Monitoring robot moving on highway guardrail

Abstract

The invention discloses a monitoring robot moving on an expressway guardrail, and relates to the technical field of expressways, the monitoring robot comprises a guardrail mechanism, the guardrail mechanism comprises a guardrail stand column and a guardrail, the front side of the guardrail stand column is provided with a transverse guardrail, the front side of the guardrail is provided with a groove with the section being an isosceles trapezoid, and the guardrail stand column is connected with the groove. The robot further comprises a torsion rack, a guardrail groove advancing mechanism, a guardrail anti-falling mechanism, a monitoring control mechanism and a robot shell, the torsion rack comprises machine frame plates and a torsion reset assembly, and the two ends of the torsion reset assembly are connected with the two machine frame plates correspondingly; according to the monitoring robot moving on the highway guardrail, a mechanism for crossing the guardrail stand column does not need to be considered, deformation of the guardrail cannot hinder advancing of the monitoring robot, the guardrail groove advancing mechanism cannot be affected by bolts at the installation positions of the guardrail and the guardrail stand column, and it can be ensured that the monitoring robot stably advances along the guardrail.

Description

Technical Field

[0001] The invention relates to the technical field of expressways, in particular to a monitoring robot moving on an expressway guardrail. Background Art

[0002] Highway traffic monitoring is to understand and grasp the traffic conditions on the highway in real time, so as to provide accurate road information. Cameras are set up on the highway, and the highway traffic conditions can be monitored in real time through the video monitoring system. Generally, highway traffic monitoring is set at fixed points, which means that only the traffic conditions in specific areas can be monitored, and there are some blind spots.

[0003] In order to solve the problem of blind spots in fixed-point monitoring on highways, a Chinese patent with authorization announcement number CN117817691B discloses a monitoring robot that moves on highway guardrails, including: a battery housing, a controller, a mounting top plate, a movable limit mechanism, an outer driving mechanism, an electric pan-tilt and a monitoring camera; two mounting top plates are respectively rotatably connected to the middle of the left and right sides of the top of the battery housing through pin shafts; two movable limit mechanisms are respectively arranged at the bottom of the left and right mounting top plates; two outer driving mechanisms are respectively arranged at the front sides of the left and right movable limit mechanisms; the electric pan-tilt is arranged at the middle of the top of the battery housing;

[0004] Although this patent solves the problem of blind spots in fixed-point monitoring on highways, it still has the following defects: the part located behind the guardrail takes up a large space, and a mechanism that passes over the guardrail post is required. In addition, guardrail deformation is common on highways, which can easily affect the progress of the monitoring robot. In addition, the bolts at the installation point of the guardrail and the guardrail post will block the driving wheels of the monitoring robot. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the existing defects and provide a monitoring robot that moves on the guardrail of a highway. The part located at the rear side of the guardrail occupies a small space, and only an anti-slip roller is arranged on the rear side of the guardrail. The rotating rod used for installing the anti-slip roller can pass through the gap between the guardrail column and the guardrail, and there is no need to consider setting a mechanism that passes over the guardrail column. The guardrail groove travel mechanism, the guardrail anti-slip mechanism and the robot anti-fall mechanism can all adapt to the place where the guardrail is deformed, and the deformation of the guardrail will not hinder the movement of the monitoring robot. The guardrail groove travel mechanism will not be affected by the bolts at the installation place of the guardrail and the guardrail column, so that the monitoring robot can ensure that it moves steadily along the guardrail. The monitoring camera can monitor different places of the highway as it moves, and the appearance of blind spots in highway monitoring can be avoided. If an accident is found, the indicator board in the foldable indicator control mechanism can be used to promptly remind the oncoming vehicle, which can effectively solve the problems in the background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a monitoring robot moving on a highway guardrail, comprising a guardrail mechanism, wherein the guardrail mechanism comprises a guardrail post, a transverse guardrail is installed on the front side of the guardrail post, and a groove with an isosceles trapezoidal cross section is provided on the front side of the guardrail, and further comprising:

[0007] The torque frame includes a machine frame plate and a torque reset assembly, and two ends of the torque reset assembly are respectively connected to two machine frame plates;

[0008] The guardrail groove travel mechanism includes a travel motor, each machine frame plate is respectively fixedly connected with a U-shaped frame, a vertical prism is arranged in the U-shaped frame, two ends of the prism are respectively connected with two rotating shafts, the two rotating shafts are respectively rotatably connected with the two ends of the U-shaped frame, the column section of the prism corresponding to the middle of the groove is fixedly sleeved with a positioning plate, and the two ends of the prism are respectively vertically slidably sleeved with the prism holes on the two conical rollers, the ends with larger diameters of the two conical rollers are close to each other, and the column section of the prism located between the conical roller and the positioning plate is sleeved with a travel compression spring, the side surfaces of the two conical rollers are respectively connected with the upper and lower sides of the groove in a rolling manner, and the end of the rotating shaft is fixedly connected with the output shaft of the travel motor;

[0009] Guardrail anti-drop mechanism, installed on the machine frame;

[0010] The robot shell is installed on the machine frame plate, and a monitoring control mechanism is installed on the robot shell.

[0011] The two machine frames are connected by a torsion reset assembly, so the angle between the two machine frames can be changed to adapt to the guardrail at the turning point. The guardrail anti-slip mechanism is connected to the upper and lower rear sides of the guardrail in a rolling manner to prevent the torsion frame from falling off the guardrail. The elastic force of the compression spring pushes the conical roller, which can slide up and down along the prism so that the side of the conical roller is close to the inner side of the groove. Even if the groove of the guardrail is deformed, the conical roller can maintain stable contact with the inner side of the groove. The travel motor drives the prism and the rotating shaft to rotate relative to the U-shaped frame. The prism cooperates with the prism holes on the conical rollers, so the prism can drive the two conical rollers to rotate, and the conical rollers are rollingly connected to the inner side of the groove, thereby driving the torque frame to move along the guardrail, changing the monitoring position of the monitoring control mechanism on the high-altitude highway, and eliminating the blind spot of monitoring the highway. The robot shell surrounds the front side of the torque frame, the guardrail groove travel mechanism and the guardrail anti-slip mechanism, so that the appearance of the monitoring robot remains neat and tidy. The two conical rollers do not contact the middle of the groove, so the bolt ends in the middle of the groove will not interfere with the conical rollers.

[0012] Furthermore, the torque reset assembly includes a chassis, wherein the end of one machine frame plate is fixedly connected to the chassis, two arc grooves are provided on the chassis, an arc column is fixedly connected in each arc groove, a fan-shaped slider is slidably connected in each arc groove, and the fan-shaped slider is slidably sleeved with the middle part of the arc column, and reset springs are respectively sleeved on the positions of the arc columns on both sides of the fan-shaped slider, and the end of the other machine frame plate is fixedly connected to a top plate, and the top plate is fixedly connected to the two fan-shaped sliders by two top plate bolts.

[0013] Furthermore, the guardrail anti-slip mechanism includes a U-shaped frame 2, a guardrail longitudinal buffer component, a swing control component and an anti-slip roller. A U-shaped frame 2 is installed on each machine frame plate through the guardrail longitudinal buffer component. The upper and lower ends of the U-shaped frame 2 are respectively connected to two anti-slip rollers through two swing control components. The two anti-slip rollers are respectively rollingly connected to the rear sides of the upper and lower ends of the guardrail.

[0014] Furthermore, the guardrail longitudinal buffer assembly includes buffer guide columns, and each machine frame plate has two guide holes at one end away from the torque reset assembly, and two buffer guide columns are longitudinally slidably connected in the two guide holes, and the rear ends of the two buffer guide columns are fixedly connected to a U-shaped frame, and the front ends of the two buffer guide columns are respectively threadedly connected to two anti-stripping butterfly nuts, and the part of the buffer guide column located between the machine frame plate and the anti-stripping butterfly nut is sleeved with a buffer compression spring.

[0015] Furthermore, the swing control assembly includes an anti-slip control electric telescopic rod, and the upper and lower ends of the U-shaped frame two are respectively fixedly connected to two inclined U-shaped seats, and the inner side of one end of each U-shaped seat away from the U-shaped frame two is movably connected to a rotating rod through a movable shaft three, one end of the rotating rod is movably connected to one end of the anti-slip control electric telescopic rod, and the inner side of one end of the U-shaped seat close to the U-shaped frame two is movably connected to the other end of the anti-slip control electric telescopic rod, and the other end of the rotating rod is rotatably connected to the end of the anti-slip roller.

[0016] Furthermore, the robot shell includes a half shell, and the two machine frame plates are detachably connected to the two half shells at one end away from the torque reset assembly, and indicating grooves are respectively opened in the middle of the ends of the two half shells close to each other, and anti-interference rubber strips are respectively provided at the ends of the two half shells close to each other, and notches cooperating with guardrails are respectively opened on the rear sides of the ends of the two half shells away from each other.

[0017] Furthermore, the monitoring control mechanism includes a monitoring camera, and a monitoring camera is installed on the top of each half shell through an electric control pan / tilt, and a battery and a controller are installed on the side of one of the machine frames.

[0018] Furthermore, the monitoring and control mechanism also includes a charging control electric telescopic rod, the side of the battery is connected to the charger, the charger is connected to the charging plug through a charging cable, the bottom of the chassis is fixedly connected to a charging bracket, the sliding hole at the bottom of the charging bracket is vertically slidably connected to a square rod, the bottom end of the square rod is fixedly connected to the charging plug, the top of the charging bracket is fixedly connected to the top of the charging control electric telescopic rod, the bottom end of the charging control electric telescopic rod is connected to the top of the square rod, and a support plate is provided on the front side of the bottom of the guardrail column, and a charging socket is installed on the upper side of the support plate corresponding to the position of the charging plug.

[0019] Furthermore, it also includes a foldable indication control mechanism, which includes an indication plate, a support plate is arranged on the front side of the machine frame, a folding motor is installed at the bottom of the support plate, an output shaft at the top of the folding motor is fixedly connected to one end of the hollow swing arm, a fixed end of the indication control electric telescopic rod is installed in the hollow swing arm, a flip motor is installed at the telescopic end of the indication control electric telescopic rod, and the output shaft of the flip motor is installed with the indication plate.

[0020] Furthermore, it also includes a robot anti-fall mechanism, which includes anti-fall rollers, each machine frame plate is fixedly connected with a U-shaped frame three, each U-shaped frame three is connected to two guardrail vertical buffer assemblies through opposite movement control assemblies, the two guardrail vertical buffer assemblies are respectively connected to two wheel frames, and the two wheel frames are rotatably connected to two anti-fall rollers on the sides close to each other, the two anti-fall rollers are respectively rollingly connected to the upper and lower ends of the guardrail, and an annular limiting groove cooperating with the end of the guardrail is respectively opened in the middle of the outer peripheral side of each anti-fall roller.

[0021] Compared with the prior art, the monitoring robot moving on the highway guardrail has the following beneficial effects:

[0022] 1. The part located at the rear side of the guardrail occupies a small space, and only the anti-slip roller is set at the rear side of the guardrail. The rotating rod used to install the anti-slip roller can pass through the gap between the guardrail post and the guardrail, and there is no need to consider setting up a mechanism that passes over the guardrail post.

[0023] 2. The two machine frames are connected by a torsion reset assembly, so the angle between the two machine frames can be changed to adapt to the guardrail at the turning point. The guardrail anti-slip mechanism is rollingly connected to the rear side surfaces of the upper and lower ends of the guardrail to prevent the torque frame from falling off the guardrail. The elastic force of the compression spring pushes the conical roller, and the conical roller can slide up and down along the prism, so that the side surface of the conical roller is close to the inner side of the groove. Even if the groove of the guardrail is deformed, the conical roller can maintain stable contact with the inner side of the groove. The travel motor drives the prism and the rotating shaft to rotate relative to the U-shaped frame. Since the prism cooperates with the prism holes on the conical roller, the prism can drive the two conical rollers to rotate, and the conical rollers are rollingly connected to the inner side of the groove, thereby driving the torque frame to move along the guardrail. The two conical rollers do not contact the middle of the groove, so the bolt end in the middle of the groove will not interfere with the conical roller. The guardrail groove travel mechanism can change the monitoring position of the monitoring control mechanism on the high-altitude highway and eliminate the blind spot of monitoring the highway.

[0024] 3. Two half shells constitute the main body of the robot shell. Two anti-interference rubber strips are overlapped together. When the two machine frames move against each other, the two anti-interference rubber strips squeeze each other but do not interfere with the two half shells moving with the two machine frames. The setting of the slot allows the half shell to be closer to the guardrail, ensuring that the robot shell can cover more parts of the torque frame, guardrail groove travel mechanism and guardrail anti-slip mechanism.

[0025] 4. In order to provide better warning, warning lights and alarms can be set on the indicator board. When it is necessary to remind the oncoming vehicle, the folding motor drives the hollow swivel arm to rotate, and the hollow swivel arm passes through the indicating groove until the hollow swivel arm extends out of the robot shell. The extension and retraction of the indication control electric telescopic rod can change the position of the indication board, and the rotation of the flipping motor can change the angle of the indication board so that the indication board is perpendicular to the ground. Different indication signs can be set on both sides of the indication board. The rotation of the flipping motor can make the different indication signs on both sides of the indication board face the direction of the oncoming vehicle. When the folding indication control mechanism is not needed, the flipping motor makes the indication board horizontal again, the indication control electric telescopic rod is shortened, and the folding motor drives the hollow swivel arm to rotate in the opposite direction, and the hollow swivel arm drives the indication control electric telescopic rod, the flipping motor and the indication board to pass through the indicating groove and retract into the robot shell.

[0026] 5. The guardrail groove travel mechanism, guardrail anti-slip mechanism and robot anti-fall mechanism can adapt to the deformation of the guardrail. The deformation of the guardrail will not hinder the movement of the monitoring robot. The guardrail groove travel mechanism will not be affected by the bolts at the installation site of the guardrail and the guardrail column. It can ensure that the monitoring robot moves steadily along the guardrail. The monitoring camera can monitor different places on the highway as it moves, which can avoid the occurrence of blind spots in highway monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is a schematic diagram of the structure of a monitoring robot moving on a highway guardrail of the present invention;

[0028] Figure 2 It is a schematic diagram of the rear structure of the monitoring robot moving on the highway guardrail of the present invention;

[0029] Figure 3 The rear side partial structure of the monitoring robot moving on the highway guardrail of the present invention is shown in FIG. Figure 1 ;

[0030] Figure 4 The monitoring robot moving on the highway guardrail of the present invention Figure 3 A schematic diagram of the partially enlarged structure at center A;

[0031] Figure 5 The monitoring robot moving on the highway guardrail of the present invention Figure 3 A schematic diagram of the partially enlarged structure at B in the middle;

[0032] Figure 6 The front partial structure diagram of the monitoring robot moving on the highway guardrail of the present invention Figure 1 ;

[0033] Figure 7 The front partial structure diagram of the monitoring robot moving on the highway guardrail of the present invention Figure 2 ;

[0034] Figure 8 The monitoring robot moving on the highway guardrail of the present invention Figure 7 A schematic diagram of the partially enlarged structure at C in the middle;

[0035] Fig. 9 It is a schematic diagram of the partial structure of the side of the monitoring robot moving on the highway guardrail of the present invention;

[0036] Fig.10 The monitoring robot moving on the highway guardrail of the present invention Fig. 9 The schematic diagram of the local enlarged structure at D in the middle;

[0037] Fig.11 The second schematic diagram of the rear side partial structure of the monitoring robot moving on the highway guardrail of the present invention;

[0038] Fig.12 The monitoring robot moving on the highway guardrail of the present invention Fig.11 The schematic diagram of the local enlarged structure at E in the middle;

[0039] Fig.13 The structure diagram of the cooperation between the guardrail groove travel mechanism and the guardrail of the monitoring robot moving on the highway guardrail of the present invention Figure 1 ;

[0040] Fig.14 The structure diagram of the cooperation between the guardrail groove travel mechanism and the guardrail of the monitoring robot moving on the highway guardrail of the present invention Figure 2 ;

[0041] In the figure: 1. guardrail mechanism; 11. guardrail post; 12. guardrail base; 13. guardrail mounting seat; 14. guardrail; 15. guardrail bolt;

[0042] 2. Torque frame; 21. Machine frame plate; 22. Chassis; 23. Circular arc groove; 24. Circular arc column; 25. Return spring; 26. Fan-shaped slider; 27. Top plate; 28. Top plate bolt;

[0043] 3. Guardrail groove travel mechanism; 31. U-shaped frame 1; 32. Travel motor; 33. Prism; 34. Rotating shaft; 35. Positioning plate; 36. Travel compression spring; 37. Conical roller;

[0044] 4. Guardrail anti-slip mechanism; 41. U-shaped frame 2; 42. Buffer guide column; 43. Buffer compression spring; 44. Anti-slip butterfly nut; 45. U-shaped seat; 46. Active shaft 1; 47. Active block; 48. Anti-slip control electric telescopic rod; 49. Active shaft 2; 410. Active end; 411. Rotary rod; 412. Active shaft 3; 413. Anti-slip roller;

[0045] 5. Robot anti-fall mechanism; 51. U-shaped frame three; 52. Column; 53. Mandrel; 54. Lead screw; 55. Control board; 56. Lead screw nut; 57. Vertical frame; 58. Sliding column; 59. Extended sliding rod; 510. Clamping buffer spring; 511. Control motor; 512. Wheel frame; 513. Anti-fall roller; 514. Annular limit groove;

[0046] 6. Monitoring and control mechanism; 61. Storage battery; 62. Charger; 63. Charging cable; 64. Electric control pan / tilt; 65. Monitoring camera; 66. Wireless communication device; 67. Charging bracket; 68. Charging control electric telescopic rod; 69. Square rod; 610. Charging plug; 611. Support plate; 612. Charging socket; 613. Controller;

[0047] 7. Robot housing; 71. Half shell; 72. Missing slot; 73. Internal fixing plate; 74. Internal fixing screws; 75. Bending frame; 76. Bending frame screws; 77. Anti-interference rubber strip; 78. Indicating groove;

[0048] 8. Folding indicating control mechanism; 81. Support plate; 82. Folding motor; 83. Hollow swing arm; 84. Indicating control electric telescopic rod; 85. Flipping motor; 86. Indicating board. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] For example, see Figures 1 to 13 , this embodiment provides a technical solution: a monitoring robot moving on a highway guardrail, comprising a guardrail mechanism 1, the guardrail mechanism 1 comprising a guardrail post 11 and a guardrail 14, a horizontal guardrail 14 is installed on the front side of the guardrail post 11, and a groove with an isosceles trapezoidal cross section is provided on the front side of the guardrail 14;

[0051] The guardrail mechanism 1 also includes a guardrail base 12, a guardrail mounting seat 13, and a guardrail bolt 15. The guardrail base 12 is welded to the bottom of the guardrail post 11, and the guardrail base 12 is cast below the ground by concrete. The guardrail mounting seat 13 is welded to the front side of the guardrail post 11, and the middle part of the guardrail 14 is fixedly connected to the guardrail mounting seat 13 by the guardrail bolt 15, and the screw head at the front end of the guardrail bolt 15 is in the middle of the groove.

[0052] It also includes a torque frame 2, a guardrail groove travel mechanism 3, a guardrail anti-slip mechanism 4, a robot housing 7 and a monitoring control mechanism 6;

[0053] The torque frame 2 includes a machine frame plate 21 and a torque reset assembly, and two ends of the torque reset assembly are respectively connected to two machine frame plates 21;

[0054] The torque reset assembly includes a chassis 22, an arc groove 23, an arc column 24, a reset spring 25, a fan-shaped slider 26, a top plate 27 and a top plate bolt 28, wherein the end of one machine frame plate 21 is fixedly connected to the chassis 22, and two arc grooves 23 are provided on the chassis 22, each of which is fixedly connected to an arc column 24, each of which is slidably connected to a fan-shaped slider 26, and the fan-shaped slider 26 is slidably sleeved with the middle part of the arc column 24, and the arc column 24 is located on both sides of the fan-shaped slider 26. The reset springs 25 are respectively sleeved, and the end of the other machine frame plate 21 is fixedly connected to the top plate 27, and the top plate 27 is fixedly connected to the two fan-shaped sliders 26 by two top plate bolts 28.

[0055] When the return spring 25 is in a natural state, the two machine frames 21 are in the same plane. When encountering the guardrail 14 at the turning point, the two fan-shaped sliders 26 slide along the arc groove 23. At this time, the top plate 27 rotates relative to the bottom plate 22, and the return spring 25 on one side of the fan-shaped slider 26 is compressed. At this time, the two machine frames 21 are no longer in the same plane. When passing the guardrail 14 at the turning point, the compressed return spring 25 stretches and resets, allowing the two fan-shaped sliders 26 to return to their original positions in the arc groove 23, and the top plate 27 rotates in the opposite direction relative to the bottom plate 22, and the two machine frames 21 are in the same plane again.

[0056] The centers of the circles where the two arc grooves 23 are located, the center of the top plate 27 and the center of the bottom plate 22 coincide with each other.

[0057] The guardrail groove travel mechanism 3 includes a U-shaped frame 31, a travel motor 32, a prism 33, a rotating shaft 34, a positioning plate 35, a travel compression spring 36 and a conical roller 37. Each machine frame plate 21 is fixedly connected to a U-shaped frame 31 by screws. A vertical prism 33 is arranged in the U-shaped frame 31. The two ends of the prism 33 are integrally connected to two rotating shafts 34. The two rotating shafts 34 are rotatably connected to the two ends of the U-shaped frame 31 through bearings. The prism 33 corresponds to the middle of the groove. The column section is fixedly sleeved with a positioning plate 35, and the two ends of the prism 33 are respectively slidably sleeved with the prism holes on the two conical rollers 37 in a vertical manner, the ends of the two conical rollers 37 with larger diameters are close to each other, and the column section of the prism 33 located between the conical rollers 37 and the positioning plate 35 is sleeved with a travel compression spring 36, and the side surfaces of the two conical rollers 37 are respectively rollingly connected with the upper and lower sides of the groove, and the end of the rotating shaft 34 is fixedly connected to the output shaft of the travel motor 32, and the travel motor 32 is installed on the U-shaped frame 1 31;

[0058] The two tapered rollers 37 are in contact with the upper and lower sides of the groove respectively, and the screw head at the front end of the guardrail bolt 15 is not in contact with the tapered roller 37, which will not affect the smooth advancement of the tapered roller 37.

[0059] The guardrail anti-slip mechanism 4 is installed on the machine frame plate 21;

[0060] The guardrail anti-slip mechanism 4 includes a U-shaped frame 2 41, a guardrail longitudinal buffer assembly, a swing control assembly and an anti-slip roller 413. Each machine frame 21 is respectively installed with a U-shaped frame 2 41 through the guardrail longitudinal buffer assembly. The upper and lower ends of the U-shaped frame 2 41 are respectively connected to two anti-slip rollers 413 through two swing control assemblies. The two anti-slip rollers 413 are respectively connected to the upper and lower rear sides of the guardrail 14 in a rolling manner. The U-shaped frame 2 41 can move forward and backward relative to the machine frame 21 through the guardrail longitudinal buffer assembly, and can adapt to the longitudinal deformation of the guardrail 14. The swing control assembly can drive the anti-slip rollers 413 to rotate, and can allow the two anti-slip rollers 413 to rotate to the upper and lower rear sides of the guardrail 14. At this time, the guardrail groove travel mechanism 3 is cooperated to stably install the monitoring robot on the guardrail 14. When the monitoring robot needs to be removed for maintenance, the two anti-slip rollers 413 can also be rotated to the upper and lower sides of the guardrail 14. At this time, the monitoring robot can be easily removed from the guardrail 14.

[0061] The guardrail longitudinal buffer assembly includes a buffer guide column 42, a buffer compression spring 43 and an anti-slip butterfly nut 44. Two guide holes are respectively opened at one end of each machine frame plate 21 away from the torque reset assembly. Two buffer guide columns 42 are respectively longitudinally slidably connected in the two guide holes. The rear ends of the two buffer guide columns 42 are fixedly connected to a U-shaped frame 41. The front ends of the two buffer guide columns 42 are respectively threadedly connected to two anti-slip butterfly nuts 44. The portion of the buffer guide column 42 located between the machine frame plate 21 and the anti-slip butterfly nut 44 is sleeved with a buffer compression spring 43. The setting of the anti-slip butterfly nut 44 prevents the buffer guide column 42 from detaching from the guide hole on the machine frame plate 21. The elastic force of the buffer compression spring 43 allows the U-shaped frame 41 to be close to the machine frame plate 21. The U-shaped frame 41 pulls the anti-slip roller 413 backwards through the swing control component, allowing the anti-slip roller 413 to be close to the upper and lower rear sides of the guardrail 14. When the guardrail 14 is deformed front and back, the elasticity of the buffer compression spring 43 can allow the anti-slip roller 413 to always be stably close to the upper and lower rear sides of the guardrail 14.

[0062] The swing control assembly includes a U-shaped seat 45, an anti-slip control electric telescopic rod 48, a rotating rod 411 and a movable shaft three 412. The upper and lower ends of the U-shaped frame two 41 are respectively fixedly connected to two inclined U-shaped seats 45. The inner side of one end of each U-shaped seat 45 away from the U-shaped frame two 41 is movably connected to the rotating rod 411 through the movable shaft three 412. One end of the rotating rod 411 is movably connected to one end of the anti-slip control electric telescopic rod 48. The inner side of one end of the U-shaped seat 45 close to the U-shaped frame two 41 is movably connected to the other end of the anti-slip control electric telescopic rod 48. The other end of the rotating rod 411 is rotatably connected to the end of the anti-slip roller 413.

[0063] Specifically, the swing control component also includes a movable shaft 1 46, a movable block 47, a movable shaft 2 49, and a movable end 410. A movable groove is provided at one end of the rotating rod 411, and the movable end 410 is movably connected to the movable shaft 2 49 in the movable groove. The movable end 410 is fixedly connected to one end of the anti-detachment control electric telescopic rod 48. The inner side of one end of the U-shaped seat 45 close to the U-shaped frame 2 41 is movably connected to the movable block 47 through the movable shaft 1 46, and the movable block 47 is fixedly connected to the other end of the anti-detachment control electric telescopic rod 48.

[0064] The anti-slip control electric telescopic rod 48 is extended to push the rotary rod 411 to move around the movable axis three 412, so that the anti-slip roller 413 is close to the upper and lower rear sides of the guardrail 14, so that the monitoring robot can be installed and attached to the guardrail 14. The anti-slip control electric telescopic rod 48 is shortened to pull the rotary rod 411 to move in the opposite direction around the movable axis three 412, so that the anti-slip roller 413 can be separated from the guardrail 14 until the two anti-slip rollers 413 at both ends of the U-shaped frame 41 move to the upper and lower sides of the guardrail 14 respectively. At this time, the monitoring robot is pulled forward, and the two anti-slip rollers 413 will not be affected by the guardrail 14, so the monitoring robot can be easily removed, and the disassembly and assembly of the monitoring robot and the guardrail 14 is convenient and quick.

[0065] The robot housing 7 is mounted on the machine frame 21 , and a monitoring control mechanism 6 is mounted on the robot housing 7 .

[0066] The robot housing 7 includes a half shell 71, a notch 72, an anti-interference rubber strip 77 and an indication groove 78. The two machine frames 21 are detachably connected to the two half shells 71 at one end away from the torque reset assembly. The middle of the two half shells 71 close to each other is provided with an indication groove 78, and the two half shells 71 are provided with an anti-interference rubber strip 77 at one end close to each other. The rear side of the two half shells 71 away from each other is provided with a notch 72 that cooperates with the guardrail 14. The two half shells 71 constitute the main body of the robot housing 7. The two anti-interference rubber strips 77 are overlapped together. When the two machine frames 21 move with each other, the two anti-interference rubber strips 77 squeeze each other but do not interfere with the two half shells 71 moving with the two machine frames 21. The provision of the notch 72 allows the half shells 71 to be closer to the guardrail 14, ensuring that the robot housing 7 can cover more parts of the torque frame 2, the guardrail groove travel mechanism 3 and the guardrail anti-slip mechanism 4.

[0067] The robot shell 7 also includes an inner fixing plate 73 and inner fixing screws 74. The inner side of each half shell 71 is fixedly connected with an inner fixing plate 73. The inner fixing plate 73 is fixedly connected to one end of the machine frame plate 21 away from the torque reset assembly through two inner fixing screws 74. The inner fixing plate 73 and the inner fixing screws 74 are used to realize the detachable connection between the machine frame plate 21 and the half shell 71.

[0068] The monitoring control mechanism 6 includes a battery 61, an electric pan-tilt 64, a monitoring camera 65 and a controller 613. The top of each half shell 71 is respectively equipped with a monitoring camera 65 through the electric pan-tilt 64. The battery 61 and the controller 613 are installed on the side of one of the machine frames 21. The controller 613 is used to control the electric pan-tilt 64, the monitoring camera 65, and the battery 61 supplies power to the electric pan-tilt 64, the monitoring camera 65 and the controller 613. The electric pan-tilt 64 is used to control the monitoring angle of the monitoring camera 65, and the monitoring camera 65 monitors the situation of the highway.

[0069] The monitoring and control mechanism 6 also includes a wireless communication device 66 . The wireless communication device 66 is installed on the electric control platform 64 . The wireless communication device 66 adopts existing technology and can realize remote wireless communication, thereby realizing remote control or transmitting monitoring information.

[0070] The monitoring and control mechanism 6 also includes a charger 62, a charging line 63, a charging bracket 67, a charging control electric telescopic rod 68, a square rod 69, a charging plug 610, a support plate 611 and a charging socket 612. The side of the battery 61 is connected to the charger 62, and the charger 62 is connected to the charging plug 610 through the charging line 63. The bottom of the chassis 22 is fixedly connected with the charging bracket 67, and the sliding hole at the bottom of the charging bracket 67 is vertically slidably connected with the square rod 69. The bottom end of the square rod 69 is fixedly connected with the charging plug 610. The top of the charging bracket 67 is fixedly connected to the top of the charging control electric telescopic rod 68, and the bottom end of the charging control electric telescopic rod 68 is connected to the top of the square rod 69. A support plate 611 is arranged on the front side of the bottom of the guardrail column 11, and a charging socket 612 is installed on the upper side of the support plate 611 corresponding to the position of the charging plug 610, and the charging socket 612 is connected to an external power supply through a cable.

[0071] An opening is provided at the position of the anti-interference rubber strip 77 corresponding to the charging plug 610, so that the charging plug 610 can extend through the anti-interference rubber strip 77 to the bottom of the robot housing 7. When the battery 61 is out of power, the monitoring robot moves to make the charging plug 610 correspond to the socket on the charging socket 612, and the charging control electric telescopic rod 68 extends to push the square rod 69 downward along the sliding hole at the bottom of the charging bracket 67. The charging plug 610 is inserted into the socket on the charging socket 612. The charging socket 612, the charging plug 610 and the charging line 63 supply power to the charger 62, and the battery 61 is charged through the charger 62. No human intervention is required, and the charging can be remotely controlled. In order to correspond the charging plug 610 to the charging socket 612, a corresponding sensor needs to be set, and the setting of the sensor here adopts the existing technology.

[0072] When in use, the two machine frames 21 are connected by a torsion reset assembly, so that the angle between the two machine frames 21 can be changed to adapt to the guardrail 14 at the turning point. The guardrail anti-slip mechanism 4 is rollingly connected to the upper and lower rear sides of the guardrail 14 to prevent the torque frame 2 from falling off the guardrail 14. The elastic force of the compression spring 36 pushes the conical roller 37, and the conical roller 37 can slide up and down along the prism 33, so that the side of the conical roller 37 is close to the inner side of the groove. Even if the groove of the guardrail 14 is deformed, the conical roller 37 can maintain stable contact with the inner side of the groove. The travel motor 32 drives the prism 33 and the rotating shaft 34 relative to the U-shaped The frame 31 rotates, and since the prism 33 cooperates with the prism hole on the conical roller 37, the prism 33 can drive the two conical rollers 37 to rotate. The conical rollers 37 are rollingly connected to the inner side of the groove, thereby driving the torque frame 2 to move along the guardrail 14, changing the monitoring position of the monitoring control mechanism 6 on the high-altitude highway, and eliminating the blind spot of monitoring the highway. The robot shell 7 surrounds the front side of the torque frame 2, the guardrail groove travel mechanism 3 and the guardrail anti-slip mechanism 4, so that the appearance of the monitoring robot remains neat. The two conical rollers 37 do not contact the middle of the groove, so the bolt ends in the middle of the groove will not interfere with the conical rollers 37.

[0073] For example 2, please refer to Figures 1 to 13 This embodiment provides a technical solution: a monitoring robot moving on a highway guardrail. The structure of this embodiment is roughly the same as that of the first embodiment, except that:

[0074] It also includes a foldable indicating control mechanism 8, which includes a support plate 81, a folding motor 82, a hollow swing arm 83, an indicating control electric telescopic rod 84, a flip motor 85 and an indicating plate 86. The front side of the machine frame 21 is provided with a support plate 81, a folding motor 82 is installed at the bottom of the support plate 81, the output shaft at the top of the folding motor 82 is fixedly connected to one end of the hollow swing arm 83, the fixed end of the indicating control electric telescopic rod 84 is installed in the hollow swing arm 83, the telescopic end of the indicating control electric telescopic rod 84 is installed with a flip motor 85, the output shaft of the flip motor 85 is installed with an indicating plate 86, and indicating marks are respectively provided on both sides of the indicating plate 86. In order to provide better warning, a warning light and an alarm can be set on the indicator board 86. When it is necessary to remind the oncoming vehicle, the folding motor 82 drives the hollow rotary arm 83 to rotate, and the hollow rotary arm 83 passes through the indicating groove 78 until the hollow rotary arm 83 extends out of the robot shell 7. The extension and retraction of the indicating control electric telescopic rod 84 can change the position of the indicating board 86, and the rotation of the flipping motor 85 can change the angle of the indicating board 86 so that the indicating board 86 is perpendicular to the ground. Different indicating signs can be set on both sides of the indicating board 86. The rotation of the flipping motor 85 can make the different indicating signs on both sides of the indicating board 86 face the direction of the oncoming vehicle, and even an electronic display screen can be set on one side of the indicating board 86. When the folding indicating control mechanism 8 is not needed, the flipping motor 85 makes the indicating board 86 horizontal again, the indicating control electric telescopic rod 84 is shortened, and the folding motor 82 drives the hollow rotary arm 83 to rotate in the opposite direction, and the hollow rotary arm 83 drives the indicating control electric telescopic rod 84, the flipping motor 85 and the indicating board 86 to pass through the indicating groove 78 and retract into the robot shell 7.

[0075] For example 3, please refer to Figures 1 to 13 This embodiment provides a technical solution: a monitoring robot moving on a highway guardrail. The structure of this embodiment is roughly the same as that of the second embodiment, except that:

[0076] It also includes a robot anti-fall mechanism 5, which includes a U-shaped frame three 51, a counter-movement control component, a guardrail vertical buffer component, a wheel frame 512, an anti-fall roller 513 and an annular limiting groove 514. Each machine frame plate 21 is fixedly connected with a U-shaped frame three 51 by screws, each U-shaped frame three 51 is connected to two guardrail vertical buffer components through the counter-movement control component, and the two guardrail vertical buffer components are respectively connected to two wheel frames 512. The sides of the two wheel frames 512 that are close to each other are respectively rotatably connected to two anti-fall rollers 513. The two anti-fall rollers 513 are respectively rollingly connected to the upper and lower ends of the guardrail 14, and an annular limiting groove 514 that cooperates with the end of the guardrail 14 is respectively opened in the middle of the outer peripheral side of each anti-fall roller 513.

[0077] The opposite movement control assembly includes a column 52, a core shaft 53, a lead screw 54, a control board 55, a lead screw nut 56, and a control motor 511. Each U-shaped frame 51 is fixedly connected with a column 52, and each U-shaped frame 51 is also provided with a vertical core shaft 53. The upper and lower ends of the core shaft 53 are respectively fixedly connected with two vertical lead screws 54. The threads on the two lead screws 54 are in opposite directions. The two lead screws 54 are respectively rotatably connected to the upper and lower ends of the U-shaped frame 51 through bearings. Two lead screw nuts 56 are respectively connected to the two lead screws 54. The two lead screw nuts 56 are respectively installed on the two control boards 55. The column holes on the two control boards 55 are respectively slidably connected with the upper and lower ends of the column 52. The end of the lead screw 54 at the bottom is fixedly connected to the output shaft of the control motor 511. The control motor 511 is installed at the bottom of the U-shaped frame 51.

[0078] The control motor 511 drives the core shaft 53 and the two lead screws 54 to rotate clockwise. Since the threads on the two lead screws 54 are in opposite directions, the threaded action of the two lead screws 54 and the two lead screw nuts 56 drives the two control plates 55 to move away from each other along the column 52. The control motor 511 drives the core shaft 53 and the two lead screws 54 to rotate counterclockwise, and the threaded action of the two lead screws 54 and the two lead screw nuts 56 drives the two control plates 55 to move closer to each other along the column 52.

[0079] The vertical buffer assembly of the guardrail includes a vertical frame 57, a sliding column 58, an extended sliding rod 59, and a clamping buffer spring 510. The end of the control panel 55 is fixedly connected to the vertical frame 57, and a vertical sliding column 58 is fixedly connected inside the vertical frame 57. The sliding column 58 is vertically slidably connected to the sliding hole at the end of the extended sliding rod 59, and the end of the extended sliding rod 59 is vertically slidably connected to the inner side of the vertical frame 57. The end of the extended sliding rod 59 away from the vertical frame 57 is fixedly connected to the wheel frame 512, and the end of the sliding column 58 away from the core shaft 53 is sleeved with a clamping buffer spring 510. The elastic force of the clamping buffer spring 510 allows the contact between the anti-fall roller 513 and the guardrail 14 to have a buffering effect, which can adapt to the vertical deformation of the guardrail 14.

[0080] The opposite movement control component can drive the two guardrail vertical buffer components to move closer to or away from each other. When the anti-falling roller 513 needs to be installed, the opposite movement control component drives the two guardrail vertical buffer components to move away from each other. At this time, the two anti-falling rollers 513 move away from each other, so that the two annular limiting grooves 514 on the two anti-falling rollers 513 correspond to the upper and lower ends of the guardrail 14 respectively, and then the opposite movement control component drives the two guardrail vertical buffer components to move closer to each other until the two annular limiting grooves 514 on the two anti-falling rollers 513 respectively contact the upper and lower ends of the guardrail 14, and the opposite movement control component drives the two guardrail vertical buffer components to move closer to each other. The dynamic control component drives the two guardrail vertical buffer components to continue to approach each other until the two anti-fall rollers 513 are close to the upper and lower ends of the guardrail 14. The guardrail vertical buffer component can cope with the vertical deformation of the guardrail 14, so that the anti-fall roller 513 is always in stable rolling contact with the guardrail 14, avoiding the vertical deformation of the guardrail 14 to affect the movement of the monitoring robot. The annular limit groove 514 can allow the anti-fall roller 513 to stably cooperate with the guardrail 14 to avoid the anti-fall roller 513 from running off. The two anti-fall rollers 513 prevent the gravity of the monitoring robot from causing itself to fall along the guardrail 14.

[0081] The robot shell 7 also includes a bent frame 75 and a bent frame screw 76. The upper and lower ends of each U-shaped frame 51 are integrally connected with two bent frames 75. Each bent frame 75 is fixedly connected to the corresponding half shell 71 by two bent frame screws 76. The half shell 71 is fixed with the help of the bent frame 75 and the bent frame screws 76, so that the installation of the half shell 71 is more stable.

[0082] It is worth noting that in the above embodiments, the controller 613 controls the travel motor 32, the anti-slip control electric telescopic rod 48, the electric control pan / tilt 64, the monitoring camera 65, the wireless communication device 66, the charging control electric telescopic rod 68, the folding motor 82, the indication control electric telescopic rod 84, the flip motor 85, and the control motor 511, and the control method adopts the method commonly used in the prior art, wherein the travel motor 32, the folding motor 82, the flip motor 85, and the control motor 511 all adopt servo motors, and the specific model and power can be selected according to actual usage.

[0083] In order to improve the protection effect of the guardrail 14, some guardrails 14 are widened, and two horizontal grooves are set on the front side of the guardrail 14. At this time, in order to adapt to the guardrail 14, the guardrail groove travel mechanism 3 needs to be equipped with a set of positioning plates 35, travel compression springs 36 and tapered rollers 37. For the specific structural coordination of the guardrail groove travel mechanism 3 and the widened guardrail 14, please refer to Fig.14 .

[0084] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0085] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A monitoring robot moving on a highway guardrail, comprising a guardrail mechanism (1), wherein the guardrail mechanism (1) comprises a guardrail post (11), a transverse guardrail (14) is installed on the front side of the guardrail post (11), and a groove with an isosceles trapezoidal cross section is arranged on the front side of the guardrail (14), characterized in that: Also includes: The torque frame (2) comprises a machine frame plate (21) and a torque reset component, wherein two ends of the torque reset component are respectively connected to two machine frame plates (21); The guardrail groove travel mechanism (3) comprises a travel motor (32), each machine frame plate (21) is respectively fixedly connected to a U-shaped frame (31), a vertical prism (33) is arranged in the U-shaped frame (31), two ends of the prism (33) are respectively connected to two rotating shafts (34), the two rotating shafts (34) are respectively rotatably connected to the two ends of the U-shaped frame (31), a column section of the prism (33) corresponding to the middle of the groove is fixedly sleeved with a positioning plate (35), and the prism (33) ... The two ends of the column (33) are respectively slidably sleeved with the prism holes on the two conical rollers (37) in a vertical manner, the ends of the two conical rollers (37) with larger diameters are close to each other, and the column section of the prism (33) located between the conical rollers (37) and the positioning plate (35) is sleeved with a travel compression spring (36), the side surfaces of the two conical rollers (37) are respectively rollingly connected with the upper and lower sides of the groove, and the end of the rotating shaft (34) is fixedly connected to the output shaft of the travel motor (32); A guardrail anti-slip mechanism (4) is mounted on a machine frame plate (21); The robot housing (7) is mounted on the machine frame (21), and a monitoring control mechanism (6) is mounted on the robot housing (7).

2. The monitoring robot moving on the highway guardrail according to claim 1 is characterized in that: The torque reset assembly comprises a chassis (22), wherein the end of one machine frame plate (21) is fixedly connected to the chassis (22), two arc grooves (23) are provided on the chassis (22), each arc groove (23) is fixedly connected to an arc column (24), each arc groove (23) is slidably connected to a fan-shaped slider (26), and the fan-shaped slider (26) is slidably sleeved with the middle part of the arc column (24), and the positions of the arc column (24) on both sides of the fan-shaped slider (26) are sleeved with reset springs (25), and the end of the other machine frame plate (21) is fixedly connected to a top plate (27), and the top plate (27) is fixedly connected to the two fan-shaped sliders (26) by two top plate bolts (28).

3. The monitoring robot moving on the highway guardrail according to claim 1, characterized in that: The guardrail anti-slip mechanism (4) comprises a U-shaped frame (41), a guardrail longitudinal buffer assembly, a swing control assembly and an anti-slip roller (413). The U-shaped frame (41) is installed on each machine frame plate (21) through the guardrail longitudinal buffer assembly. The upper and lower ends of the U-shaped frame (41) are respectively connected to two anti-slip rollers (413) through two swing control assemblies. The two anti-slip rollers (413) are respectively connected to the rear side surfaces of the upper and lower ends of the guardrail (14) in a rolling manner.

4. The monitoring robot moving on the highway guardrail according to claim 3 is characterized in that: The guardrail longitudinal buffer assembly comprises a buffer guide column (42), and each machine frame plate (21) is provided with two guide holes at one end away from the torque reset assembly. Two buffer guide columns (42) are longitudinally slidably connected in the two guide holes. The rear ends of the two buffer guide columns (42) are fixedly connected to a U-shaped frame (41), and the front ends of the two buffer guide columns (42) are respectively threadedly connected to two anti-slip butterfly nuts (44). The portion of the buffer guide column (42) located between the machine frame plate (21) and the anti-slip butterfly nut (44) is sleeved with a buffer compression spring (43).

5. The monitoring robot moving on the highway guardrail according to claim 3 is characterized in that: The swing control assembly comprises an anti-slip control electric telescopic rod (48), and the upper and lower ends of the U-shaped frame (41) are respectively fixedly connected to two inclined U-shaped seats (45), and the inner side of one end of each U-shaped seat (45) away from the U-shaped frame (41) is movably connected to a rotating rod (411) through a movable shaft (412), one end of the rotating rod (411) is movably connected to one end of the anti-slip control electric telescopic rod (48), and the inner side of one end of the U-shaped seat (45) close to the U-shaped frame (41) is movably connected to the other end of the anti-slip control electric telescopic rod (48), and the other end of the rotating rod (411) is rotatably connected to the end of an anti-slip roller (413).

6. The monitoring robot moving on the highway guardrail according to claim 2, characterized in that: The robot housing (7) comprises a half shell (71), and the ends of the two machine frames (21) away from the torque reset assembly are detachably connected to the two half shells (71), and the middle parts of the ends of the two half shells (71) close to each other are respectively provided with indicating grooves (78), and the ends of the two half shells (71) close to each other are respectively provided with anti-interference rubber strips (77), and the rear sides of the ends of the two half shells (71) away from each other are respectively provided with notches (72) cooperating with the guardrail (14).

7. The monitoring robot moving on the highway guardrail according to claim 6, characterized in that: The monitoring control mechanism (6) includes a monitoring camera (65), and the top of each half shell (71) is respectively installed with a monitoring camera (65) through an electric control pan / tilt platform (64), and a battery (61) and a controller (613) are installed on the side of one of the machine frames (21).

8. The monitoring robot moving on the highway guardrail according to claim 7, characterized in that: The monitoring control mechanism (6) further comprises a charging control electric telescopic rod (68), the side of the storage battery (61) is connected to the charger (62), the charger (62) is connected to the charging plug (610) through the charging line (63), the bottom of the chassis (22) is fixedly connected to the charging bracket (67), the sliding hole at the bottom of the charging bracket (67) is vertically slidably connected to the square rod (69), the bottom end of the square rod (69) is fixedly connected to the charging plug (610), the top of the charging bracket (67) is fixedly connected to the top of the charging control electric telescopic rod (68), the bottom end of the charging control electric telescopic rod (68) is connected to the top of the square rod (69), and the bottom front side of the guardrail column (11) is provided with a support plate (611), and a charging socket (612) is installed on the upper side of the support plate (611) corresponding to the position of the charging plug (610).

9. The monitoring robot moving on the highway guardrail according to claim 6, characterized in that: The invention also comprises a foldable indicating control mechanism (8), wherein the foldable indicating control mechanism (8) comprises an indicating plate (86), a supporting plate (81) is arranged on the front side of the machine frame plate (21), a folding motor (82) is installed at the bottom of the supporting plate (81), an output shaft at the top of the folding motor (82) is fixedly connected to one end of a hollow rotary arm (83), a fixed end of an indicating control electric telescopic rod (84) is installed in the hollow rotary arm (83), a flipping motor (85) is installed at the telescopic end of the indicating control electric telescopic rod (84), and an indicating plate (86) is installed on the output shaft of the flipping motor (85).

10. The monitoring robot moving on the highway guardrail according to claim 1, characterized in that: The robot anti-fall mechanism (5) also includes a robot anti-fall mechanism (5), wherein the robot anti-fall mechanism (5) includes an anti-fall roller (513), each machine frame plate (21) is respectively fixedly connected to a U-shaped frame three (51), each U-shaped frame three (51) is respectively connected to two guardrail vertical buffer assemblies through an opposing movement control assembly, the two guardrail vertical buffer assemblies are respectively connected to two wheel frames (512), the two wheel frames (512) are respectively rotatably connected to two anti-fall rollers (513) on the sides close to each other, the two anti-fall rollers (513) are respectively rollingly connected to the upper and lower ends of the guardrail (14), and an annular limiting groove (514) matching the end of the guardrail (14) is respectively opened in the middle of the outer peripheral side of each anti-fall roller (513).

Images