Monitoring robot moving on highway guardrail

Abstract

The invention discloses a monitoring robot moving on a highway guardrail, and relates to the technical field of monitoring robots, the monitoring robot comprises a moving mechanism mounted on a three-wave guardrail plate, a monitoring shell mounted on the moving mechanism, and a storage battery, a monitoring camera and a controller mounted on the monitoring shell; and the moving mechanism comprises mounting plates which are symmetrically arranged above and below the three-wave guardrail plate. The device can be hung on the three-wave guardrail plate and move in the length direction of the three-wave guardrail plate, the road condition of an expressway can be monitored and illegal vehicles can be captured and recorded in the moving process, the monitoring range is expanded, in addition, in the moving process of the device on the three-wave guardrail plate, the monitoring effect is good, and the monitoring effect is good. Vibration passing through the connecting position of the adjacent three-wave guardrail plates can be obviously reduced through the damping component, on one hand, looseness of an electric appliance connecting circuit in the monitoring robot is avoided, and on the other hand, damage to the monitoring camera due to too large vibration is avoided.

Description

Technical Field

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

[0002] Highway traffic monitoring is a measure taken to understand and grasp the traffic conditions on the highway in real time, to provide accurate road information and to ensure traffic safety.

[0003] In the existing technical field, highway road condition monitoring adopts fixed-point settings, which means that only road condition information in specific areas can be monitored. There are some blind spots, and it is impossible to obtain the comprehensive situation of the entire road system in real time. If a track-type robot is used for mobile monitoring along the highway, it is necessary to re-lay the robot's mobile track, which is costly and difficult to achieve.

[0004] Chinese patent CN117817691A discloses a monitoring robot that moves on highway guardrails, which includes a battery housing, a controller, a mounting top plate, a mobile limiting mechanism, an outer driving mechanism, an electric pan / tilt and a monitoring camera; the controller is embedded in the front side of the battery housing, and the controller and the battery housing are electrically connected... This patent expands the coverage of road condition monitoring by being installed on the highway guardrail, reduces the possibility of blind spots, strengthens the monitoring of dynamic changes of moving vehicles and traffic flow on the highway, and uses the highway guardrail as a robot moving track. Its special structure enables it to climb over the guardrail posts to ensure that the robot can maintain balance during movement. However, it is relatively complex, has high manufacturing costs, and requires complex movements across the posts.

[0005] Chinese patent CN213716164U discloses a shock-absorbing highway mobile inspection robot, which includes a housing, a camera, a limit mechanism and a travel mechanism, wherein the housing is provided with a cavity with an opening. Although the patent has a simple structure and does not need to cross a column, its shock absorption effect is poor, and it simply absorbs shock through a reset spring, and the shock absorption effect needs to be improved. Summary of the invention

[0006] The purpose of the present invention is to provide a monitoring robot that moves on a highway guardrail to solve the problems raised in the above-mentioned background technology.

[0007] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions: The present invention provides a monitoring robot that moves on a highway guardrail, comprising a moving mechanism installed on a three-wave guardrail plate, a monitoring shell installed on the moving mechanism, and a battery, a monitoring camera and a controller installed on the monitoring shell; The mobile mechanism includes mounting plates symmetrically arranged above and below the three-wave guardrail plate, and three sets of mobile clamping components equally spaced and parallelly installed between a pair of mounting plates along the length direction of the three-wave guardrail plate, the pair of mounting plates are parallel to the horizontal plane, and the monitoring housing is installed on one side of the pair of mounting plates close to the front side of the three-wave guardrail plate; The mobile clamping assembly comprises a mounting arm, a positioning roller, a resistance roller, a mounting seat and a motor, wherein the mounting arm comprises a vertical arm vertically arranged on the front face of the three-wave guardrail plate and a horizontal arm vertically connected to both ends of the vertical arm; wherein a pair of horizontal arms extend horizontally from the top and bottom of the three-wave guardrail plate to the back face of the three-wave guardrail plate at one end away from the vertical arm, respectively, and a pair of the horizontal arms are rotatably mounted with the positioning rollers that resist the upper side and the lower side of the three-wave guardrail plate at one end away from the vertical arm, the mounting seat is arranged in the middle part of the vertical arm, a resistance roller that resists the wave crest in the middle part of the three-wave guardrail plate is rotatably arranged on the mounting seat, and the motor for driving the resistance roller to rotate is installed on the mounting seat; The movable clamping assembly also includes a shock absorbing component, which includes a first preload spring and a one-way damping structure. A sliding channel perpendicular to the three-wave guardrail plate is provided in the middle of the vertical arm. The mounting seat is slidably assembled in the sliding channel and can only slide along the length direction of the sliding channel. The first preload spring is used to provide an elastic force to make the resistance roller on the mounting seat elastically resist the wave crest in the middle of the three-wave guardrail plate. The one-way damping structure is used to provide sliding damping when the mounting seat moves toward the three-wave guardrail plate. The spacing between adjacent movable clamping assemblies is greater than the length of the overlapping area of ​​adjacent three-wave guardrail plates.

[0008] Furthermore, a strip-shaped slide groove is provided through the corresponding movable clamping assembly on the mounting plate, and the strip-shaped slide groove is arranged in a direction perpendicular to the three-wave guardrail plate, and a sliding block adapted to the strip-shaped slide groove is provided on the cross arm of the mounting arm, and the sliding block of the movable clamping assembly is slidably adapted in the corresponding strip-shaped slide groove, and a second pre-tensioning spring is provided between the sliding block and one end of the strip-shaped slide groove close to the front face of the three-wave guardrail plate, and the stiffness coefficient of the first pre-tensioning spring is greater than the stiffness coefficient of the second pre-tensioning spring.

[0009] Furthermore, an annular groove is opened in the middle of the positioning roller, a pair of positioning rollers are arranged obliquely, and the pair of positioning rollers are in an eight-shaped shape, and the annular grooves of the pair of positioning rollers are against the upper and lower sides of the three-wave guardrail plate.

[0010] Furthermore, the abutting roller includes a vertically arranged rotating shaft and two rotating disks fixed on the rotating shaft, wherein the outer circumferential surfaces of the two rotating disks respectively abut against two sides of the wave crest in the middle of the three-wave guardrail plate.

[0011] Furthermore, the one-way damping structure includes a telescopic cylinder arranged inside the sliding channel along the length direction thereof, the telescopic cylinder includes a cylinder body, a piston sealed and slidably arranged in the cylinder body, and a movable rod coaxially arranged on the side of the piston close to the mounting seat, the end of the movable rod away from the piston extends through the cylinder body and is fixedly connected to the mounting seat, the end of the cylinder body away from the mounting seat is fixedly connected to the sliding channel through a connecting piece, and the end of the cylinder body away from the mounting seat is connected to a vertically arranged oil storage cylinder through an oil pipe; Furthermore, the one-way damping structure also includes a damping plate arranged in the cylinder body, the damping plate is evenly provided with cylindrical through holes in the circumferential direction, and the inner wall of the cylindrical through hole is evenly provided with strip-shaped slits in the circumferential direction, and a sealing plug is slidably arranged in the cylindrical through hole on the side of the damping plate away from the piston, and the sealing plug is elastically connected to the damping plate at the end away from the piston through an elastic connection structure, so that the sealing plug is elastically slidably arranged in the cylindrical through hole.

[0012] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects: The present invention can be mounted on a three-wave guardrail plate and move along the length direction of the three-wave guardrail plate, and during the movement, the road conditions of the expressway can be monitored and illegal vehicles can be captured and recorded, thereby expanding the monitoring range.

[0013] In addition, during the movement of the three-wave guardrail plate, the present invention can significantly reduce the vibration passing through the connection between adjacent three-wave guardrail plates through the shock-absorbing components, on the one hand to avoid the loosening of the electrical connection lines in the monitoring robot, and on the other hand to avoid damage to the monitoring camera due to excessive vibration.

[0014] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 yes Figure 1 Schematic diagram of the local structure at A; Figure 3 It is a schematic diagram of the structure of the mobile mechanism and the monitoring housing of the present invention separated from each other from a first perspective; Figure 4 It is a second perspective structural schematic diagram of the mobile mechanism and the monitoring housing of the present invention being separated; Figure 5 yes Figure 4Schematic diagram of the local structure at B; Figure 6 It is a schematic diagram of the top view of the structure of the present invention; Figure 7 yes Figure 6 Schematic diagram of EE structure; Figure 8 yes Figure 7 Schematic diagram of the local structure at C; Fig. 9 It is a schematic cross-sectional view of the one-way damping structure of the present invention; Fig.10 yes Fig. 9 Schematic diagram of the local structure at D; Fig.11 It is a schematic diagram of the structure of the first state during the movement of the present invention; Fig.12 It is a schematic diagram of the structure of the second state during the moving process of the present invention; Fig.13 It is a schematic diagram of the structure of the third state during the movement of the present invention; Fig.14 is a schematic diagram of the structure of the fourth state during the movement of the present invention; Fig.15 It is a schematic diagram of the fifth state structure during the moving process of the present invention.

[0017] In the figure: 1-three-wave guardrail plate; 2-moving mechanism; 21-mounting plate; 211-strip slide groove; 212-sliding block; 213-second preload spring; 22-moving clamping assembly; 221-mounting arm; 2211-vertical arm; 2212-sliding channel; 2213-cross arm; 222-positioning roller; 2221-annular groove; 223-contact roller; 2231-rotating shaft; 2232-rotating disk; 224-mounting seat; 225-motor; 2261-first preload spring; 2262-cylinder body; 2263-piston; 2264-movable rod; 2265-oil storage cylinder; 3-monitoring housing; 31-battery; 32-monitoring camera; 51-damping plate; 52-columnar through hole; 53-strip slit; 54-sealing plug; 55-elastic connection structure; 61-P step; 62-Q step. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0019] See also Figure 1-Figure 15 The present invention provides a monitoring robot that moves on a highway guardrail, including a mobile mechanism 2 installed on a three-wave guardrail board 1, a monitoring shell 3 installed on the mobile mechanism 2, and a battery 31, a monitoring camera 32 and a controller (not shown) installed on the monitoring shell 3. The mobile mechanism 2 can carry the monitoring shell 3 and move along the length direction of the three-wave guardrail board 1. The monitoring camera 32 can monitor the road conditions of the highway and capture and record illegal vehicles during the movement of the monitoring shell 3. The battery 31 can provide power to the power user, and the controller is used to control the mobile mechanism 2 and the monitoring camera 32.

[0020] Combination Figure 1 and Figure 4 As shown, the mobile mechanism 2 includes mounting plates 21 symmetrically arranged above and below the three-wave guardrail plate 1, and three groups of mobile clamping components 22 equidistantly spaced along the length direction of the three-wave guardrail plate 1 and installed parallelly between a pair of mounting plates 21. The pair of mounting plates 21 are parallel to the horizontal plane, and the monitoring shell 3 is installed on one side of a pair of mounting plates 21 close to the front of the three-wave guardrail plate 1.

[0021] like Figure 4 and Figure 7 As shown, the mobile clamping assembly 22 includes a mounting arm 221, a positioning roller 222, a resisting roller 223, a mounting seat 224 and a motor 225. The mounting arm 221 includes a vertical arm 2211 vertically arranged on the front of the three-wave guardrail plate 1 and a horizontal arm 2213 vertically connected to both ends of the vertical arm 2211; wherein, a pair of horizontal arms 2213 extend horizontally from the top and bottom of the three-wave guardrail plate 1 to the back of the three-wave guardrail plate 1 at one end away from the vertical arm 2211. , and the ends of a pair of the horizontal arms 2213 away from the vertical arms 2211 are respectively rotatably installed with the positioning rollers 222 that abut against the upper and lower sides of the three-wave guardrail plate 1, and the middle part of the vertical arm 2211 is provided with the mounting seat 224, and the mounting seat 224 is rotatably provided with a resistance roller 223 that abuts against the wave crest in the middle part of the three-wave guardrail plate 1, and the mounting seat 224 is installed with the motor 225 for driving the resistance roller 223 to rotate.

[0022] The three groups of mobile clamping assemblies 22 of the present invention are limited by a pair of mounting plates 21, so that the three groups of mobile clamping assemblies 22 maintain a parallel relationship, and each mobile clamping assembly 22 is clamped on the three-wave guardrail plate 1 by a pair of positioning rollers 222 and a resistance roller 223. Specifically, a pair of positioning rollers 222 respectively resist against the upper side and lower side of the three-wave guardrail plate 1 on the back of the three-wave guardrail plate 1, and a resistance roller 223 resists against the middle wave crest of the three-wave guardrail plate 1 on the front of the three-wave guardrail plate 1 to form a three-point clamping, so that the mobile mechanism 2 is firmly assembled on the three-wave guardrail plate 1, wherein the movement of the mobile mechanism 2 on the three-wave guardrail plate 1 is achieved by the motor 225 driving the forward and reverse rotation of the resistance roller 223.

[0023] Since the highway guardrail is composed of a plurality of three-wave guardrail panels 1 which overlap each other end to end and are fixed on the column, Figure 1 and Figure 2 As shown, therefore, two steps will be formed in the overlapping area of ​​adjacent three-wave guardrail panels 1, wherein the two steps are P step 61 and Q step 62, respectively. P step 61 is located on the front of the three-wave guardrail panel 1, and Q step is located at the upper side and lower side of the adjacent three-wave guardrail panel 1. Therefore, when the moving mechanism 2 passes through the overlapping area, two vibrations will occur at P step 61 and Q step 62. Although the vibration is small, it will still affect the normal operation of the electrical components in the device if it is vibrated for a long time, that is, the electrical connection lines may become loose or the monitoring camera 32 may be damaged, thereby affecting the normal monitoring work of the monitoring robot.

[0024] For this reason, Figure 7 and Figure 8 As shown, the mobile clamping assembly 22 also includes a shock absorbing component, which includes a first preload spring 2261 and a one-way damping structure. The middle part of the vertical arm 2211 is provided with a sliding channel 2212 perpendicular to the three-wave guardrail plate 1, and the mounting seat 224 is slidably assembled in the sliding channel 2212 and can only move along the Figure 8 The sliding channel 2212 slides in the length direction, and the first preload spring 2261 is used to provide an elastic force so that the resistance roller 223 on the mounting seat 224 elastically resists the wave crest in the middle of the three-wave guardrail plate 1, and the one-way damping structure is used to provide sliding damping when the mounting seat 224 moves toward the three-wave guardrail plate 1.

[0025] The preload elastic force provided by the first preload spring 2261 of the present invention can cause relative displacement between the mounting seat 224 and the vertical arm 2211, thereby causing a pair of positioning rollers 222 and abutting rollers 223 to be elastically clamped on the three-wave guardrail plate 1; Thus, when the resisting roller 223 passes through the P-track step 61 (the resisting roller 223 is like "going up the step"), the first preload spring 2261 can be deformed, so that the resisting roller 223 on the mounting seat 224 moves away from the three-wave guardrail plate 1 (the mounting arm 221 remains stationary), that is, Fig.12 As shown, during this process, the one-way damping structure does not work, thereby reducing the impact of the vibration generated when the mobile clamping assembly 22 passes through the P-track step 61 on the monitoring camera 32 and the internal electrical circuits; When a pair of positioning rollers 222 pass through the Q-track step 62 (a pair of positioning rollers 222 are similar to "down steps"), under the elastic force of the first preload spring 2261, since the mounting seat 224 cannot move forward and backward, the mounting arm 221 will move relative to the mounting seat 224 (that is, the mounting seat remains stationary), causing the pair of positioning rollers 222 to contact the upper and lower sides of the three-wave guardrail plate 1. During this process (the movement of the mounting arm 221, correspondingly, the mounting seat 224 will move toward the three-wave guardrail plate 1 in the sliding channel 2212 relative to the mounting arm 221), the one-way damping structure generates damping to slow down the movement speed of the mounting seat 224 in the sliding channel 2212, that is, to slow down the movement of the mounting arm 221, so that the pair of positioning rollers 222 slowly contact the upper and lower sides of the three-wave guardrail plate 1 when passing through the Q-track step 62, that is, Fig.13 As shown, it prevents a pair of positioning rollers 222 from having excessive impact with the upper and lower sides of the three-wave guardrail plate 1 during the "down stairs" process, thereby preventing large vibrations from being generated, thereby reducing the vibrations generated when the mobile clamping assembly 22 passes through the Q-track step 62, thereby reducing the impact on the monitoring camera 32 and the internal electrical circuits.

[0026] It is worth mentioning that the spacing between adjacent mobile clamping assemblies 22 is greater than the length of the overlapping area of ​​adjacent three-wave guardrail panels 1. Therefore, when one of the mobile clamping assemblies 22 passes through the Q-track step 62, the other two mobile clamping assemblies 22 maintain a stable clamping with the three-wave guardrail panel 1. Therefore, when a pair of positioning rollers 222 slowly contact the upper and lower sides of the three-wave guardrail panel 1 when passing through the Q-track step 62 (equivalent to a pair of resistance rollers 223 being in a suspended state), it will not affect the stability of the connection between the device and the three-wave guardrail panel 1.

[0027] like Figure 5As shown, in a specific embodiment of the present invention, a strip slide groove 211 is provided through the corresponding mobile clamping assembly 22 on the mounting plate 21, and the strip slide groove 211 is arranged in a direction perpendicular to the three-wave guardrail plate 1, and a sliding block 212 adapted to the strip slide groove 211 is provided on the cross arm 2213 of the mounting arm 221, and the sliding block 212 of the mobile clamping assembly 22 is slidably adapted in the corresponding strip slide groove 211, and a second pre-tightening spring 213 is provided between the sliding block 212 and one end of the strip slide groove 211 close to the front side of the three-wave guardrail plate 1, and the stiffness coefficient of the first pre-tightening spring 2261 is greater than the stiffness coefficient of the second pre-tightening spring 213.

[0028] When the device is on the same three-wave guardrail plate 1, the sliding blocks 212 of the three groups of mobile clamping components 22 are all located at one end of the strip slide 211 close to the back of the three-wave guardrail plate 1 under the action of the second preload spring 213; like Figure 11-Figure 15 As shown, when two of the movable clamping assemblies 22 pass through the overlapping area of ​​adjacent three-wave guardrail panels 1, the two movable clamping assemblies 22 will move in the strip slide groove 211 toward the front end of the three-wave guardrail panel 1 and squeeze the corresponding second preload spring 213, but are limited by the limiting effect of the sliding block 212 of the rear movable clamping assembly 22 (that is, the sliding block 212 of the rear movable clamping assembly 22 is at the end of the strip slide groove 211 close to the back of the three-wave guardrail panel 1, which can limit the movement of the mounting plate 21 toward the front of the three-wave guardrail panel 1), the mounting plate 21 will not move forward and backward relative to the three-wave guardrail panel 1, and only when the last movable clamping assembly 22 passes through the overlapping area of ​​adjacent three-wave guardrail panels 1, the mounting plate 21 will move forward relative to the three-wave guardrail panel 1, that is, Fig.15 As shown, and in this process, due to the damping effect of the one-way damping structure in the last movable clamping assembly 22, when the last movable clamping assembly 22 passes through the overlapping area of ​​the adjacent three-wave guardrail plates 1, the mounting plate 21 can be slowly moved forward under the action of the one-way damping structure to further reduce the vibration of the monitoring shell 3.

[0029] like Figure 7 As shown, in a specific embodiment of the present invention, an annular groove 2221 is opened in the middle of the positioning roller 222, a pair of positioning rollers 222 are inclined, and a pair of positioning rollers 222 are in an eight-shaped shape, and the annular grooves 2221 of a pair of positioning rollers 222 are in contact with the upper side and lower side of the three-wave guardrail plate 1.

[0030] like Figure 7As shown, in a specific embodiment of the present invention, the abutting roller 223 includes a vertically arranged rotating shaft 2231 and two rotating disks 2232 fixed on the rotating shaft 2231, wherein the outer circumferential surfaces of the two rotating disks 2232 respectively abut against both sides of the middle wave crest of the three-wave guardrail plate 1.

[0031] like Figure 8 and Fig.10 As shown, in a specific embodiment of the present invention, the one-way damping structure includes a telescopic cylinder arranged inside the sliding channel 2212 along the length direction thereof, the telescopic cylinder includes a cylinder body 2262, a piston 2263 sealingly and slidingly arranged in the cylinder body 2262, and a movable rod 2264 coaxially arranged on the side of the piston 2263 close to the mounting seat 224, one end of the movable rod 2264 away from the piston 2263 passes through the cylinder body 2262 and extends to be fixedly connected to the mounting seat 224, one end of the cylinder body 2262 away from the mounting seat 224 is fixedly connected to the sliding channel 2212 through a connecting piece, and one end of the cylinder body 2262 away from the mounting seat 224 is connected to a vertically arranged oil storage cylinder 2265 through an oil pipe; The one-way damping structure also includes a damping plate 51 arranged in the cylinder body 2262, and the damping plate 51 is evenly provided with cylindrical through holes 52 in the circumferential direction, and the inner wall of the cylindrical through hole 52 is evenly provided with strip slits 53 in the circumferential direction. A sealing plug 54 is slidably arranged in the cylindrical through hole 52 of the damping plate 51 away from the side of the piston 2263, and the sealing plug 54 is elastically connected to the damping plate 51 at one end away from the piston 2263 through an elastic connection structure 55, so that the sealing plug 54 is elastically slidably arranged in the cylindrical through hole 52.

[0032] When the resisting roller 223 passes through the P-track step 61, the mounting seat 224 moves in the sliding channel 2212 in a direction away from the three-wave guardrail plate 1. At this time, the movable rod 2264 causes the piston 2263 to move toward the damping plate 51 and squeeze the hydraulic oil in the cylinder 2262. The hydraulic oil enters the columnar through hole 52 to make the sealing plug 54 squeeze the elastic connection structure 55 and move out of the columnar through hole 52. Then, the hydraulic oil enters the liquid storage cylinder through the oil pipe. In this process, the hydraulic oil passes through the large-diameter columnar through hole 52. When the pair of positioning rollers 222 pass through the Q-track step, the mounting seat 224 moves in the sliding channel 2212 toward the three-wave guardrail. At this time, the movable rod 2264 causes the piston 2263 to move in the cylinder body 2262 toward the side away from the damping plate 51, thereby generating a liquid suction action, thereby causing the hydraulic oil in the reservoir to enter the cylinder body 2262 and then pass through the damping plate 51. Since the sealing plug 54 is in the columnar through hole 52, the columnar through hole 52 can be blocked, and the hydraulic oil can only enter through the strip slit 53. Into the cylinder 2262 on one side of the damping plate 51. During this process, due to the small cross-section of the strip slit 53, damping is generated on the oil to slow down the movement of the piston 2263, thereby slowing down the movement of the mounting arm 221 (in the above process, the mounting seat 224 is in a stationary state and the mounting arm 221 moves) to avoid excessive impact between the pair of positioning rollers 222 and the upper and lower sides of the three-wave guardrail plate 1 during the "down step" process, thereby generating greater vibration and achieving a damping effect.

[0033] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A monitoring robot that moves on a highway guardrail, comprising a moving mechanism installed on a three-wave guardrail plate, a monitoring shell installed on the moving mechanism, and a battery, a monitoring camera and a controller installed on the monitoring shell; It is characterized in that The mobile mechanism includes mounting plates symmetrically arranged above and below the three-wave guardrail plate, and three sets of mobile clamping components equally spaced and parallelly installed between a pair of mounting plates along the length direction of the three-wave guardrail plate, the pair of mounting plates are parallel to the horizontal plane, and the monitoring housing is installed on one side of the pair of mounting plates close to the front side of the three-wave guardrail plate; The mobile clamping assembly comprises a mounting arm, a positioning roller, a resistance roller, a mounting seat and a motor, wherein the mounting arm comprises a vertical arm vertically arranged on the front face of the three-wave guardrail plate and a horizontal arm vertically connected to both ends of the vertical arm; wherein a pair of horizontal arms extend horizontally from the top and bottom of the three-wave guardrail plate to the back face of the three-wave guardrail plate at one end away from the vertical arm, respectively, and a pair of the horizontal arms are rotatably mounted with the positioning rollers that resist the upper side and the lower side of the three-wave guardrail plate at one end away from the vertical arm, the mounting seat is arranged in the middle part of the vertical arm, a resistance roller that resists the wave crest in the middle part of the three-wave guardrail plate is rotatably arranged on the mounting seat, and the motor for driving the resistance roller to rotate is installed on the mounting seat; The movable clamping assembly also includes a shock absorbing component, which includes a first preload spring and a one-way damping structure. A sliding channel perpendicular to the three-wave guardrail plate is provided in the middle of the vertical arm. The mounting seat is slidably assembled in the sliding channel and can only slide along the length direction of the sliding channel. The first preload spring is used to provide an elastic force to make the resistance roller on the mounting seat elastically resist the wave crest in the middle of the three-wave guardrail plate. The one-way damping structure is used to provide sliding damping when the mounting seat moves toward the three-wave guardrail plate. The spacing between adjacent movable clamping assemblies is greater than the length of the overlapping area of ​​adjacent three-wave guardrail plates.

2. The monitoring robot moving on the highway guardrail according to claim 1, characterized in that: A strip-shaped slide groove is provided through the corresponding movable clamping assembly on the mounting plate, and the strip-shaped slide groove is arranged in a direction perpendicular to the three-wave guardrail plate. A sliding block adapted to the strip-shaped slide groove is provided on the cross arm of the mounting arm. The sliding block of the movable clamping assembly is slidably adapted in the corresponding strip-shaped slide groove, and a second pre-tensioning spring is provided between the sliding block and one end of the strip-shaped slide groove close to the front side of the three-wave guardrail plate, and the stiffness coefficient of the first pre-tensioning spring is greater than the stiffness coefficient of the second pre-tensioning spring.

3. The monitoring robot moving on the highway guardrail according to claim 1, characterized in that: An annular groove is provided in the middle of the positioning roller, a pair of positioning rollers are inclinedly arranged, and the pair of positioning rollers are in an eight-shaped shape, and the annular grooves of the pair of positioning rollers are against the upper side and lower side of the three-wave guardrail plate.

4. The monitoring robot moving on the highway guardrail according to claim 1, characterized in that: The abutting roller comprises a vertically arranged rotating shaft and two rotating disks fixed on the rotating shaft, wherein the outer circumferential surfaces of the two rotating disks respectively abut against two sides of the wave crest in the middle of the three-wave guardrail plate.

5. The monitoring robot moving on the highway guardrail according to claim 1, characterized in that: The one-way damping structure includes a telescopic cylinder arranged inside the sliding channel along the length direction thereof, the telescopic cylinder includes a cylinder body, a piston sealingly and slidingly arranged in the cylinder body, and a movable rod coaxially arranged on the side of the piston close to the mounting seat, the end of the movable rod away from the piston extends through the cylinder body and is fixedly connected to the mounting seat, the end of the cylinder body away from the mounting seat is fixedly connected to the sliding channel through a connecting piece, and the end of the cylinder body away from the mounting seat is connected to a vertically arranged oil storage cylinder through an oil pipe.

6. The monitoring robot moving on the highway guardrail according to claim 5, characterized in that: The one-way damping structure also includes a damping plate arranged in the cylinder body, the damping plate is evenly provided with cylindrical through holes in the circumferential direction, and the inner wall of the cylindrical through hole is evenly provided with strip-shaped slits in the circumferential direction, a sealing plug is slidably arranged in the cylindrical through hole on the side of the damping plate away from the piston, and the sealing plug is elastically connected to the damping plate at one end away from the piston through an elastic connection structure, so that the sealing plug is elastically slidably arranged in the cylindrical through hole.

Images