High-speed inspection robot

Abstract

The invention relates to the technical field of expressway monitoring, and provides a high-speed inspection robot which is movably arranged on a wave-shaped guardrail of an expressway, the wave-shaped guardrail is provided with a plurality of wave-shaped protrusions, each wave-shaped protrusion is provided with a concave face and a convex face, the convex faces face the expressway, and the high-speed inspection robot comprises a guiding device, a limiting device and a power device. The sensor is detachably arranged on the frame body, and the guide device, the power device and the limiting device are all arranged on the frame body; the guide device comprises a first sliding block which is slidably arranged on the frame body, and the first sliding block is close to or away from the concave surface after sliding; the first roller is rotationally arranged on the first sliding block, and after the first sliding block slides to be close to the concave surface, the first roller abuts against the side edge of the concave surface; the top block is slidably arranged on the first sliding block, is closer to the vertex of the concave surface relative to the first roller, and is close to or far away from the vertex of the concave surface after sliding. According to the technical scheme, the problem that in the prior art, a high-speed inspection robot is inconvenient to disassemble and assemble is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of highway monitoring, and in particular to a high-speed inspection robot. Background Art

[0002] With the continuous advancement of science and technology and the increasing automation of industrial production, higher requirements are placed on the inspection of equipment and facilities. In areas such as highways, railways, and pipeline transportation, traditional manual inspection methods have problems such as low efficiency, high labor intensity, limited detection accuracy, and difficulty in dealing with complex and dangerous environments. In order to overcome these shortcomings, high-speed inspection robots came into being. This type of robot can move quickly in a specific environment, carry various sensors and detection equipment, and obtain relevant data and information in real time.

[0003] The inspection robot in the prior art can move on the high-speed guardrail bracket without the need for additional guide rails, but there is a problem of inconvenient operation during installation, disassembly, maintenance and replacement. Summary of the invention

[0004] The present invention provides a high-speed inspection robot, which solves the problem of inconvenient disassembly and installation of the high-speed inspection robot in the related art.

[0005] The technical solution of the present invention is as follows: A high-speed inspection robot is movably arranged on a corrugated guardrail of a highway, wherein the corrugated guardrail has a plurality of corrugated protrusions, wherein the corrugated protrusions have a concave surface and a convex surface, wherein the convex surface faces the highway, and comprises: a guide device, a limit device and a power device, wherein the guide device and the limit device are respectively located on both sides of the corrugated guardrail, and further comprises: A frame, on which the sensor is detachably arranged, and on which the guide device, the power device and the limit device are all arranged; The guiding device comprises: A first sliding block is slidably disposed on the frame, and the first sliding block slides closer to or farther from the concave surface; a first roller, rotatably disposed on the first sliding block, wherein after the first sliding block slides close to the concave surface, the first roller abuts against a side edge of the concave surface; A top block is slidably arranged on the first sliding block. The top block is closer to the apex of the concave surface than the first roller. After sliding, the top block approaches or moves away from the apex of the concave surface.

[0006] Optionally, the sliding direction of the top block is perpendicular to the length direction of the corrugated guardrail, the sliding direction of the first sliding block and the sliding direction of the top block form an angle, and the surface of the top block close to the vertex of the concave surface is a spherical surface, and further includes: A first elastic member, two ends of which are respectively arranged on the first sliding block and the frame, and the first elastic member is used to provide a force for the first sliding block to approach the concave surface; The second elastic member has two ends respectively arranged on the top block and the first sliding block, and the second elastic member is used to provide a force for the top block to approach the vertex of the concave surface.

[0007] Optionally, there are at least two first rollers and two top blocks, and the first rollers and the top blocks are sequentially distributed along the length direction of the corrugated guardrail, and further comprising: The first lifting block is lifted and arranged on the first sliding block, the first roller is rotatably arranged on the first sliding block through the first lifting block, and the top block is lifted and arranged on the first sliding block through the first lifting block.

[0008] Optionally, it also includes: A box body is arranged on the frame body, the first sliding block passes through the box body, and the box body has a threaded hole; A screw rod, threadedly connected to the threaded hole, one end of the screw rod having a special-shaped groove; A locking ring, rotatably disposed at the other end of the screw rod, the locking ring being used to lock or loosen the first sliding block; The lock is arranged on the box body, and the lock has a lock core, the rotation axis of the lock core is colinear with the rotation axis of the screw, and the front end of the key of the lock penetrates the lock core and enters the special-shaped groove.

[0009] Optionally, the power device comprises: A rotation driving device is arranged on the frame; A swing frame, one end of which is swingably arranged on the frame body, and the swing axis of the swing frame is colinear with the axis of the driving shaft of the rotating driving device; A power wheel is rotatably arranged at the other end of the swing frame. The rotation driving device drives the power wheel to rotate through a sprocket and a chain. The power wheel abuts against the corrugated guardrail.

[0010] Optionally, it also includes: A second sliding block is slidably disposed on the frame, and the second sliding block slides closer to or farther from the corrugated guardrail; The auxiliary wheel is rotatably arranged on the second sliding block, and the rotation axis of the auxiliary wheel is parallel to the rotation axis of the power wheel.

[0011] Optionally, it also includes: A third elastic member, both ends of which are respectively arranged on the swing frame and the frame body, and the third elastic member is used to provide an end of the power wheel close to the corrugated guardrail; The fourth elastic member has two ends respectively arranged on the second sliding block and the frame, and the fourth elastic member is used to provide a force for the second sliding block to approach the corrugated guardrail.

[0012] Optionally, the limiting device includes: A first limiting wheel is rotatably arranged relative to the frame, wherein the rotation axis of the first limiting wheel is parallel to the lifting direction of the first lifting block, and the first limiting wheel is used to abut against the convex surface; The second limiting wheel is rotatably arranged relative to the frame, the rotation axis of the second limiting wheel is parallel to the rotation axis of the first limiting wheel, and the first limiting wheel and the second limiting wheel are distributed in sequence along the length direction of the corrugated guardrail, and the second limiting wheel is used to abut against the convex surface.

[0013] Optionally, both the first limiting wheel and the second limiting wheel have a neck portion, and the neck portion is used to abut against the convex surface, and further includes: A third sliding block is slidably arranged on the frame, the sliding direction of the third sliding block is parallel to the rotation axis of the first limiting wheel, the third sliding block slides close to or away from the convex surface, the third sliding block and the first sliding block are respectively located on both sides of the corrugated guardrail, and the first limiting wheel is rotatably arranged on the third sliding block; a fourth sliding block, slidably disposed on the frame, wherein a sliding direction of the fourth sliding block is parallel to a sliding direction of the third sliding block; A rotating frame is rotatably arranged on the fourth sliding block, a rotating axis of the rotating frame is parallel to the sliding direction of the fourth sliding block, and the second limiting wheel is rotatably arranged on the rotating frame.

[0014] Optionally, it also includes: There are two fifth elastic members, which are respectively arranged between the third sliding block and the frame body and between the fourth sliding block and the frame body, and the two fifth elastic members are respectively used to provide a force for the third sliding block and the fourth sliding block to slide close to the corrugated guardrail; A sixth elastic member, with two ends respectively arranged on the rotating frame and the second limiting wheel, and the sixth elastic member is used to provide a force for rotating the rotating frame until the rotation axis of the second limiting wheel is parallel to the rotation axis of the first limiting wheel.

[0015] The working principle and beneficial effects of the present invention are: In the present invention, the robot includes a frame, and the sensor is replaceably mounted on the frame for shooting and collecting information. The guide device and the limit device are respectively located on both sides of the corrugated guardrail, which play the role of fixing the frame and ensuring that the frame can stably move along the length direction of the corrugated guardrail under the action of the power device.

[0016] The first sliding block in the guide device can slide on the frame. When the first sliding block slides close to the concave surface, the first roller arranged on the first sliding block will contact and abut against the side of the concave surface. During the movement of the frame, the first roller reduces the friction between the first roller and the corrugated guardrail by rotating. The top block can slide on the first sliding block, and its position is closer to the apex of the concave surface than the first roller, and the top block can approach or move away from the apex of the concave surface by sliding. During the process of the first sliding block sliding close to the corrugated guardrail, the top block will first abut against the apex of the concave surface, and then the first sliding block will continue to slide close to the corrugated guardrail. The top block slides relative to the first sliding block. After the first roller abuts against the side of the concave surface, the first sliding block will no longer slide. The first roller, the top block and the limit device together sandwich the corrugated guardrail in the middle to ensure the stability of the frame. When the frame needs to be removed as a whole, it is only necessary to pull the first slider to slide the first slider away from the corrugated guardrail, so that the top block and the first roller are away from the concave surface until the top block and the first roller can be taken out vertically, and the frame can be removed from under the corrugated guardrail.

[0017] The guide device simplifies the installation and disassembly process of the device, reducing the difficulty and cost of maintenance and replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0019] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of another angle of the present invention; Figure 3 For the present invention Figure 2 The enlarged structural diagram at F in the middle; Figure 4 For the present invention Figure 1 The enlarged structural diagram at E in the middle; Figure 5 It is a rear view of the present invention; Figure 6 This is a schematic diagram of the structure of the auxiliary wheel of the present invention; Figure 7 For the present invention Figure 5 AA-direction cross-sectional structural diagram; Figure 8 For the present invention Figure 7The enlarged structural diagram at G in the middle; Fig. 9 It is a structural schematic diagram of another angle of the present invention; Fig.10 For the present invention Fig. 9 Schematic diagram of the cross-sectional structure in the middle BB direction; Fig.11 For the present invention Fig.10 The schematic diagram of the structure at H in the middle is enlarged; Fig.12 This is a schematic diagram of the structure of the present invention after removing part of the frame; Fig.13 For the present invention Fig.12 A schematic diagram of the structure is enlarged at position I; Fig.14 This is a front view of the present invention after removing part of the frame; Fig.15 For the present invention Fig.14 Schematic diagram of the structure in CC section; Fig.16 For the present invention Fig.15 The schematic diagram of the structure is enlarged at J in the middle; Fig.17 For the present invention Fig.14 Schematic diagram of the cross-sectional structure in the middle DD direction; Fig.18 For the present invention Fig.17 Enlarged structural diagram at K in the middle.

[0020] In the figure: 100, corrugated guardrail, 110, corrugated protrusion, 111, concave surface, 112, convex surface, 200, frame, 210, sensor, 310, first sliding block, 320, first roller, 330, top block, 340, first elastic member, 350, second elastic member, 360, first lifting block, 370, box body, 371, threaded hole, 381, screw, 382, ​​locking ring, 390, lock, 410, rotation drive device, 420, swing frame, 430, power wheel, 440, second sliding block, 450, auxiliary wheel, 460, third elastic member, 470, fourth elastic member, 510, first limiting wheel, 520, second limiting wheel, 530, necking neck, 540, third sliding block, 550, fourth sliding block, 560, rotating frame, 570, fifth elastic member, 580, sixth elastic member. DETAILED DESCRIPTION

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0022] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically shown, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0023] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0025] Reference Figure 1 to Figure 18 The present invention proposes a high-speed inspection robot, which is movably arranged on a corrugated guardrail 100 of a highway, wherein the corrugated guardrail 100 has a plurality of corrugated protrusions 110, wherein the corrugated protrusions 110 have a concave surface 111 and a convex surface 112, wherein the convex surface 112 faces the highway, and comprises: a guide device, a limit device and a power device, wherein the guide device and the limit device are respectively arranged on both sides of the corrugated guardrail 100, and further comprises a frame 200, wherein a sensor 210 is detachably arranged on the frame 200, and wherein the guide device, the power device and the limit device are all arranged on the frame 200; The device includes a first sliding block 310, which is slidably set on the frame 200. After the first sliding block 310 slides, it approaches or moves away from the concave surface 111; a first roller 320 is rotatably set on the first sliding block 310. After the first sliding block 310 slides close to the concave surface 111, the first roller 320 abuts against the side of the concave surface 111; a top block 330 is slidably set on the first sliding block 310. The top block 330 is closer to the apex of the concave surface 111 relative to the first roller 320. After the top block 330 slides, it approaches or moves away from the apex of the concave surface 111.

[0026] In this embodiment, the robot includes a frame 200, and a sensor 210 is fixed to the frame 200 in a replaceable manner for shooting and collecting information. The guide device and the limit device are respectively located on both sides of the corrugated guardrail 100, which play the role of fixing the frame 200 and ensuring that the frame 200 can stably move along the length direction of the corrugated guardrail 100 under the action of the power device.

[0027] The first sliding block 310 in the guide device can slide on the frame 200. When the first sliding block 310 slides close to the concave surface 111, the first roller 320 rotating on the first sliding block 310 will contact and abut the side of the concave surface 111. During the movement of the frame 200, the first roller 320 reduces the friction between the first roller 320 and the corrugated guardrail 100 by rotating. The top block 330 can slide on the first sliding block 310, and its position is closer to the vertex of the concave surface 111 than the first roller 320, and the top block 330 can move closer to or away from the vertex of the concave surface 111 by sliding. During the process of the first sliding block 310 sliding close to the corrugated guardrail 100, the top block 330 will first abut the vertex of the concave surface 111, and then the first sliding block 310 will continue to slide close to the corrugated guardrail 100, and the top block 330 will slide relative to the first sliding block 310. After the first roller 320 abuts the side of the concave surface 111, the first sliding block 310 will no longer slide. The first roller 320, the top block 330 and the limiting device sandwich the corrugated guardrail 100 in the middle to ensure the stability of the frame 200. When the frame 200 needs to be removed as a whole, it is only necessary to pull the first slider to slide the first slider away from the corrugated guardrail 100, so that the top block 330 and the first roller 320 are both away from the concave surface 111, until the top block 330 and the first roller 320 can be taken out vertically, and the frame 200 can be removed from under the corrugated guardrail 100.

[0028] The guide device simplifies the installation and removal process of the device, reducing the difficulty and cost of maintenance and replacement. The space in the frame 200 can be used to place components such as a power source, a signal processing device, and a signal generating device.

[0029] Furthermore, the sliding direction of the top block 330 is perpendicular to the length direction of the corrugated guardrail 100, the sliding direction of the first sliding block 310 and the sliding direction of the top block 330 form an angle, the surface of the top block 330 close to the vertex of the concave surface 111 is a spherical surface, and also includes a first elastic member 340, the two ends of the first elastic member 340 are respectively arranged on the first sliding block 310 and the frame 200, and the first elastic member 340 is used to provide a force for the first sliding block 310 to approach the concave surface 111; the two ends of the second elastic member 350 are respectively arranged on the top block 330 and the first sliding block 310, and the second elastic member 350 is used to provide a force for the top block 330 to approach the vertex of the concave surface 111.

[0030] In this embodiment, the first elastic member 340 plays multiple roles. On the one hand, it can prevent the frame 200 from shaking due to the unstable position of the first roller 320 when moving, thereby enhancing stability; on the other hand, it can assist the first roller 320 to smoothly pass through the connection between two adjacent corrugated guardrails. The second elastic member 350 allows the top block 330 to slide adaptively between adjacent corrugated guardrails and achieve a smooth transition. The sliding direction of the top block 330 is perpendicular to the length direction of the Polish guardrail, which can enable the top block 330 to respond more quickly and ensure that it is always at the top of the concave surface 111. There is an angle between the sliding direction of the first sliding block 310 and the sliding direction of the top block 330, so that the first elastic member 340 is not easily affected by the steps at the connection of the corrugated guardrail, further stabilizing the first roller 320.

[0031] When the frame 200 is to be disassembled or installed, the first sliding block 310 is pulled to move in a direction away from the corrugated guard plate, and the frame 200 can be removed. When installing the frame 200, the first sliding block 310 is first pulled to slide in a direction away from the concave surface 111, and then the limiting device and the power device are both in contact with the corrugated guardrail, and then the first sliding block 310 is released, and the first sliding block 310 automatically slides close to the corrugated guardrail under the action of the first elastic member 340, thereby completing the installation of the frame 200.

[0032] The first elastic member 340 and the second elastic member 350 not only simplify the disassembly and installation operations of the frame 200, improve work efficiency, save time and labor costs, but also enhance the stability of the robot during movement, and improve its overall performance and reliability.

[0033] Furthermore, there are at least two first rollers 320 and top blocks 330, which are distributed in sequence along the length direction of the corrugated guardrail 100, and also include a first lifting block 360, which is lifted and lowered on the first sliding block 310, and the first roller 320 is rotatably set on the first sliding block 310 through the first lifting block 360, and the top block 330 is lifted and lowered on the first sliding block 310 through the first lifting block 360.

[0034] In this embodiment, there are at least two first rollers 320 and top blocks 330, and they are arranged in sequence along the length direction of the corrugated guardrail 100. During the installation and removal process of the frame 200, the position of the frame 200 can be adjusted to make the first rollers 320 and the top blocks 330 avoid the columns of the corrugated guardrail, and then the first sliding block 310 can be slid to complete the removal of the frame 200.

[0035] The first lifting block 360 can be raised and lowered on the first sliding block 310. The first roller 320 is rotatably arranged on the first sliding block 310 through the first lifting block 360, and the top block 330 is also raised and lowered on the first sliding block 310 through the first lifting block 360. Through the lifting action of the first lifting block 360, the height positions of the first roller 320 and the top block 330 can be adjusted to better adapt to the situation of uphill or downhill height changes.

[0036] The arrangement of multiple first rollers 320 and top blocks 330 increases the contact points with the corrugated guardrail 100, thereby improving stability and reliability. Secondly, the first lifting block 360 can flexibly adjust the height of the first rollers 320 and top blocks 330 according to actual conditions, thereby enhancing the robot's adaptability to complex road conditions. Furthermore, it helps to more evenly distribute pressure and friction, thereby extending the service life of components.

[0037] Furthermore, it also includes a box body 370, which is arranged on the frame body 200, the first sliding block 310 passes through the box body 370, and the box body 370 has a threaded hole 371; the screw 381 is threadedly connected to the threaded hole 371, and one end of the screw 381 has a special-shaped groove; the locking ring 382 is rotatably arranged at the other end of the screw 381, and the locking ring 382 is used to lock or loosen the first sliding block 310; the lock 390 is arranged on the box body 370, and the lock 390 has a lock core, and the rotation axis of the lock core is colinear with the rotation axis of the screw 381, and the front end of the key of the lock 390 passes through the lock core and enters the special-shaped groove.

[0038] In this embodiment, the locking ring 382 is rotatably disposed at the other end of the screw rod 381. By rotating the screw rod 381, the locking ring 382 can be moved closer to or farther from the first sliding block 310, thereby achieving the function of locking or loosening the first sliding block 310. The lock 390 is mounted on the box body 370. The lock 390 has a lock core, and the rotation axis of the lock core is colinear with the rotation axis of the screw rod 381. When the screw rod 381 needs to be operated, the front end of the key of the lock 390 is inserted into the lock core, passed through the lock core and entered into the special-shaped groove, and the screw rod 381 can be driven to rotate by turning the key.

[0039] The first sliding block 310 is locked by the locking ring 382 to prevent the first sliding block 310 from sliding, which can ensure the stability of the first roller 320 during movement. The contact points of the first roller 320, the limiting device and the corrugated guardrail 100 are located in a straight line, that is, the first roller 320 can always be in contact with the side of the concave surface 111 through the adaptive adjustment of the limiting device. The setting of the lock 390 improves security and prevents unauthorized personnel from arbitrarily operating the screw 381, thereby completing the disassembly of the device.

[0040] Furthermore, the power device includes a rotating drive device 410, which is arranged on the frame 200; one end of the swing frame 420 is swingably arranged on the frame 200, and the swing axis of the swing frame 420 is colinear with the drive shaft axis of the rotating drive device 410; the power wheel 430 is rotatably arranged at the other end of the swing frame 420, and the rotating drive device 410 drives the power wheel 430 to rotate through a sprocket and a chain, and the power wheel 430 abuts against the corrugated guardrail 100.

[0041] In this embodiment, the power wheel 430 is rotatably mounted at the other end of the swing frame 420. The rotation drive device 410 drives the power wheel 430 to rotate through the transmission mode of the sprocket and the chain, and the power wheel 430 is kept in contact with the corrugated guardrail 100. When the rotation drive device 410 is working, the power wheel 430 is driven to rotate through the sprocket and the chain. Since the power wheel 430 is in contact with the corrugated guardrail 100, a driving force is generated to push the entire inspection robot to move along the corrugated guardrail 100. Through the swing of the swing frame 420, the power wheel 430 can be adaptively adjusted at the step between the two corrugated guardrails, so that the power wheel 430 can cross the step. The swing axis of the swing frame 420 is colinear with the axis of the rotation drive device 410, so that when the swing frame 420 is adaptively swinging, it does not affect the distance between the rotation drive device 410 and the power wheel 430, thereby ensuring the stability of the transmission between the chain and the sprocket.

[0042] By setting the swing frame 420, the power wheel 430 can better adapt to the shape and surface changes of the corrugated guardrail 100, maintain stable abutment and drive force transmission. Secondly, the transmission method of the sprocket and chain is reliable and has high transmission efficiency, which can effectively transmit the power of the rotating drive device 410 to the power wheel 430.

[0043] Furthermore, it also includes a second sliding block 440, which is slidably set on the frame 200. After sliding, the second sliding block 440 moves closer to or away from the corrugated guardrail 100; the auxiliary wheel 450 is rotatably set on the second sliding block 440, and the rotation axis of the auxiliary wheel 450 is parallel to the rotation axis of the power wheel 430.

[0044] In this embodiment, when the inspection robot is working, by adjusting the position of the second sliding block 440, the auxiliary wheel 450 can also adapt to the height change of the step at the connection of the corrugated guardrail 100 and the height change of the uphill and downhill roads. The auxiliary wheel 450 increases the contact point with the corrugated guardrail 100, further improving the stability and reliability of the robot when moving. Moreover, through the cooperation of the auxiliary wheel 450 and the power wheel 430, it can better cope with the changes in different road conditions, making the movement of the robot more stable and smooth.

[0045] Furthermore, it also includes a third elastic member 460, the two ends of the third elastic member 460 are respectively arranged on the swing frame 420 and the frame body 200, and the third elastic member 460 is used to provide a force for the power wheel 430 to approach one end of the corrugated guardrail 100; the two ends of the fourth elastic member 470 are respectively arranged on the second sliding block 440 and the frame body 200, and the fourth elastic member 470 is used to provide a force for the second sliding block 440 to approach the corrugated guardrail 100.

[0046] In this embodiment, the two ends of the third elastic member 460 are respectively mounted on the swing frame 420 and the frame body 200. Its function is to provide a force for the power wheel 430 to approach the corrugated guardrail 100, so that the power wheel 430 can always maintain good contact with the corrugated guardrail 100, and even when encountering some bumpy or uneven sections of the road, it can maintain stable contact under the action of the third elastic member 460. The two ends of the fourth elastic member 470 are respectively arranged on the second sliding block 440 and the frame body 200, providing a force for the second sliding block 440 to approach the corrugated guardrail 100, ensuring that the auxiliary wheel 450 can effectively contact the corrugated guardrail 100, and assisting the movement of the robot.

[0047] Through the action of the third elastic member 460 and the fourth elastic member 470, the power wheel 430 and the auxiliary wheel 450 are ensured to be in continuous close contact with the corrugated guardrail 100, thereby improving the transmission efficiency of the driving force and the stability of movement. Secondly, the third elastic member 460 and the fourth elastic member 470 can play a certain buffering role, reducing the impact and vibration of the robot due to the uneven surface of the guardrail during movement, and protecting related components. Furthermore, the robot's ability to adapt to different road conditions and changes in the shape of the guardrail is enhanced, so that it can operate stably under various conditions.

[0048] Furthermore, the limiting device includes a first limiting wheel 510, which is rotatably arranged relative to the frame 200, and the rotation axis of the first limiting wheel 510 is parallel to the lifting direction of the first lifting block 360, and the first limiting wheel 510 is used to abut against the convex surface 112; the second limiting wheel 520 is rotatably arranged relative to the frame 200, and the rotation axis of the second limiting wheel 520 is parallel to the rotation axis of the first limiting wheel 510, and the first limiting wheel 510 and the second limiting wheel 520 are distributed in sequence along the length direction of the corrugated guardrail 100, and the second limiting wheel 520 is used to abut against the convex surface 112.

[0049] In this embodiment, the limiting device includes a first limiting wheel 510 and a second limiting wheel 520. The first limiting wheel 510 can rotate relative to the frame 200, and its rotation axis is parallel to the lifting direction of the first lifting block 360, and the first limiting wheel 510 is used to abut against the convex surface 112 of the corrugated guardrail 100. The second limiting wheel 520 can also rotate relative to the frame 200, and its rotation axis is parallel to the rotation axis of the first limiting wheel 510. Moreover, the first limiting wheel 510 and the second limiting wheel 520 are distributed in sequence along the length direction of the corrugated guardrail 100, and the second limiting wheel 520 is also used to abut against the convex surface 112.

[0050] Through the abutment of the first limiting wheel 510 and the second limiting wheel 520 with the convex surface 112, combined with the abutment of the first roller 320 with the other side of the corrugated guardrail 100, the movement of the frame 200 can be restricted and guided, ensuring that the frame 200 moves stably along the corrugated guardrail 100. The provision of the first limiting wheel 510 and the second limiting wheel 520 increases the stability and reliability of the limit, and effectively prevents the frame 200 from deflecting or shaking during movement. Secondly, the abutment with the convex surface 112 makes the limit more precise, and improves the accuracy and controllability of the robot's movement. Furthermore, the rotating limiting wheel reduces the friction between the guardrail and the frame, making the movement smoother and reducing energy loss.

[0051] It should be further explained that the number of the first limiting wheels 510 and the second limiting wheels 520 is not limited to one or two, and the first limiting wheels 510 and the second limiting wheels 520 can be arranged according to the overall weight distribution of the frame 200 to prevent the frame 200 from shifting. The plurality of first limiting wheels 210 and the second limiting wheels 520 are spaced apart along the direction of their respective rotation axes and abut against the convex surface 112.

[0052] Further, the first limiting wheel 510 and the second limiting wheel 520 both have a neck portion 530, which is used to abut against the convex surface 112, and also include a third sliding block 540, which is slidably set on the frame 200, and the sliding direction of the third sliding block 540 is parallel to the rotation axis of the first limiting wheel 510. After the third sliding block 540 slides, it approaches or moves away from the convex surface 112. The third sliding block 540 and the first sliding block 310 are respectively located on both sides of the corrugated guardrail 100, and the first limiting wheel 510 is rotatably set on the third sliding block 540; the fourth sliding block 550 is slidably set on the frame 200, and the sliding direction of the fourth sliding block 550 is parallel to the sliding direction of the third sliding block 540; the rotating frame 560 is rotatably set on the fourth sliding block 550, and the rotation axis of the rotating frame 560 is parallel to the sliding direction of the fourth sliding block 550, and the second limiting wheel 520 is rotatably set on the rotating frame 560.

[0053] In this embodiment, the first limiting wheel 510 and the second limiting wheel 520 are both provided with a necking portion 530, and the necking portion 530 is used to abut against the convex surface 112 of the corrugated guardrail 100. The third sliding block 540 and the fourth sliding block 550 can adjust the position of the first limiting wheel 510 and the second limiting wheel 520 in a direction perpendicular to the length of the corrugated guardrail 100, so as to facilitate the first limiting wheel 510 and the second limiting wheel 520 to adapt to the adjustment of the turning position. The rotating frame 560 is rotatably arranged on the fourth sliding block 550, so that when the first limiting wheel 510 and the second limiting wheel 520 encounter an uphill or downhill section, the second limiting wheel 520 can adapt to the change of the angle of the convex surface 112 by rotating.

[0054] The contact between the neck portion 530 and the convex surface 112 and the adjustability of the sliding block and the rotating frame 560 greatly improve the adaptability of the limiting device to corrugated guardrails 100 of different specifications, so that the robot can run stably on a variety of guardrails. Secondly, the position and posture of the limiting wheel can be controlled more accurately, which enhances the accuracy and reliability of the limiting and ensures the accuracy and stability of the robot's movement.

[0055] Furthermore, it also includes a fifth elastic member 570, which has two, respectively arranged between the third sliding block 540 and the frame 200, and between the fourth sliding block 550 and the frame 200, and the two fifth elastic members 570 are used to provide force for the third sliding block 540 and the fourth sliding block 550 to slide close to the corrugated guardrail 100; the two ends of the sixth elastic member 580 are respectively arranged on the rotating frame 560 and the second limiting wheel 520, and the sixth elastic member 580 is used to provide force for the rotating frame 560 to rotate until the rotation axis of the second limiting wheel 520 is parallel to the rotation axis of the first limiting wheel 510.

[0056] In this embodiment, the two fifth elastic members 570 play an important role. One fifth elastic member 570 is arranged between the third sliding block 540 and the frame 200, and the other is arranged between the fourth sliding block 550 and the frame 200. When the third sliding block 540 and the fourth sliding block 550 slide on the frame 200, the two fifth elastic members 570 respectively provide them with forces to slide close to the corrugated guardrail 100. When the rotating frame 560 rotates, the sixth elastic member 580 provides a force to rotate the rotating frame 560 until the rotation axis of the second limiting wheel 520 is parallel to the rotation axis of the first limiting wheel 510.

[0057] The two fifth elastic members 570 ensure that the third sliding block 540 and the fourth sliding block 550 can fit tightly against the corrugated guardrail 100, thereby enhancing the stability and reliability of the limiting device and effectively preventing the robot from shaking and deflecting during movement. Secondly, the sixth elastic member 580 ensures that the second limiting wheel 520 is always in the correct working position, so that the first limiting wheel 510 and the second limiting wheel 520 can work together, thereby improving the limiting effect and accuracy. Furthermore, the presence of the elastic member can play a buffering role, reducing the risk of component damage caused by impact and vibration during the operation of the robot, and extending the service life of the equipment.

[0058] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A high-speed inspection robot, movably arranged on a corrugated guardrail (100) of a highway, wherein the corrugated guardrail (100) has a plurality of corrugated protrusions (110), wherein the corrugated protrusions (110) have a concave surface (111) and a convex surface (112), wherein the convex surface (112) faces the highway, comprising: A guide device, a limit device and a power device, wherein the guide device and the limit device are respectively located on both sides of the corrugated guardrail (100), and is characterized in that it also includes: A frame (200), the sensor (210) being detachably arranged on the frame (200), and the guide device, the power device and the limit device being all arranged on the frame (200); The guiding device comprises: A first sliding block (310) is slidably disposed on the frame (200), wherein the first sliding block (310) moves closer to or farther from the concave surface (111) after sliding; A first roller (320) is rotatably disposed on the first sliding block (310), and after the first sliding block (310) slides close to the concave surface (111), the first roller (320) abuts against a side edge of the concave surface (111); A top block (330) is slidably disposed on the first sliding block (310); the top block (330) is closer to the apex of the concave surface (111) relative to the first roller (320); and the top block (330) moves closer to or farther from the apex of the concave surface (111) after sliding.

2. A high-speed inspection robot according to claim 1, characterized in that: The sliding direction of the top block (330) is perpendicular to the length direction of the corrugated guardrail (100), the sliding direction of the first sliding block (310) and the sliding direction of the top block (330) form an angle, and the surface of the top block (330) close to the vertex of the concave surface (111) is a spherical surface, and further comprises: a first elastic member (340), two ends of which are respectively arranged on the first sliding block (310) and the frame (200), the first elastic member (340) being used to provide a force for the first sliding block (310) to approach the concave surface (111); The second elastic member (350) has two ends respectively arranged on the top block (330) and the first sliding block (310), and the second elastic member (350) is used to provide a force for the top block (330) to approach the vertex of the concave surface (111).

3. A high-speed inspection robot according to claim 1, characterized in that: There are at least two of the first rollers (320) and the top blocks (330), and the first rollers (320) and the top blocks (330) are sequentially distributed along the length direction of the corrugated guardrail (100), and further comprising: The first lifting block (360) is lifted and arranged on the first sliding block (310); the first roller (320) is rotatably arranged on the first sliding block (310) through the first lifting block (360); and the top block (330) is lifted and arranged on the first sliding block (310) through the first lifting block (360).

4. A high-speed inspection robot according to claim 1, characterized in that: Also includes: A box body (370) is arranged on the frame body (200); the first sliding block (310) passes through the box body (370); and the box body (370) has a threaded hole (371); A screw rod (381) is threadedly connected to the threaded hole (371), and one end of the screw rod (381) has a special-shaped groove; a locking ring (382) rotatably disposed on the other end of the screw rod (381), the locking ring (382) being used to lock or loosen the first sliding block (310); The lock (390) is arranged on the box (370), and the lock (390) has a lock core, the rotation axis of the lock core is colinear with the rotation axis of the screw (381), and the front end of the key of the lock (390) penetrates the lock core and enters the special-shaped groove.

5. The high-speed inspection robot according to claim 1, characterized in that: The power device comprises: A rotation driving device (410) is arranged on the frame (200); A swing frame (420), one end of which is swingably disposed on the frame body (200), wherein the swing axis of the swing frame (420) is colinear with the axis of the drive shaft of the rotation drive device (410); A power wheel (430) is rotatably arranged at the other end of the swing frame (420); the rotation drive device (410) drives the power wheel (430) to rotate via a sprocket and a chain; and the power wheel (430) abuts against the corrugated guardrail (100).

6. A high-speed inspection robot according to claim 5, characterized in that: Also includes: A second sliding block (440) is slidably disposed on the frame (200), and the second sliding block (440) moves closer to or farther from the corrugated guardrail (100) after sliding; An auxiliary wheel (450) is rotatably disposed on the second sliding block (440), and a rotation axis of the auxiliary wheel (450) is parallel to a rotation axis of the power wheel (430).

7. A high-speed inspection robot according to claim 6, characterized in that: Also includes: A third elastic member (460), two ends of which are respectively arranged on the swing frame (420) and the frame body (200), and the third elastic member (460) is used to provide an end of the power wheel (430) close to the corrugated guardrail (100); A fourth elastic member (470) has two ends respectively arranged on the second sliding block (440) and the frame (200), and the fourth elastic member (470) is used to provide a force for the second sliding block (440) to approach the corrugated guardrail (100).

8. The high-speed inspection robot according to claim 3, characterized in that: The limiting device comprises: A first limiting wheel (510) is rotatably arranged relative to the frame (200), the rotation axis of the first limiting wheel (510) is parallel to the lifting direction of the first lifting block (360), and the first limiting wheel (510) is used to abut against the convex surface (112); The second limiting wheel (520) is rotatably arranged relative to the frame (200), the rotation axis of the second limiting wheel (520) is parallel to the rotation axis of the first limiting wheel (510), and the first limiting wheel (510) and the second limiting wheel (520) are sequentially distributed along the length direction of the corrugated guardrail (100), and the second limiting wheel (520) is used to abut against the convex surface (112).

9. A high-speed inspection robot according to claim 8, characterized in that: The first limiting wheel (510) and the second limiting wheel (520) both have a neck portion (530), the neck portion (530) being used to abut against the convex surface (112), and further comprising: a third sliding block (540) slidably disposed on the frame (200); a sliding direction of the third sliding block (540) being parallel to a rotation axis of the first limiting wheel (510); the third sliding block (540) moving closer to or farther from the convex surface (112) after sliding; the third sliding block (540) and the first sliding block (310) being respectively located on two sides of the corrugated guardrail (100); and the first limiting wheel (510) being rotatably disposed on the third sliding block (540); a fourth sliding block (550) slidably disposed on the frame (200), wherein the sliding direction of the fourth sliding block (550) is parallel to the sliding direction of the third sliding block (540); A rotating frame (560) is rotatably disposed on the fourth sliding block (550); a rotation axis of the rotating frame (560) is parallel to a sliding direction of the fourth sliding block (550); and the second limiting wheel (520) is rotatably disposed on the rotating frame (560).

10. A high-speed inspection robot according to claim 9, characterized in that: Also includes: There are two fifth elastic members (570), which are respectively arranged between the third sliding block (540) and the frame (200), and between the fourth sliding block (550) and the frame (200), and the two fifth elastic members (570) are respectively used to provide a force for the third sliding block (540) and the fourth sliding block (550) to slide close to the corrugated guardrail (100); A sixth elastic member (580), two ends of which are respectively arranged on the rotating frame (560) and the second limiting wheel (520), and the sixth elastic member (580) is used to provide a force for rotating the rotating frame (560) until the rotation axis of the second limiting wheel (520) is parallel to the rotation axis of the first limiting wheel (510).

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