A monitoring robot moving on a highway guardrail

Abstract

The present invention discloses a monitoring robot moving on a highway guardrail, which relates to the technical field of highways and includes a guardrail mechanism. The guardrail mechanism comprises guardrail columns and guardrails. A horizontal guardrail is installed on the front side of the guardrail columns. A groove with an isosceles trapezoid cross-section is arranged on the front side of the guardrail. The monitoring robot also includes a torsion machine frame, a guardrail groove traveling mechanism, a guardrail anti-disengagement mechanism, a monitoring control mechanism and a robot housing. The torsion machine frame comprises a machine frame plate and a torsion reset assembly. The two ends of the torsion reset assembly are respectively connected to the two machine frame plates. For this monitoring robot moving on the highway guardrail, there is no need to consider setting up a mechanism to cross the guardrail columns. The deformation of the guardrail will not hinder the progress of the monitoring robot, and the guardrail groove traveling mechanism will not be affected by the bolts at the installation position of the guardrail and the guardrail columns, which can ensure that the monitoring robot moves forward stably along the guardrail.

Description

Technical Field

[0001] The present invention relates to the technical field of highways, and specifically to a monitoring robot that moves on a highway guardrail. Background Art

[0002] Highway traffic condition monitoring is to understand and master the traffic conditions on the highway in real time to provide accurate road information. Cameras are set on the highway, and the traffic conditions of the highway can be monitored in real time through the video monitoring system; generally, highway traffic condition monitoring is set at fixed points, resulting in the ability to only monitor the traffic condition information of specific areas, and there are some blind spots;

[0003] To solve the problem of blind spots in fixed-point monitoring on highways, a Chinese patent with the authorization announcement number of CN117817691B discloses a monitoring robot that moves on a highway guardrail, including: a battery housing, a controller, a mounting top plate, a moving limit mechanism, an outer driving mechanism, an electric pan-tilt head, and a monitoring camera; two mounting top plates are respectively rotatably connected to the middle parts of the left and right sides of the top of the battery housing through pin shafts; two moving limit mechanisms are respectively arranged at the bottoms of the left and right mounting top plates; two outer driving mechanisms are respectively arranged at the front sides of the left and right moving limit mechanisms; the electric pan-tilt head is arranged in 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 at the rear of the guardrail occupies a large space, and a mechanism for crossing the guardrail post needs to be set. Moreover, the deformation of the guardrail on the highway is common, which easily affects the movement of the monitoring robot, and the bolts at the installation place 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 a highway guardrail. The part located at the rear of the guardrail occupies a small space. Only anti-drop rollers are set at the rear of the guardrail, and the rotating rod used to install the anti-drop rollers can pass through the gap between the guardrail post and the guardrail. There is no need to consider setting a mechanism for crossing the guardrail post. The guardrail groove traveling mechanism, the guardrail anti-drop mechanism, and the robot anti-falling mechanism can all adapt to the places where the guardrail deforms. The deformation of the guardrail will not hinder the movement of the monitoring robot, and the guardrail groove traveling mechanism will not be affected by the bolts at the installation place of the guardrail and the guardrail post, which can ensure that the monitoring robot moves stably along the guardrail. The monitoring camera can move to monitor different places on the highway, which can avoid the appearance of monitoring blind spots on the highway. If an accident is found, the vehicle coming can be reminded in time through the indicator board in the folding type indicating control mechanism, which can effectively solve the problems in the background art.

[0006] To achieve the above object, the present invention provides the following technical solution: A monitoring robot moving on a highway guardrail, including a guardrail mechanism, the guardrail mechanism includes guardrail columns, a horizontal guardrail is installed on the front side of the guardrail columns, and a groove with an isosceles trapezoid cross-section is provided on the front side of the guardrail. It further includes:

[0007] A torsion frame, including a machine frame plate and a torsion reset component, and both ends of the torsion reset component are respectively connected to two machine frame plates;

[0008] A guardrail groove traveling mechanism, including a traveling motor. A U-shaped frame one is fixedly connected to each machine frame plate. A vertical prism is arranged inside the U-shaped frame one. Both ends of the prism are respectively connected to two rotating shafts. The two rotating shafts are respectively rotatably connected to both ends of the U-shaped frame one. A positioning disk is fixedly sleeved on the column section of the prism corresponding to the middle of the groove. The two ends of the prism are respectively vertically slidably sleeved in the rib holes on two conical rollers. The larger-diameter ends of the two conical rollers are close to each other. A traveling compression spring is sleeved on the column section of the prism between the conical rollers and the positioning disk. The sides of the two conical rollers are respectively in rolling connection with the upper and lower sides of the groove. The end of the rotating shaft is fixedly connected to the output shaft of the traveling motor;

[0009] A guardrail anti-disengagement mechanism, installed on the machine frame plate;

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

[0011] The two machine frame plates are connected by a torsion reset component, so the angle between the two machine frame plates can be changed to adapt to the guardrail at the turning point. The guardrail anti-disengagement mechanism is in rolling connection with the rear sides of the upper and lower ends of the guardrail to prevent the torsion frame from falling off the guardrail. The elastic force of the compression spring pushes the conical rollers, and the conical rollers can slide up and down along the prism, making the sides of the conical rollers closely adhere to the inner side of the groove. Even if the groove of the guardrail deforms, the stable contact between the conical rollers and the inner side of the groove can be maintained. When the traveling motor works, it drives the prism and the rotating shaft to rotate relative to the U-shaped frame one. Since the prism cooperates with the rib holes on the conical rollers, the prism can drive the two conical rollers to rotate. The conical rollers are in rolling connection with the inner side of the groove, so as to drive the torsion frame to move along the guardrail, change the monitoring position of the monitoring control mechanism on the highway, eliminate the monitoring blind area of the highway. The robot housing surrounds the front sides of the torsion frame, the guardrail groove traveling mechanism and the guardrail anti-disengagement mechanism, keeping the appearance of the monitoring robot clean. Among them, 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 torsion reset assembly includes a chassis. One end of a machine frame plate is fixedly connected to the chassis. Two arc-shaped grooves are formed in the chassis. An arc-shaped column is fixedly connected in each arc-shaped groove. A sector-shaped slider is slidably connected in each arc-shaped groove, and the middle part of the arc-shaped column is slidably sleeved with the sector-shaped slider. A reset spring is sleeved at the positions of the arc-shaped column on both sides of the sector-shaped slider. 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 sector-shaped sliders through two top plate bolts respectively.

[0013] Furthermore, the guardrail anti-disengagement mechanism includes a second U-shaped frame, a guardrail longitudinal buffer assembly, a swing control assembly, and anti-disengagement rollers. A second U-shaped frame is installed on each machine frame plate through the guardrail longitudinal buffer assembly. The upper and lower ends of the second U-shaped frame are respectively connected to two anti-disengagement rollers through two swing control assemblies. The two anti-disengagement rollers are respectively in rolling connection with the rear sides of the upper and lower ends of the guardrail.

[0014] Furthermore, the guardrail longitudinal buffer assembly includes buffer guide columns. Two guide holes are respectively formed at one end of each machine frame plate far away from the torsion reset assembly. Two buffer guide columns are longitudinally slidably connected in the two guide holes respectively. The rear ends of the two buffer guide columns are fixedly connected to a second U-shaped frame respectively. Two anti-disengagement butterfly nuts are respectively threadedly connected to the front ends of the two buffer guide columns. A buffer compression spring is sleeved on the part of the buffer guide column between the machine frame plate and the anti-disengagement butterfly nut.

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

[0016] Furthermore, the robot housing includes half shells. Two half shells are respectively detachably connected to one end of the two machine frame plates far away from the torsion reset assembly. Indication grooves are respectively formed in the middle parts of the ends of the two half shells close to each other, and anti-interference rubber strips are respectively arranged at the ends of the two half shells close to each other. Slots matching with the guardrail are respectively formed at the rear sides of the ends of the two half shells far away from each other.

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

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

[0019] Further, it further includes a folding indication control mechanism. The folding indication control mechanism includes an indication board. A support plate is provided on the front side of the machine frame plate. A folding motor is installed at the bottom of the support plate. One end of a hollow rotating arm is fixedly connected to the output shaft at the top of the folding motor. The fixed end of an indication control electric telescopic rod is installed inside the hollow rotating arm. The telescopic end of the indication control electric telescopic rod is installed with a flipping motor. An indication board is installed on the output shaft of the flipping motor.

[0020] Further, it further includes a robot anti-falling mechanism. The robot anti-falling mechanism includes anti-falling rollers. Each machine frame plate is fixedly connected with a U-shaped bracket III. Each U-shaped bracket III is respectively connected with two guardrail vertical buffer components through an oppositely moving control component. The two guardrail vertical buffer components are respectively connected with two wheel frames. Two anti-falling rollers are respectively rotatably connected to one side of the two wheel frames close to each other. The two anti-falling rollers are respectively in rolling connection with the upper and lower ends of the guardrail. And annular limiting grooves for cooperating with the ends of the guardrail are respectively formed in the middle parts of the outer peripheral sides of the two anti-falling rollers.

[0021] Compared with the prior art, the beneficial effects of the monitoring robot moving on the highway guardrail are as follows:

[0022] 1. The part located at the rear side of the guardrail occupies a small space. Only anti-disengagement rollers are provided at the rear side of the guardrail. The rotating rod for installing the anti-disengagement rollers can pass through the gap between the guardrail column and the guardrail, and there is no need to consider setting up a mechanism to cross the guardrail column.

[0023] 2. The two machine frame plates are connected by a torsion reset component, so the angle between the two machine frame plates can be changed to adapt to the guardrail at the turning. The guardrail anti - detachment mechanism is in rolling connection with the rear sides of the upper and lower ends of the guardrail, preventing the torsion machine 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, making the side of the conical roller closely adhere to the inner side of the groove. Even if the groove of the guardrail deforms, the stable contact between the conical roller and the inner side of the groove can be maintained. When the traveling motor works, it drives the prism and the rotating shaft to rotate relative to the U - shaped frame 1. Since the prism cooperates with the prism holes on the conical roller, the prism can drive the two conical rollers to rotate. The conical rollers are in rolling connection with the inner side of the groove, so the torsion machine frame is driven to move along the guardrail. The two conical rollers do not contact the middle part of the groove, so the bolt end at the middle of the groove will not interfere with the conical rollers. The guardrail groove traveling mechanism can change the monitoring position of the monitoring control mechanism on the highway, eliminating the monitoring blind area on the highway.

[0024] 3. The two half - shells form the main body of the robot shell. The two anti - interference rubber strips overlap each other. When the two machine frame plates move relative to each other, the two anti - interference rubber strips are squeezed against each other but do not interfere with the movement of the two half - shells along with the two machine frame plates. The notch allows the half - shell to be closer to the guardrail, ensuring that the robot shell can cover more parts of the torsion machine frame, the guardrail groove traveling mechanism, and the guardrail anti - detachment mechanism.

[0025] 4. For better warning, warning lights and alarms can be set on the indicator board. When it is necessary to remind the oncoming vehicles, the folding motor drives the hollow swing arm to rotate. The hollow swing arm passes through the indicator groove until it extends out of the robot shell. The indicator control electric telescopic rod can be extended or retracted to change the position of the indicator board, and the flipping motor can rotate to change the angle of the indicator board to make the indicator board perpendicular to the ground. Different indicator signs can be set on both sides of the indicator board. The flipping motor can rotate to make the different indicator signs on both sides of the indicator board face the oncoming vehicle direction. When the folding - type indicator control mechanism is not needed, the flipping motor makes the indicator board return to the horizontal state, the indicator control electric telescopic rod shortens, and the folding motor drives the hollow swing arm to rotate in the reverse direction. The hollow swing arm drives the indicator control electric telescopic rod, the flipping motor, and the indicator board to pass through the indicator groove and retract into the robot shell.

[0026] 5. The guardrail groove traveling mechanism, the guardrail anti - detachment mechanism, and the robot anti - fall mechanism can all adapt to the deformed parts of the guardrail. The deformation of the guardrail will not hinder the movement of the monitoring robot, and the guardrail groove traveling mechanism will not be affected by the bolts at the installation position of the guardrail and the guardrail column, ensuring that the monitoring robot moves steadily along the guardrail. The monitoring camera can move to monitor different parts of the highway, avoiding the emergence of monitoring blind areas on the highway. Description of the Drawings

[0027] Figure 1Schematic diagram of the structure of the mobile monitoring robot on the highway guardrail of the present invention;

[0028] Figure 2 Schematic diagram of the rear side structure of the mobile monitoring robot on the highway guardrail of the present invention;

[0029] Figure 3 Schematic diagram of the partial rear side structure of the mobile monitoring robot on the highway guardrail of the present invention Figure 1 ;

[0030] Figure 4 For the mobile monitoring robot on the highway guardrail of the present invention Figure 3 Partial enlarged structure schematic diagram at position A;

[0031] Figure 5 For the mobile monitoring robot on the highway guardrail of the present invention Figure 3 Partial enlarged structure schematic diagram at position B;

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

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

[0034] Figure 8 For the mobile monitoring robot on the highway guardrail of the present invention Figure 7 Partial enlarged structure schematic diagram at position C;

[0035] Figure 9 Schematic diagram of the partial side structure of the mobile monitoring robot on the highway guardrail of the present invention;

[0036] Figure 10 For the mobile monitoring robot on the highway guardrail of the present invention Figure 9 Partial enlarged structure schematic diagram at position D;

[0037] Figure 11 Schematic diagram of the second partial rear side structure of the mobile monitoring robot on the highway guardrail of the present invention;

[0038] Figure 12 For the mobile monitoring robot on the highway guardrail of the present invention Figure 11 Partial enlarged structure schematic diagram at position E;

[0039] Figure 13 Schematic diagram of the structure of the cooperation between the guardrail groove traveling mechanism of the mobile monitoring robot on the highway guardrail of the present invention and the guardrail Figure 1 ;

[0040] Figure 14 Structural schematic of the cooperation between the guardrail groove traveling mechanism of the monitoring robot moving on the expressway guardrail of the present invention and the guardrail Figure 2 ;

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

[0042] 2. Torsion rack; 21. Machine rack plate; 22. Chassis; 23. Arc groove; 24. Arc column; 25. Return spring; 26. Sector slider; 27. Top plate; 28. Top plate bolt;

[0043] 3. Guardrail groove traveling mechanism; 31. U-shaped frame 1; 32. Traveling motor; 33. Prism; 34. Rotating shaft; 35. Positioning disk; 36. Traveling compression spring; 37. Tapered roller;

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

[0045] 5. Robot anti-falling mechanism; 51. U-shaped frame 3; 52. Column; 53. Core shaft; 54. Lead screw; 55. Control board; 56. Lead screw nut; 57. Vertical frame; 58. Slide post; 59. Extended slide bar; 510. Clamping buffer spring; 511. Control motor; 512. Wheel frame; 513. Anti-falling roller; 514. Annular limit groove;

[0046] 6. Monitoring control mechanism; 61. Battery; 62. Charger; 63. Charging wire; 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. Notch; 73. Inner fixing plate; 74. Inner fixing screw; 75. Bent frame; 76. Bent frame screw; 77. Anti-interference rubber strip; 78. Indication groove;

[0048] 8. Foldable indication control mechanism; 81. Support plate; 82. Folding motor; 83. Hollow rotating arm; 84. Indication control electric telescopic rod; 85. Flipping motor; 86. Indication board. Detailed implementation method

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] Embodiment 1. Please refer to Figures 1 to 13 , this embodiment provides a technical solution: a monitoring robot moving on a highway guardrail, including a guardrail mechanism 1, the guardrail mechanism 1 includes guardrail columns 11 and guardrails 14. A horizontal guardrail 14 is installed on the front side of the guardrail column 11, and a groove with an isosceles trapezoid cross-section is provided on the front side of the guardrail 14;

[0051] The guardrail mechanism 1 further includes a guardrail base 12, a guardrail mounting seat 13, and a guardrail bolt 15. The bottom of the guardrail column 11 is welded with the guardrail base 12, the guardrail base 12 is poured into the ground by concrete, the front side of the guardrail column 11 is welded with the guardrail mounting seat 13, the middle of the guardrail 14 is fixedly connected to the guardrail mounting seat 13 through the guardrail bolt 15, and the screw head at the front end of the guardrail bolt 15 is located in the middle of the groove.

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

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

[0054] The torsion reset assembly includes a chassis 22, an arc groove 23, an arc column 24, a reset spring 25, a sector slider 26, a top plate 27, and a top plate bolt 28. One end of a machine frame plate 21 is fixedly connected to the chassis 22. Two arc grooves 23 are opened on the chassis 22. An arc column 24 is fixedly connected to each arc groove 23. A sector slider 26 is slidably connected to each arc groove 23, and the sector slider 26 is slidably sleeved on the middle part of the arc column 24. A reset spring 25 is sleeved on the positions of the arc column 24 on both sides of the sector slider 26. The other end of the machine frame plate 21 is fixedly connected to the top plate 27, and the top plate 27 is fixedly connected to the two sector sliders 26 through two top plate bolts 28 respectively.

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

[0056] The centers of the circles where the two arc-shaped grooves 23 are located, the center of the top plate 27, and the center of the chassis 22 coincide.

[0057] The guardrail groove traveling mechanism 3 includes a U-shaped frame 1 31, a traveling motor 32, a prism 33, a rotating shaft 34, a positioning disk 35, a traveling compression spring 36, and a tapered roller 37. A U-shaped frame 1 31 is respectively fixedly connected to each machine frame plate 21 by screws. A vertical prism 33 is provided inside the U-shaped frame 1 31. Two rotating shafts 34 are integrally formed and connected to both ends of the prism 33 respectively. The two rotating shafts 34 are respectively rotatably connected to both ends of the U-shaped frame 1 31 through bearings. A positioning disk 35 is fixedly sleeved on the column section of the prism 33 corresponding to the middle of the groove. The two ends of the prism 33 are vertically slidably sleeved in the rib holes on the two tapered rollers 37. The larger-diameter ends of the two tapered rollers 37 are close to each other. A traveling compression spring 36 is sleeved on the column section of the prism 33 between the tapered rollers 37 and the positioning disk 35. The sides of the two tapered rollers 37 are respectively in rolling connection with the upper and lower sides of the groove. The end of the rotating shaft 34 is fixedly connected to the output shaft of the traveling motor 32, and the traveling motor 32 is installed on the U-shaped frame 1 31;

[0058] The two tapered rollers 37 are respectively in contact with the upper and lower sides of the groove. 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-disengagement mechanism 4 is installed on the machine frame plate 21;

[0060] The guardrail anti - detachment mechanism 4 includes a second U - shaped frame 41, a guardrail longitudinal buffer assembly, a swing control assembly, and anti - detachment rollers 413. A second 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 second U - shaped frame 41 are respectively connected to two anti - detachment rollers 413 through two swing control assemblies. The two anti - detachment rollers 413 are respectively in rolling connection with the rear sides of the upper and lower ends of the guardrail 14. The second U - shaped frame 41 can move back and forth relative to the machine frame plate 21 through the guardrail longitudinal buffer assembly, capable of adapting to the longitudinal deformation of the guardrail 14. The swing control assembly can drive the anti - detachment rollers 413 to rotate, enabling the two anti - detachment rollers 413 to rotate to the rear sides of the upper and lower ends of the guardrail 14. At this time, in cooperation with the guardrail groove traveling mechanism 3, the monitoring robot is stably installed on the guardrail 14. When it is necessary to remove the monitoring robot for maintenance, the two anti - detachment rollers 413 can also be rotated to the upper and lower sides of the guardrail 14, and at this time, the monitoring robot can be easily removed from the guardrail 14.

[0061] The guardrail longitudinal buffer assembly includes buffer guide posts 42, buffer compression springs 43, and anti - detachment wing nuts 44. Two guide holes are respectively opened at one end of each machine frame plate 21 far from the torsion reset assembly. Two buffer guide posts 42 are respectively longitudinally slidably connected in the two guide holes. The rear ends of the two buffer guide posts 42 are both fixedly connected to a second U - shaped frame 41. The front ends of the two buffer guide posts 42 are respectively threadedly connected to two anti - detachment wing nuts 44. The part of the buffer guide post 42 located between the machine frame plate 21 and the anti - detachment wing nut 44 is sleeved with a buffer compression spring 43. The setting of the anti - detachment wing nut 44 prevents the buffer guide post 42 from detaching from the guide hole on the machine frame plate 21. The elastic force of the buffer compression spring 43 makes the second U - shaped frame 41 closely abut against the machine frame plate 21. The second U - shaped frame 41 pulls the anti - detachment roller 413 backward through the swing control assembly, making the anti - detachment roller 413 closely adhere to the rear sides of the upper and lower ends of the guardrail 14. When there are front - to - back deformations in the guardrail 14, the elasticity of the buffer compression spring 43 can enable the anti - detachment roller 413 to always stably adhere to the rear sides of the upper and lower ends of the guardrail 14.

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

[0063] Specifically, the swing control assembly further includes a first movable shaft 46, a movable block 47, a second movable shaft 49, and a movable end 410. An activity slot is provided at one end of the rotating rod 411. The movable end 410 is movably connected to the activity slot through the second movable shaft 49. One end of 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 second U-shaped frame 41 is movably connected to the movable block 47 through the first movable shaft 46. The other end of the movable block 47 is fixedly connected to the other end of the anti-detachment control electric telescopic rod 48.

[0064] When the anti-detachment control electric telescopic rod 48 extends, it pushes the rotating rod 411 to move around the third movable shaft 412, so that the anti-detachment roller 413 closely adheres to the rear sides of the upper and lower ends of the guardrail 14, enabling the monitoring robot to be installed and attached to the guardrail 14. When the anti-detachment control electric telescopic rod 48 shortens, it pulls the rotating rod 411 to move reversely around the third movable shaft 412, allowing the anti-detachment roller 413 to disengage from the guardrail 14 until the two anti-detachment rollers 413 at both ends of the second U-shaped frame 41 respectively move to the upper and lower sides of the guardrail 14. At this time, when the monitoring robot is pulled forward, the two anti-detachment rollers 413 will not be affected by the guardrail 14, and the monitoring robot can be easily removed. The disassembly and assembly of the monitoring robot and the guardrail 14 are convenient and fast.

[0065] The robot housing 7 is installed on the machine frame plate 21, and a monitoring control mechanism 6 is installed 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. Two half shells 71 are respectively detachably connected to the ends of the two machine frame plates 21 away from the torsion reset assembly. Indication grooves 78 are respectively provided in the middle of the ends of the two half shells 71 close to each other, and anti-interference rubber strips 77 are respectively provided at the ends of the two half shells 71 close to each other. Notches 72 are respectively provided at the rear sides of the ends of the two half shells 71 away from each other and are adapted to the guardrail 14. The two half shells 71 form the main body of the robot housing 7. The two anti-interference rubber strips 77 overlap. When the two machine frame plates 21 move relative to each other, the two anti-interference rubber strips 77 are mutually extruded but do not interfere with the movement of the two half shells 71 along with the two machine frame plates 21. The provision of the notch 72 enables the half shell 71 to be closer to the guardrail 14, ensuring that the robot housing 7 can cover more parts of the torsion machine frame 2, the guardrail groove traveling mechanism 3, and the guardrail anti-detachment mechanism 4.

[0067] The robot housing 7 further includes an inner fixing plate 73 and inner fixing screws 74. Inner fixing plates 73 are respectively fixedly connected to the inner sides of each half shell 71. The inner fixing plates 73 are fixedly connected to the ends of the machine frame plates 21 away from the torsion reset assembly through two inner fixing screws 74. The detachable connection between the machine frame plate 21 and the half shell 71 is realized by means of the inner fixing plate 73 and the inner fixing screws 74.

[0068] The monitoring and control mechanism 6 includes a storage battery 61, an electric control pan-tilt 64, a monitoring camera 65, and a controller 613. The monitoring cameras 65 are respectively installed on the tops of each half shell 71 through the electric control pan-tilt 64. The storage battery 61 and the controller 613 are installed on the side of one of the machine rack plates 21. The controller 613 is used to control the electric control pan-tilt 64 and the monitoring camera 65. The storage battery 61 supplies power to the electric control pan-tilt 64, the monitoring camera 65, and the controller 613. The electric control 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 further includes a wireless communication device 66. The wireless communication device 66 is installed on the electric control pan-tilt 64. The wireless communication device 66 adopts the existing technology and can realize remote wireless communication, and can realize remote control or transmission of monitoring information.

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

[0071] An interference-proof rubber strip 77 is provided with an opening corresponding to the position of the charging plug 610, so that the charging plug 610 can pass through the interference-proof rubber strip 77 and extend below the robot shell 7. When the storage battery 61 is out of power, the monitoring robot moves to make the charging plug 610 correspond to the jack on the charging socket 612. The charging control electric telescopic rod 68 extends, pushing the square rod 69 to move downward along the sliding hole at the bottom of the charging bracket 67. The charging plug 610 is inserted into the jack on the charging socket 612. The charging socket 612, the charging plug 610, and the charging cable 63 supply power to the charger 62, and the charger 62 charges the storage battery 61. No manual intervention is required, and charging can be remotely controlled. In order to make the charging plug 610 correspond to the charging socket 612, corresponding sensors need to be set. The setting of the sensors here adopts the existing technology.

[0072] During use, the two machine frame plates 21 are connected by a torsion reset component, so the angle between the two machine frame plates 21 can be changed to adapt to the guardrail 14 at the turning point. The guardrail anti-disengagement mechanism 4 is rollingly connected to the rear sides of the upper and lower ends of the guardrail 14 to prevent the torsion machine 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 surface of the conical roller 37 is closely attached to the inner side of the groove. Even if the groove of the guardrail 14 deforms, the stable contact between the conical roller 37 and the inner side of the groove can be maintained. The traveling motor 32 operates to drive the prism 33 and the rotating shaft 34 to rotate relative to the U-shaped frame 1 31. Since the prism 33 is engaged with the prism holes on the conical roller 37, the prism 33 can drive the two conical rollers 37 to rotate. The conical roller 37 is rollingly connected to the inner side of the groove, so as to drive the torsion machine frame 2 to move along the guardrail 14, change the monitoring position of the monitoring control mechanism 6 for the highway, and eliminate the monitoring blind area of the highway. The robot housing 7 surrounds the front sides of the torsion machine frame 2, the guardrail groove traveling mechanism 3 and the guardrail anti-disengagement mechanism 4 to keep the appearance of the monitoring robot clean. The two conical rollers 37 do not contact the middle part of the groove, so the bolt end at the middle part of the groove will not interfere with the conical roller 37 either.

[0073] Embodiment 2. Please refer to Figures 1 to 13 , this embodiment provides a technical solution: a monitoring robot moving on a highway guardrail. This embodiment is substantially the same as Embodiment 1, and the difference lies in:

[0074] It further includes a folding indicating control mechanism 8, which comprises a supporting plate 81, a folding motor 82, a hollow rotating arm 83, an indicating control electric telescopic rod 84, a turning motor 85 and an indicating plate 86. The supporting plate 81 is arranged on the front side of the machine frame plate 21. The folding motor 82 is installed at the bottom of the supporting plate 81. The output shaft at the top of the folding motor 82 is fixedly connected to one end of the hollow rotating arm 83. The fixed end of the indicating control electric telescopic rod 84 is installed inside the hollow rotating arm 83. The telescopic end of the indicating control electric telescopic rod 84 is installed with the turning motor 85. The output shaft of the turning motor 85 is installed with the indicating plate 86. Indicating signs are respectively arranged on both sides of the indicating plate 86. In order to give better warnings, warning lights and alarms can be arranged on the indicating plate 86. When it is necessary to remind the approaching vehicle, the folding motor 82 drives the hollow rotating arm 83 to rotate. The hollow rotating arm 83 passes through the indicating groove 78 until the hollow rotating arm 83 extends out of the robot housing 7. The telescoping of the indicating control electric telescopic rod 84 can change the position of the indicating plate 86, and the rotation of the turning motor 85 can change the angle of the indicating plate 86 to make the indicating plate 86 perpendicular to the ground. Different indicating signs can be arranged on both sides of the indicating plate 86. The rotation of the turning motor 85 can make the different indicating signs on both sides of the indicating plate 86 face the oncoming vehicle direction. Even an electronic display screen can be arranged on one side of the indicating plate 86. When the folding indicating control mechanism 8 is not needed, the turning motor 85 makes the indicating plate 86 return to the horizontal state again. The indicating control electric telescopic rod 84 shortens, and the folding motor 82 drives the hollow rotating arm 83 to rotate in the reverse direction. The hollow rotating arm 83 drives the indicating control electric telescopic rod 84, the turning motor 85 and the indicating plate 86 to pass through the indicating groove 78 and retract into the robot housing 7.

[0075] Embodiment 3. Please refer to Figures 1 to 13 , this embodiment provides a technical solution: a monitoring robot moving on a highway guardrail. This embodiment is generally the same as that of Embodiment 2, and the difference lies in:

[0076] It further includes a robot anti-falling mechanism 5, which comprises a U-shaped frame III 51, an opposite moving control component, a guardrail vertical buffer component, a wheel frame 512, an anti-falling roller 513 and an annular limiting groove 514. Each machine frame plate 21 is respectively fixedly connected with a U-shaped frame III 51 by screws. Each U-shaped frame III 51 is respectively connected with two guardrail vertical buffer components through the opposite moving control component. The two guardrail vertical buffer components are respectively connected with two wheel frames 512. The two wheel frames 512 are respectively rotatably connected with two anti-falling rollers 513 on the sides close to each other. The two anti-falling rollers 513 are respectively in rolling connection with the upper and lower ends of the guardrail 14. And annular limiting grooves 514 matched with the ends of the guardrail 14 are respectively arranged in the middle parts of the outer peripheral sides of each anti-falling roller 513.

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

[0078] When the control motor 511 works to drive the mandrel 53 and the two lead screws 54 to rotate clockwise, due to the opposite thread directions of the two lead screws 54, the thread action between the two lead screws 54 and the two lead screw nuts 56 drives the two control boards 55 to move away from each other along the vertical column 52. When the control motor 511 works to drive the mandrel 53 and the two lead screws 54 to rotate counterclockwise, the thread action between the two lead screws 54 and the two lead screw nuts 56 drives the two control boards 55 to move closer to each other along the vertical column 52.

[0079] The vertical buffer component 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 board 55 is fixedly connected with a vertical frame 57. 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. One end of the extended sliding rod 59 away from the vertical frame 57 is fixedly connected with a wheel frame 512. A clamping buffer spring 510 is sleeved on the end of the sliding column 58 away from the mandrel 53. The elasticity of the clamping buffer spring 510 makes the contact between the anti-falling roller 513 and the guardrail 14 have a buffering effect, which can adapt to the deformation of the guardrail 14 in the vertical direction.

[0080] The opposite movement control component can drive two guardrail vertical buffer components to approach or move away from each other. When the anti-falling rollers 513 need 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 respectively correspond to the upper and lower ends of the guardrail 14. Then, the opposite movement control component drives the two guardrail vertical buffer components to approach each other until the two annular limiting grooves 514 on the two anti-falling rollers 513 contact the upper and lower ends of the guardrail 14 respectively. The opposite movement control component drives the two guardrail vertical buffer components to continue approaching each other until the two anti-falling rollers 513 are closely attached to the upper and lower ends of the guardrail 14. The guardrail vertical buffer component can cope with the deformation of the guardrail 14 in the vertical direction, so that the anti-falling rollers 513 are always in stable rolling contact with the guardrail 14, avoiding the influence of the vertical deformation of the guardrail 14 on the travel of the monitoring robot. The annular limiting groove 514 can enable the anti-falling rollers 513 to be stably matched with the guardrail 14, avoiding the anti-falling rollers 513 from running off. The two anti-falling rollers 513 prevent the monitoring robot from falling along the guardrail 14 due to its own gravity.

[0081] The robot housing 7 also includes a bent frame 75 and bent frame screws 76. Two bent frames 75 are integrally formed and connected to the upper and lower ends of each U-shaped frame 51 respectively. Each bent frame 75 is fixedly connected to the corresponding half shell 71 through two bent frame screws 76. By fixing the half shell 71 with the bent frame 75 and the bent frame screws 76, the half shell 71 can be installed more stably.

[0082] It should be noted that in the above embodiments, the controller 613 controls the operation of the travel motor 32, the anti-disengagement 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 flipping motor 85, and the control motor 511. The control method adopts the method commonly used in the prior art. Among them, the travel motor 32, the folding motor 82, the flipping motor 85, and the control motor 511 all adopt servo motors, and the specific models and powers can be selected according to the actual use situation.

[0083] In order to improve the protection effect of the guardrail 14, some guardrails 14 are widened, and two horizontal grooves are provided on the front side of the guardrail 14. At this time, in order to adapt to the guardrail 14, the guardrail groove traveling mechanism 3 needs to be provided with an additional set of positioning disks 35, traveling compression springs 36, and tapered rollers 37. For the specific structural cooperation between the guardrail groove traveling mechanism 3 and the widened guardrail 14, please refer to Figure 14 .

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

[0085] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and 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, including a guardrail mechanism (1), the guardrail mechanism (1) includes guardrail columns (11), a transverse guardrail (14) is installed on the front side of the guardrail columns (11), and a groove with an isosceles trapezoid cross-section is arranged on the front side of the guardrail (14), characterized in that, It further includes: A torsion rack (2), including a machine rack plate (21) and a torsion reset component, and both ends of the torsion reset component are respectively connected to two machine rack plates (21); A guardrail groove traveling mechanism (3), including a traveling motor (32), a U-shaped frame one (31) is fixedly connected to each machine rack plate (21), a vertical prism (33) is arranged in the U-shaped frame one (31), both ends of the prism (33) are respectively connected to two rotating shafts (34), the two rotating shafts (34) are respectively rotatably connected to both ends of the U-shaped frame one (31), a positioning disk (35) is fixedly sleeved on the column section of the prism (33) corresponding to the middle of the groove, and both ends of the prism (33) are vertically slidably sleeved in the edge holes on two conical rollers (37), the larger diameter ends of the two conical rollers (37) are close to each other, and a traveling compression spring (36) is sleeved on the column section of the prism (33) between the conical rollers (37) and the positioning disk (35), the sides of the two conical rollers (37) are respectively in rolling connection 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 traveling motor (32); A guardrail anti-disengagement mechanism (4), installed on the machine rack plate (21); A robot housing (7), installed on the machine rack plate (21), and a monitoring control mechanism (6) is installed on the robot housing (7); The torsion reset component includes a chassis (22), the end of one machine rack plate (21) is fixedly connected to the chassis (22), two arc grooves (23) are opened on the chassis (22), an arc column (24) is fixedly connected to each arc groove (23), a sector slider (26) is slidably connected to each arc groove (23), and the sector slider (26) is slidably sleeved on the middle part of the arc column (24), reset springs (25) are sleeved on the positions of the arc column (24) on both sides of the sector slider (26), the end of the other machine rack plate (21) is fixedly connected to a top disk (27), and the top disk (27) is fixedly connected to the two sector sliders (26) respectively through two top disk bolts (28); The guardrail anti-disengagement mechanism (4) includes a U-shaped frame two (41), a guardrail longitudinal buffer component, a swing control component and anti-disengagement rollers (413), a U-shaped frame two (41) is installed on each machine rack plate (21) through the guardrail longitudinal buffer component, the upper and lower ends of the U-shaped frame two (41) are respectively connected to two anti-disengagement rollers (413) through two swing control components, and the two anti-disengagement rollers (413) are respectively in rolling connection with the rear sides of the upper and lower ends of the guardrail (14).

2. The monitoring robot moving on the highway guardrail according to claim 1, characterized in that: The longitudinal buffer assembly of the guardrail includes buffer guide posts (42). At one end of each machine frame plate (21) away from the torsion reset assembly, two guide holes are respectively formed. Two buffer guide posts (42) are longitudinally slidably connected in the two guide holes. At the rear ends of the two buffer guide posts (42), a U-shaped frame two (41) is fixedly connected to each. At the front ends of the two buffer guide posts (42), two anti-loosening wing nuts (44) are respectively threadedly connected. A buffer compression spring (43) is sleeved on the portion of the buffer guide post (42) between the machine frame plate (21) and the anti-loosening wing nut (44).

3. The monitoring robot moving on the highway guardrail according to claim 2, characterized in that: The swing control assembly includes an anti-loosening control electric telescopic rod (48). At the upper and lower ends of the U-shaped frame two (41), two inclined U-shaped seats (45) are respectively fixedly connected. At the inner side of one end of each U-shaped seat (45) away from the U-shaped frame two (41), a rotating rod (411) is movably connected through a movable shaft three (412). One end of the rotating rod (411) is movably connected to one end of the anti-loosening control electric telescopic rod (48). At the inner side of the end of the U-shaped seat (45) close to the U-shaped frame two (41), the other end of the anti-loosening control electric telescopic rod (48) is movably connected. The other end of the rotating rod (411) is rotatably connected to the end of the anti-loosening roller (413).

4. The monitoring robot moving on the highway guardrail according to claim 2, characterized in that: The robot housing (7) includes half shells (71). At one end of the two machine frame plates (21) away from the torsion reset assembly, two half shells (71) are respectively detachably connected. At the middle of one end of the two half shells (71) close to each other, indicating grooves (78) are respectively formed. And at one end of the two half shells (71) close to each other, anti-interference rubber strips (77) are respectively arranged. At the rear side of one end of the two half shells (71) away from each other, notches (72) matching with the guardrail (14) are respectively formed.

5. The monitoring robot moving on the highway guardrail according to claim 4, characterized in that: The monitoring control mechanism (6) includes a monitoring camera (65). At the top of each half shell (71), a monitoring camera (65) is installed through an electric control pan-tilt (64). On the side of one of the machine frame plates (21), a storage battery (61) and a controller (613) are installed.

6. The monitoring robot moving on the highway guardrail according to claim 5, characterized in that: The monitoring and control mechanism (6) further includes a charging control electric telescopic rod (68). The side of the storage battery (61) is connected to a charger (62). The charger (62) is connected to a charging plug (610) through a charging cable (63). The bottom of the chassis (22) is fixedly connected to a charging bracket (67). A square rod (69) is vertically slidably connected to a sliding hole at the bottom of the charging bracket (67). The bottom end of the square rod (69) is fixedly connected to the charging plug (610). The top end of the charging control electric telescopic rod (68) is fixedly connected to the inner top of the charging bracket (67). The bottom end of the charging control electric telescopic rod (68) is connected to the top end of the square rod (69). A support plate (611) is arranged on the front side of the bottom of the guardrail column (11). A charging socket (612) is installed on the upper side of the support plate (611) corresponding to the position of the charging plug (610).

7. The monitoring robot moving on the highway guardrail according to claim 6, characterized in that: It further includes a folding indication control mechanism (8). The folding indication control mechanism (8) includes an indication board (86). A support 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 support plate (81). One end of a hollow rotating arm (83) is fixedly connected to the output shaft at the top of the folding motor (82). The fixed end of an indication control electric telescopic rod (84) is installed inside the hollow rotating arm (83). The telescopic end of the indication control electric telescopic rod (84) is installed with a turning motor (85). The output shaft of the turning motor (85) is installed with the indication board (86).

8. The monitoring robot moving on the highway guardrail according to claim 1, characterized in that: It further includes a robot anti-falling mechanism (5). The robot anti-falling mechanism (5) includes anti-falling rollers (513). A U-shaped bracket three (51) is fixedly connected to each machine frame plate (21). Each U-shaped bracket three (51) is respectively connected to two guardrail vertical buffer components through an oppositely moving control component. The two guardrail vertical buffer components are respectively connected to two wheel frames (512). Two anti-falling rollers (513) are respectively rotatably connected to one side of the two wheel frames (512) close to each other. The two anti-falling rollers (513) are respectively in rolling connection with the upper and lower ends of the guardrail (14). And annular limiting grooves (514) matching with the ends of the guardrail (14) are respectively formed in the middle parts of the outer peripheral sides of the two anti-falling rollers (513).

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