.12In the illustrated embodiment, a plurality of lower support wheels 21 (travel driving wheels) are arranged in groups to form a plurality of (two) travel driving wheel groups. The travel driving wheels in the same group are connected to the corresponding transmission wheels 24 through transmission toothed belts 262 and 263, and the travel driving wheels 21 in different groups are driven independently by the transmission wheels 24. There are a plurality of transmission wheels 24 (two in the figure), including a main transmission wheel directly connected to the driver 25 and at least one slave transmission wheel connected to the main transmission wheel through a transmission toothed belt 261. Each transmission wheel 24 is connected to the corresponding travel driving wheel group. Accordingly, each transmission wheel 24 includes a first gear transmission part 242' and a second gear transmission part 243'. In the illustrated embodiment, the transmission wheel 24 may have two wheel bodies, and the outer peripheral surface of each wheel body is provided with a gear transmission part. The wheel body of the main transmission wheel may be fixedly connected to the drive shaft of the driver in a non-rotatable manner, and the slave transmission wheel may be fixedly connected to the wheel shaft of the slave transmission wheel in a non-rotatable manner. The wheel shaft of the slave transmission wheel is in turn supported in a fixed base in a rotatable manner.

[0097] like Fig.12 As shown, the driving wheel mechanism 20 further includes a plurality of (e.g., two) tensioning wheels 29 corresponding to the plurality of travel driving wheel sets, and the tensioning wheels 29 tension the corresponding travel driving wheel sets through transmission toothed belts 262, 263. Although not shown in the figure, in a preferred embodiment, springs may be provided between the tensioning wheels 29 for adjacent travel driving wheel sets, so that tension balance of adjacent travel driving wheel sets can be achieved.

[0098] Although not shown in the figures, in an alternative embodiment, a plurality of travel driving wheels may be arranged in groups to form a single travel driving wheel set, and the transmission wheel is synchronously connected to all the travel driving wheels in the single travel driving wheel set via a single transmission toothed belt.

[0099] like Fig.13 As shown, the inspection robot 1 may further include an inspection mechanism 60, the shell 50 includes an inspection mechanism interface 51 located at the top of the shell, and the inspection mechanism 60 is detachably mounted to the shell 50 through the inspection mechanism interface 51. The inspection mechanism 60 includes a bracket and an image acquisition device 63 installed at the end of the bracket. The bracket may include a plurality of bracket segments, such as bracket segments 61 and 62, and the bracket segments 61 and 62 may be pivotally connected, so that the bracket segment 62 may form a cantilever. Optionally, the bracket, such as the bracket segment 61, may be retractable. The retractable and / or cantilever structure of the bracket is advantageous for. As Fig.13As shown, the bracket, such as the bracket segment 62, may also include an end pivot, so that the image acquisition device 63 can pivot between a horizontal image acquisition position and a top view image acquisition position. This is advantageous for the inspection function, for example, images related to hooks, safety belts, and safety clothing can be acquired in the horizontal image acquisition position, and images related to open flame gas sources (such as acetylene cylinders and oxygen cylinders) can be acquired in the top view image acquisition position.

[0100] Here, it will be understood that the inspection robot of the embodiment 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 to the inspection robot as required. In other embodiments, the inspection robot may be equipped with a variety of different inspection mechanisms (including but not limited to image acquisition devices), and a variety of different inspection mechanisms may be adapted to the inspection mechanism interface 51, which falls within the scope of the present invention.

[0101] The technical solutions protected by the present invention are not limited to the above-mentioned embodiments. It should be pointed out that the combination of the technical solutions of any embodiment with the technical solutions of one or more other embodiments is within the protection scope of the present invention.

[0102] Although the present invention has been described in detail above with general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to it on the basis of the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed in the present invention. In this article, multiple embodiments of the present invention are described, but for the sake of simplicity, the description of each embodiment is not exhaustive, and the same or similar features or parts between the embodiments may be omitted. In this article, "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" are meant to be applicable to at least one embodiment or example according to the present invention, but not all embodiments. The above terms do not necessarily mean to refer to the same embodiment or example. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0103] The 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 modes for implementing the present systems and methods. It will be appreciated by those skilled in the art that various changes may be made to the embodiments of the systems and methods described herein when implementing the present systems and / or methods without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A magnetic wheel guided 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 mounted to the housing, the waveform guide wheel mechanism comprises at least two groups of waveform guide magnetic wheels, the waveform guide magnetic wheels have a waveform profile matching the waveform structure of the waveform guardrail, and each group of waveform guide magnetic wheels is configured to roll along one waveform structure of the waveform guardrail; Wherein, the wave-shaped guide wheel mechanism further comprises at least one retaining magnet facing the wave-shaped structure of the wave-shaped guardrail and spaced apart from the wave-shaped structure; wherein the driving wheel mechanism is mounted to the housing, the driving wheel mechanism comprising a plurality of lower side supporting wheels configured to contact only the front rolling surface of the lower edge of the corrugated guardrail, wherein at least one of the plurality of lower side supporting wheels is a traveling driving wheel; The at least two groups of wave-shaped guide magnetic wheels include a first group of wave-shaped guide magnetic wheels matching the upper wave-shaped structure of the wave-shaped guardrail and a second group of wave-shaped guide magnetic wheels matching the lower wave-shaped structure of the wave-shaped guardrail; Wherein, the at least one holding magnet comprises a first holding magnet aligned with the upper wave structure, a second holding magnet aligned with the middle wave structure of the wave guardrail, and a third holding magnet aligned with the lower wave structure; The inspection robot is not supported by the ground, but is unilaterally mounted to the corrugated guardrail in a manner of being spaced apart from the upper edge of the corrugated guardrail and not extending to the back side of the corrugated guardrail, and moves along the corrugated guardrail.

2. The magnetic wheel guided inspection robot according to claim 1 is characterized in that: The waveform guide magnetic wheel includes a magnetic wheel body and a wheel axle, in which 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 are arranged, wherein the first group of magnet bars and the second group of magnet bars are respectively arranged radially and spaced around the wheel axle of the waveform guide magnetic wheel.

3. The magnetic wheel guided inspection robot according to claim 2 is characterized in that: The first group of magnet bars and the second group of magnet bars are installed in the magnetic wheel body at an angle relative to the wheel axle, so that the first group of magnet bars are arranged parallel to the first side of the wavy profile, and the second group of magnet bars are arranged parallel to the second side of the wavy profile.

4. The magnetic wheel guided inspection robot according to claim 1, characterized in that: The first retaining magnet is disposed between adjacent waveform guide magnetic wheels of the first group of waveform guide magnetic wheels, and the third retaining magnet is disposed between adjacent waveform guide magnetic wheels of the second group of waveform guide magnetic wheels.

5. The magnetic wheel guided inspection robot according to claim 1, characterized in that: The magnetic force provided by the first group of waveform guide magnetic wheels and the first retaining magnet is greater than the magnetic force provided by the second group of waveform guide magnetic wheels and the third retaining magnet, and the magnetic force provided by the second group of waveform guide magnetic wheels and the third retaining magnet is greater than the magnetic force provided by the second retaining magnet.

6. The magnetic wheel guided inspection robot according to claim 1, characterized in that: The driving wheel mechanism also includes a driver and a transmission wheel driven and connected by the driver.

7. The magnetic wheel guided inspection robot according to claim 6, characterized in that: The driving wheel mechanism also includes a spring floating structure for providing radial floating for the lower supporting wheel.

8. The magnetic wheel guided inspection robot according to any one of claims 1 to 7, characterized in that: The drive wheel mechanism is configured not to extend beyond the side of the lower edge of the corrugated guardrail.

9. The magnetic wheel guided inspection robot according to any one of claims 1 to 7, 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.

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