Expandable mobile robot for guardrail inspection

Abstract

The invention relates to an expandable mobile robot for road guardrail inspection. The expandable mobile robot comprises a rack outer frame, a guardrail groove movement mechanism, a driven wheel mechanism, a self-adaptive loosening and tightening mechanism, a power transmission mechanism, a power mechanism and a quick mounting mechanism. The invention relates to a multifunctional expandable mobile robot for road guardrail inspection. The robot can stably run on a guardrail. As long as the structure is slightly modified, the mobile robot can keep balanced movement on any type of wave-shaped guardrails. In the moving process, the mobile robot can cross small obstacles on the guardrail and keep stable operation. The mobile robot can be quickly dismounted, mounted and maintained through the quick mounting mechanism, functional modules are subsequently expanded through the multifunctional expandable mobile robot for guardrail inspection, and the functions of violation snapshot, road monitoring, environment early warning, quick response, emergency rescue and the like can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of guardrails, and particularly to a multi-functional expandable mobile robot for highway guardrail inspection. Background Art

[0002] At present, highway inspection mainly relies on manual or fixed equipment. However, the above inspection methods have problems such as low efficiency, limited coverage, and poor safety. Most existing inspection robots use drones for aerial inspection or ground robots for inspection along specific trajectories. However, drones have insufficient battery life, and ground robots are easily affected by traffic. Some rail-type robots can run along guardrails, but they have weak obstacle-crossing ability, poor adaptability, and lack of functional expandability.

[0003] In the prior art, Patent CN110085029A proposed a rail-type inspection robot, but its spring stiffness is fixed and it cannot adapt to complex obstacles; Patent CN110497379A uses a magnetic adsorption structure, but its load-bearing capacity is insufficient. Therefore, there is an urgent need for a guardrail inspection robot with high stability, strong obstacle-crossing ability, and multi-functional expansion.

[0004] This mobile robot can run smoothly on highway guardrails. With a slight modification to this structure, the robot can maintain balanced movement on any type of corrugated guardrail. At the same time, it can cross small obstacles on the guardrail during movement. This mobile robot can be quickly disassembled, installed, and repaired through a quick installation mechanism. Subsequently, the function modules can be expanded through this multi-functional expandable mobile robot for highway guardrail inspection, and functions such as illegal capture, road monitoring, environmental warning, and rapid response can be realized. Summary of the Invention

[0005] Technical Problem: The technical problem to be solved by the present invention is to overcome the defects of existing guardrail inspection robots, and provide a multi-functional expandable mobile robot for highway guardrail inspection, which can realize autonomous operation, has the ability to cross obstacles in multiple scenarios, supports the expansion of function modules, and solves the problems of low inspection efficiency, poor adaptability, and single function in the prior art.

[0006] Technical Solution: The present invention is a multi-functional expandable mobile robot for highway guardrail inspection. The mobile robot includes: a frame outer frame, including angle code connectors and the overall frame outer frame. The angle code connectors are located at the right-angle joints of each rod of the frame outer frame, and all components of the mobile robot are installed on the frame outer frame;

[0007] A guardrail groove movement mechanism: There are two pairs of bearing bases. A bearing rod is connected between each pair of bearing bases. Two traveling wheels are arranged on the bearing rod. The bearing bases are fixed on the frame outer frame through screws;

[0008] Driven wheel mechanism: It is provided with a wheel base and a wheel shaft located on the wheel base. A driven wheel is installed in the middle of the wheel shaft, and both ends of the wheel shaft are fixed on the wheel base by nuts. The wheel base is fixed on the outer frame of the machine rack;

[0009] Adaptive tensioning mechanism: One end of the tensioning shaft is connected to the tensioning shaft base, the tensioning shaft is slidably connected to the sheet metal connecting part, one end of the tension spring is fixed on the tension spring base, and the other end is fixed on the sheet metal connecting part;

[0010] Power transmission mechanism: A secondary transmission gear is provided on the bearing rod, a primary transmission gear is provided on the power mechanism, and a synchronous belt connects the secondary transmission gear and the primary transmission gear;

[0011] Power mechanism: The power DC motor is fixed on the motor drive shaft seat to provide transmission power, and drives the guardrail groove movement mechanism through the connecting power mechanism;

[0012] Quick installation mechanism: It includes fastening connecting parts connecting various parts of the outer frame of the machine rack and turning hinges.

[0013] The outer frame of the machine rack is made of profiles and assembled, and the whole outer frame of the machine is fixedly connected and installed by corner code connecting parts at the joints, thus forming the outer frame structure of the mobile robot.

[0014] The guardrail groove movement mechanism includes a bearing base, a bearing rod, traveling wheels, and a screw; the power transmitted by the power transmission mechanism drives the two traveling wheels located on the bearing rod, and the two traveling wheels respectively roll and slide on the two inclined inner walls of the groove of the guardrail.

[0015] The driven wheel mechanism is fixed on the outer frame of the machine rack through the wheel base, and the driven wheel in the driven wheel mechanism contacts and rolls on the upper side edge of the inner wall of the guardrail.

[0016] The adaptive tensioning mechanism includes a tension spring, a fixed base, a tensioning shaft base, a tensioning shaft, and a tensioning shaft sheet metal connecting part; the adaptive tensioning mechanism controls the tension degree through the tensioning shaft sheet metal connecting part that can slide on the tensioning shaft and fixes the tension spring on the outer frame of the machine rack through the fixed base, so as to ensure the tight connection between the robot and the guardrail and realize adaptive adjustment.

[0017] The power transmission mechanism includes a secondary transmission gear, a synchronous belt, and a primary transmission gear; the power mechanism transmits power to the primary transmission gear through the motor drive shaft seat, the primary transmission gear transmits power to the secondary transmission gear through the synchronous belt, and the secondary transmission gear transmits power to the guardrail groove movement mechanism through the bearing rod, thereby realizing the movement of the mobile robot on the guardrail.

[0018] The power mechanism includes a DC power motor, a motor transmission shaft seat, and a sheet metal part of the power mechanism; the motor transmission shaft seat is fixed on the sheet metal part of the power mechanism, and the DC power motor is connected to the motor transmission shaft seat to form an integral mechanism.

[0019] The quick installation mechanism includes fastening connectors and flipping hinges. The outer frame of the machine frame is connected through the flipping hinges and can be flipped at the flipping hinges; when installing this robot, through the combined use of the fastening connectors and the flipping hinges, the driven wheel mechanism is installed on the guardrail to achieve the quick installation, movement, removal, and installation of the mobile robot.

[0020] The mobile robot is used for a highway guardrail mechanism. The guardrail mechanism includes guardrail columns and guardrail connectors. A horizontally arranged guardrail is installed on the front side of the guardrail columns, and a groove surface with an isosceles trapezoid cross-section is arranged on the front side of the guardrail.

[0021] Beneficial effects: Compared with conventional highway guardrail robots, the multi-functional expandable mobile robot for guardrail inspection of the present invention has the following advantages:

[0022] (1) This mobile robot can run smoothly on the highway guardrail. As long as a slight modification is made to this structure, the mobile robot can maintain balanced movement on any type of corrugated guardrail.

[0023] (2) During the movement process, it can cross small obstacles on the guardrail and maintain smooth operation.

[0024] (3) The movement platform of this robot can be quickly disassembled, installed, and repaired through the quick installation mechanism. Subsequently, through the expansion of functional modules by this multi-functional expandable mobile robot for guardrail inspection, functions such as illegal capture, road monitoring, environmental warning, and rapid response can be achieved. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the expandable mobile robot for guardrail inspection of the present invention;

[0026] Figure 2 It is a schematic structural diagram of the expandable mobile robot for guardrail inspection of the present invention with the front side of the guardrail;

[0027] Figure 3 It is a schematic structural diagram of the expandable mobile robot for guardrail inspection of the present invention with the rear side of the guardrail;

[0028] Figure 4 It is a schematic structural diagram of the expandable mobile robot for guardrail inspection of the present invention without the rear side of the guardrail;

[0029] Figure 5 It is a schematic structural diagram of the expandable mobile robot for guardrail inspection of the present invention without the front side of the guardrail;

[0030] Figure 6 This is a schematic diagram of the partial structure of the guardrail patrol expandable mobile robot of the present invention without the side frame;

[0031] Figure 7 This is a schematic diagram of the internal structure of the guardrail patrol expandable mobile robot of the present invention;

[0032] Figure 8 It is a partial enlarged structural schematic diagram of the guardrail groove motion mechanism of the guardrail patrol expandable mobile robot of the present invention;

[0033] Figure 9 It is a partially enlarged structural schematic diagram of the adaptive tension and release mechanism of the guardrail patrol expandable mobile robot of the present invention;

[0034] Figure 10 It is a schematic diagram of the power transmission mechanism and partial structure of the power mechanism of the expandable mobile robot for guardrail patrol of the present invention;

[0035] Figure 11 It is a schematic diagram of the local structure of the quick installation mechanism of the guardrail patrol expandable mobile robot of the present invention;

[0036] Figure 12 It is a schematic diagram of the partial structure of the driven wheel mechanism of the guardrail patrol expandable mobile robot of the present invention;

[0037] The figure includes: guardrail 1; frame outer frame 2; adaptive tensioning mechanism 3; guardrail groove movement mechanism 4; power mechanism 5; power transmission mechanism 6; driven wheel mechanism 7; quick installation mechanism 8; guardrail connector 9; guardrail column 10; flip hinge 11; fastening connector 12; angle code connector 13; travel wheel 14; bearing rod 15; bearing base 16; screw 17; tensioning spring 18; tensioning shaft sheet metal connector 19; tensioning shaft base 20; tensioning shaft 21; auxiliary transmission gear 22; synchronous belt 23; main transmission gear 24; power mechanism sheet metal part 25; motor transmission shaft seat 26; power DC motor 27; wheel axle 28; nut 29; wheel base 30; driven wheel 31; spring base 32. DETAILED DESCRIPTION

[0038] The present invention is described in detail below with reference to the accompanying drawings. Figure 1Overall, it can be seen that the technical problem to be solved by the present invention is to overcome the existing defects, and provide a mobile robot with expandable guardrail inspection capabilities, which can operate autonomously, has the ability to overcome obstacles in multiple scenarios, and supports the expansion of functional modules, so as to solve the problems of low inspection efficiency, poor adaptability, and single function in the prior art. This mobile robot can run smoothly on the guardrail. By making slight modifications to the structure, the mobile robot can maintain balanced movement on any type of corrugated guardrail. During the movement, it can cross small obstacles on the guardrail to ensure the smooth operation of the moving platform. This mobile robot can be quickly disassembled, installed, and repaired through a quick installation mechanism. Subsequently, functional modules can be expanded through the mobile platform of the multi-functional expandable robot for guardrail inspection, and functions such as illegal capture, road monitoring, environmental warning, and rapid response can be realized.

[0039] The robot includes: a frame outer frame, a guardrail groove motion mechanism, a driven wheel mechanism, an adaptive tensioning mechanism, a power transmission mechanism, a power mechanism, and a quick installation mechanism. The frame outer frame is made of aluminum profiles and assembled, and the connections are installed by corner code connectors for the overall installation of the whole machine outer frame, thus forming this structure. The guardrail groove motion mechanism includes a bearing base, a bearing rod, traveling wheels, and hexagon screws. This part moves by the power transmitted by the power transmission mechanism. The two traveling wheels connected to the bearing rod are respectively in rolling connection and sliding operation with the two inclined inner walls of the guardrail groove. The driven wheel mechanism includes a hexagon nut, a wheel shaft, a wheel base, and a driven wheel. The driven wheel mechanism is fixed on the frame outer frame through the wheel base and makes rolling motion by contacting the upper side edge of the inner wall of the guardrail with the driven wheel. The adaptive tensioning mechanism includes a tension spring, a fixed base, a tension shaft base, a tension shaft, and a tension shaft sheet metal connector. The adaptive tensioning mechanism controls the tension degree through the tension shaft sheet metal connector that can slide on the tension shaft and fixes the tension spring on the frame outer frame through the fixed base, so as to ensure the tight connection between the robot and the guardrail and achieve adaptive adjustment. The power transmission mechanism includes a secondary transmission gear, a synchronous belt, and a primary transmission gear. The power mechanism transmits power to the primary transmission gear through the motor drive shaft seat. The primary transmission gear then transmits power to the secondary transmission gear through the synchronous belt, and the secondary transmission gear transmits power to the guardrail groove motion mechanism through the bearing rod, thus realizing the smooth movement of the robot on the guardrail. The power mechanism includes a DC power motor, a motor drive shaft seat, and a power mechanism sheet metal part. The power mechanism sheet metal part connects the power mechanism, the power transmission mechanism, the adaptive tensioning mechanism, and the guardrail groove motion mechanism together here to form an integral mechanism. The quick installation mechanism includes fastening connectors and flipping hinges. The frame outer frame is connected by the flipping hinges and can be flipped at the flipping hinges. At the same time, the flipped part is tightly fixed on the guardrail through the fastening connectors. In addition, when installing this robot, through the combined use of the fastening connectors and the flipping hinges, the driven wheel mechanism can be quickly installed on the guardrail to achieve quick installation, movement, disassembly, and removal.

[0040] The technical solution of the present invention will be further specifically described below through embodiments in conjunction with the accompanying drawings.

[0041] Embodiment: A scalable mobile robot for guardrail inspection in this embodiment, as Figure 1 shown, includes a robot. The robot is suspended on the guardrail through its special structure and can achieve smooth movement on the guardrail. The robot is relatively fixed in the guardrail groove through the driving wheel and auxiliary wheel structure, and the motor connected to the driving wheel provides power to drive the robot to move. The adaptive adjustment on the guardrail is realized through the automatic tension adjustment device to make the robot run smoothly.

[0042] The entire mobile robot includes: a frame outer frame, a guardrail groove motion mechanism, a driven wheel mechanism, an adaptive tensioning mechanism, a power transmission mechanism, a power mechanism, and a quick installation mechanism. As Figure 1 shown, the overall mobile robot is supported by an aluminum alloy frame as the outer shell part, which plays a role in connecting and bearing the weight of each component of the robot, ensuring the strength support during the movement process and enabling the robot to operate stably.

[0043] As Figure 4 shown, the core driving and moving part of the robot consists of a rubber-coated wheel, a motor for driving and transmitting in the transmission part, and a transmission belt. Power is provided by the motor, and then transmitted to the rubber-coated wheel through the transmission belt. Then, the driving wheel can fit along the inner groove of the guardrail and move along the groove trajectory, providing power support for the entire robot.

[0044] As Figure 6 shown, the mobile robot also has an adaptive tensioning adjustment mechanism. This mechanism is connected to the frame through four axially symmetric guide rails in the front-rear direction, and the slidable guide rail sliders in the guide rails are connected to the power mechanism. The motor and the rubber-coated wheel of the power mechanism can then move axially in the front-rear direction. As Figure 9 shown, under the tension of the spring structure, the rubber-coated wheel tightly fits the inner groove of the guardrail. Even if there are small obstacles inside the guardrail, the rubber-coated wheel can cross the obstacles under the adjustment of the adaptive tensioning adjustment mechanism, enabling the robot to operate smoothly.

[0045] As Figure 11 shown, the mobile robot also has a quick installation mechanism, which consists of a flip hinge and a fixed structural block. This mechanism can quickly install the robot on the guardrail mechanism, facilitating the quick disassembly, movement, inspection, and maintenance of the robot. The addition of this quick installation mechanism can significantly save the installation time of the robot.

[0046] As Figure 12 shown, the auxiliary wheels of the mobile robot are located at the rear of the robot. This structure is to cooperate with the driving wheels and rubber-coated wheels to make the robot perfectly fit on the guardrail mechanism. The existing guardrail mechanism becomes the guide rail of this robot, enabling the mobile robot to move along the guardrail for inspection.

[0047] Embodiment

[0048] The present invention provides an expandable mobile robot for guardrail inspection, including: a frame outer frame 2, including corner code connectors 13 and the overall frame outer frame. The corner code connectors 13 are located at the right-angle joints of each rod of the frame outer frame 2, and all components of this mobile robot are installed on the frame outer frame 2;

[0049] Guardrail groove motion mechanism 4: It is provided with two pairs of bearing bases 16. A bearing rod 15 is connected between each pair of bearing bases 16. Two upper and lower traveling wheels 14 are arranged on the bearing rod 15. The bearing bases 16 are fixed on the outer frame 2 of the machine frame through screws 17;

[0050] Driven wheel mechanism 7: It is provided with a wheel base 30 and a wheel shaft 28 located on the wheel base 30. A driven wheel 31 is installed in the middle of the wheel shaft 28. Both ends of the wheel shaft 28 are fixed on the wheel base 30 by nuts 29. The wheel base 30 is fixed on the outer frame 2 of the machine frame;

[0051] Adaptive tensioning mechanism 3: One end of the tensioning shaft 21 is connected to the tensioning shaft base 20. The tensioning shaft 21 is slidably connected to the sheet metal connecting piece 19. One end of the tension spring 18 is fixed on the tension spring base 32, and the other end is fixed on the sheet metal connecting piece 19;

[0052] Power transmission mechanism 6: A secondary transmission gear 22 is arranged on the bearing rod 15. A primary transmission gear 24 is arranged on the power mechanism 5. A synchronous belt 23 connects the secondary transmission gear 22 and the primary transmission gear 24;

[0053] Power mechanism 5: The power DC motor 27 is fixed on the motor drive shaft seat 26 to provide driving power, and drives the guardrail groove motion mechanism 4 through the connection power mechanism 5;

[0054] Quick installation mechanism 8: It includes fastening connectors 12 connecting various parts of the outer frame 2 of the machine frame and flipping hinges 11.

[0055] The robot can be quickly installed on the guardrail 1 through the quick installation mechanism 8. In the later stage, the robot can be quickly disassembled, installed, and maintained through this structure.

[0056] The control method of the expandable mobile robot for guardrail inspection specifically includes:

[0057] In the initial stage, the expandable mobile robot for guardrail inspection is manually carried to the edge of the guardrail. Workers can quickly and conveniently install the robot on the guardrail through the quick installation mechanism, making the guardrail groove motion mechanism of the robot closely fit the inner surface of the guardrail groove. After installation, the robot can later comprehensively monitor the real-time status of the road surface and the surrounding environment of the robot through the expandable camera module. If special situations such as vehicle collisions, vehicle fires, vehicle speeding, road obstacles, traffic control, and first aid for the injured are detected, the robot can automatically monitor and track the special situations and feedback the situations to the background. The robot generates power through the power mechanism, provides power support for the robot, and transmits the power to the guardrail groove motion mechanism through the power transmission mechanism, enabling the robot to have sufficient power to move at high speed on the guardrail.

[0058] When the robot detects an emergency, it can autonomously move to the accident site and provide different assistance for different emergency situations through an expandable mechanism. It can provide a portable fire extinguisher for the burning vehicle; provide road maintenance workers with road clearing tools; provide first aid drugs, AED, portable oxygen cylinders and other first aid equipment for the injured; provide real-time warning reports for traffic control, etc.

[0059] If the robot encounters an obstacle on the guardrail during operation, it can use the self-adaptive tightening mechanism of the robot itself to cross small obstacles on the guardrail, achieve normal patrol on the highway guardrail, ensure the normal operation of the highway, and improve the safety of the highway. Through the expandable mechanism and module, the backstage staff can monitor the operation status of the robot in real time, and can also control the robot to patrol through the backstage, and operate the robot to work in different situations. In the later stage, if the robot needs to be installed, moved, repaired and maintained, etc., it can be quickly installed and moved through the quick installation mechanism, improving the convenience of robot operation and maintenance.

[0060] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium can include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.

[0061] The specific embodiments described herein are merely illustrative of the spirit of the present invention. The above embodiments only express several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art of the present invention can make various modifications, supplements or use similar methods to replace the specific embodiments described, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims. For those of ordinary skill in the art, without departing from the concept of the present invention, multiple deformations and improvements can also be made. Therefore, the protection scope of the present invention should be subject to the appended claims.

[0062] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-functional expandable mobile robot for highway guardrail inspection, characterized in that, The mobile robot includes: A frame outer frame (2), including corner code connectors (13) and the overall frame outer frame. The corner code connectors (13) are located at the right-angle joints of each rod of the frame outer frame (2), and all components of the mobile robot are installed on the frame outer frame (2); A guardrail groove movement mechanism (4): It is provided with two pairs of bearing bases (16). A bearing rod (15) is connected between each pair of bearing bases (16). Two traveling wheels (14) are arranged on the bearing rod (15). The bearing bases (16) are fixed on the frame outer frame (2) through screws (17); A driven wheel mechanism (7): It is provided with a wheel base (30) and a wheel shaft (28) located on the wheel base (30). A driven wheel (31) is installed in the middle of the wheel shaft (28). The two ends of the wheel shaft (28) are fixed on the wheel base (30) by nuts (29), and the wheel base (30) is fixed on the frame outer frame (2); An adaptive tensioning mechanism (3): One end of a tensioning shaft (21) is connected to a tensioning shaft base (20). The tensioning shaft (21) is slidably connected to a sheet metal connector (19). One end of a tension spring (18) is fixed on a tension spring base (32), and the other end is fixed on the sheet metal connector (19); A power transmission mechanism (6): A secondary transmission gear (22) is provided on the bearing rod (15), and a primary transmission gear (24) is provided on the power mechanism (5). A synchronous belt (23) connects the secondary transmission gear (22) and the primary transmission gear (24); A power mechanism (5): A power DC motor (27) is fixed on a motor drive shaft seat (26) to provide transmission power, and drives the guardrail groove movement mechanism (4) through the connected power mechanism (5); A quick installation mechanism (8): It includes fastening connectors (12) connecting various parts of the frame outer frame (2) and a flipping hinge (11).

2. The multifunctional expandable mobile robot for guardrail inspection according to claim 1, characterized in that: The frame outer frame (2) is made of profiles and assembled, and the corner code connectors (13) are used for the overall fixed connection and installation of the whole machine outer frame at the joints, thereby forming the frame outer frame structure of the mobile robot.

3. A multifunctional expandable mobile robot for guardrail inspection according to claim 1, characterized in that: The guardrail groove movement mechanism (4) includes bearing bases (16), bearing rods (15), traveling wheels (14), and screws (17); The power transmitted by the power transmission mechanism (6) drives the two traveling wheels (14) located on the bearing rod (15), and the two traveling wheels (14) respectively roll and slide on the two inclined inner walls of the groove of the guardrail (1).

4. A multi-functional expandable mobile robot for guardrail inspection according to claim 1, characterized in that: The driven wheel mechanism (7) is fixed on the frame outer frame (2) through a wheel base, and the driven wheel (31) in the driven wheel mechanism (7) contacts and rolls on the upper side edge of the inner wall of the guardrail (1).

5. A multifunctional expandable mobile robot for guardrail inspection according to claim 1, characterized in that: The adaptive tightening mechanism (3) includes a tension spring (18), a fixed base (32), a tightening shaft base (20), a tightening shaft (21), and a tightening shaft sheet metal connector (19); the adaptive tightening mechanism (3) controls the tightening degree through the tightening shaft sheet metal connector (19) that can slide on the tightening shaft (21), and fixes the tension spring (18) on the outer frame (2) of the machine frame through the fixed base (32), so as to ensure the tight connection between the robot and the guardrail (1) and achieve adaptive adjustment.

6. A multifunctional expandable mobile robot for guardrail inspection according to claim 1, characterized in that: The power transmission mechanism (6) includes a secondary transmission gear (22), a synchronous belt (23), and a primary transmission gear (24); the power mechanism (5) transmits power to the primary transmission gear (24) through the motor drive shaft seat (26), the primary transmission gear (24) transmits power to the secondary transmission gear (22) through the synchronous belt (23), and the secondary transmission gear (22) transmits power to the guardrail groove movement mechanism (4) through the bearing rod (15), so as to realize the movement of the mobile robot on the guardrail (1).

7. A multifunctional expandable mobile robot for guardrail inspection according to claim 1, characterized in that: The power mechanism (5) includes a power DC motor (27), a motor drive shaft seat (26), and a power mechanism sheet metal part (25); the motor drive shaft seat (26) is fixed on the power mechanism sheet metal part (25), and the power DC motor (27) is connected to the motor drive shaft seat (26) to form an integral mechanism.

8. A multifunctional expandable mobile robot for guardrail inspection according to claim 1, characterized in that: The quick installation mechanism (8) includes a fastening connector (12) and a flipping hinge (11), which are used to connect the outer frame (2) of the machine frame through the flipping hinge (11) and can be flipped at the flipping hinge (11); when installing the robot, the driven wheel mechanism (7) is installed on the guardrail (1) through the cooperation of the fastening connector (12) and the flipping hinge (11), so as to realize the quick installation, movement, disassembly and removal of the mobile robot.

9. The multifunctional expandable mobile robot for guardrail inspection according to claim 1, wherein: The mobile robot is used for a highway guardrail mechanism, the guardrail mechanism includes guardrail columns (10) and guardrail connectors (9), a horizontally arranged guardrail (1) is installed on the front side of the guardrail columns (10), and a groove surface with an isosceles trapezoid cross-section is arranged on the front side of the guardrail (1).

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