A tracked mobile carrier based on a highway guardrail

Abstract

The application discloses a kind of based on expressway guardrail tracked mobile carrier, including carrier body, walking driving mechanism and support guiding mechanism;Walking driving mechanism includes the outer side drive clamping track assembly and upper edge drive clamping track assembly being separately arranged in the lateral two sides of wave-shaped guardrail, forms bidirectional clamping type driving structure, and double track is provided with walking driving force in the form of surface contact with the corresponding surface of wave-shaped guardrail;Two groups of track assembly are equipped with self-adapting adjusting slide with pre-tightening tension spring, and the adaptive inside and outside float of driven wheel set can be realized, and the sticking state of track and wave-shaped guardrail is continuously maintained;Support guiding mechanism includes top support roller and lower limit roller with buffer compression spring, realizes vertical bearing and lateral limit buffer.The application can realize high-stability, high-reliability all-weather autonomous walking along the wave-shaped guardrail of expressway, adapt to various complex working conditions of guardrail, meet the diversified application needs such as expressway operation and maintenance, traffic control and the like.

Description

Technical Field

[0001] This invention belongs to the technical field of highway operation and maintenance equipment, specifically relating to a tracked mobile carrier based on highway guardrails. Background Technology

[0002] With the continuous expansion of my country's expressway network, higher demands are being placed on the efficiency and safety of daily operation and maintenance inspections and traffic control. Traditional manual inspection methods have inherent drawbacks such as low efficiency, high labor costs, significant operational safety risks, and difficulty in achieving seamless, all-weather, all-time coverage. Inspection equipment that can move autonomously by relying on the guardrails continuously deployed along the entire expressway has become the mainstream direction of technological development in the industry.

[0003] Currently, most mainstream guardrail inspection equipment in the industry adopts a wheel-driven structure, relying on drive wheels set at the top or bottom of the guardrail to provide walking power. Although it has achieved basic automated inspection functions, when actually applied to highway corrugated guardrail scenarios, it still has many insurmountable technical defects due to the inherent limitations of the drive principle and structural design. Highway corrugated guardrails are continuous undulating irregular thin-walled cross-section structures. Wheel drive relies on the line contact between the rigid drive wheel and the guardrail surface to form transmission friction. The effective contact is very limited, and it cannot form a stable fit with the irregular curved surface of the corrugated guardrail. When the guardrail surface is corroded and worn, or when dust and ice accumulate, or when the equipment passes through sections with misaligned joints or local deformation, it is very easy to have poor contact and slippage. In severe cases, it may even cause power interruption, equipment runaway, and other safety hazards.

[0004] Meanwhile, the existing wheel set's buffer compensation structure can only achieve small-scale displacement adjustment in a single vertical dimension. It cannot provide multi-dimensional adaptive compensation for conditions such as overlapping misalignment, joint steps, and local lateral deformation at the joints of the corrugated guardrail. When the guardrail's shape and position deviation exceeds its buffer range, the wheels are prone to hard jamming with the corrugated guardrail protrusions and joint steps, even causing equipment derailment and falling accidents. In addition, existing equipment mostly adopts a single set of drive wheels for centralized drive, relying only on wheels at a local location on the top of the guardrail to provide walking power. This cannot adapt to the undulations and curves along the guardrail, especially at the overlapping positions where multiple corrugated guardrail segments connect. This can easily lead to poor contact and uneven force on the drive wheels, causing frequent machine swaying and instability during long-distance travel, making it difficult to meet the long-term, high-reliability operation and maintenance management requirements of highways. Summary of the Invention

[0005] To address the problems and shortcomings of the existing technologies, this invention provides a tracked mobile carrier based on highway guardrails, which enables high stability, high reliability, and all-weather autonomous movement along the corrugated guardrails of highways, adapts to various complex working conditions of the guardrails, and meets the diversified operation and maintenance management needs of highways.

[0006] This invention is achieved through the following technical solution: A tracked mobile carrier based on a highway guardrail includes a carrier body, a walking drive mechanism, and a support and guiding mechanism. The walking drive mechanism includes an outer drive clamping track assembly and an upper drive clamping track assembly respectively disposed on both sides of the corrugated guardrail to form a bidirectional clamping drive structure for the corrugated guardrail. The track working surface of the outer drive clamping track assembly is in contact with the upper crest curved surface of the outer side of the corrugated guardrail, and the track working surface of the upper drive clamping track assembly is in contact with the upper edge inclined surface of the corrugated guardrail. The inclination angle of the track working surface of the upper drive clamping track assembly matches that of the upper edge inclined surface of the corrugated guardrail. The carrier is provided with walking drive force through the surface contact transmission of the two tracks. Both the outer drive clamp track assembly and the upper edge drive clamp track assembly include a drive wheel assembly, a driven wheel assembly, and an adaptive adjustment slide. The wheel axle end of the driven wheel assembly is fixedly connected to the adaptive adjustment slide. The adaptive adjustment slides on both sides of the corrugated guardrail are connected by a pre-tension spring, so that the driven wheel assemblies on both sides can adaptively float inward and outward, and continuously maintain the track working surface and the corrugated guardrail surface in a close clamping state. The support and guide mechanism includes a top support roller and a lower limiting roller. The top support roller makes rolling contact with the top edge of the corrugated guardrail to bear the vertical load. The lower limiting roller is connected to the carrier body through a support rod with a buffer spring. The lower limiting roller makes rolling contact with the lower crest curved surface of the corrugated guardrail to limit the lateral displacement of the carrier body and buffer the vibration during operation.

[0007] The system employs outer and upper edge drive track assemblies, located on either side of the corrugated guardrail, forming a bidirectional clamping drive structure. This provides both clamping and driving forces simultaneously, creating a closed-loop transmission force system. This completely solves the problems of single-wheel drive systems, which suffer from limited force distribution and are prone to swaying and instability. The driving force is evenly distributed along the guardrail cross-section, eliminating the risk of overturning during movement. A dual-track surface contact transmission mode replaces the traditional wheeled line contact transmission. The outer drive track assembly conforms to the outer upper crest of the corrugated guardrail, while the upper edge drive track assembly matches the upper edge slope of the guardrail. This significantly increases the effective contact area with the irregular curved surface of the guardrail. Even with rust, wear, dust accumulation, ice buildup, or localized damage, stable transmission friction is maintained, fundamentally eliminating the safety hazards of slippage, power interruption, and equipment rollover.

[0008] By using pre-tensioned tension springs to link the adaptive adjustment slides on both sides of the corrugated guardrail, the adaptive inward and outward floating of the driven wheel sets on both sides can be achieved without an additional power source. It can respond in real time to complex working conditions such as lateral deformation of the corrugated guardrail, misalignment of joints, and overlapping steps, and continuously maintain a tight fit between the track working surface and the surface of the corrugated guardrail. This solves the pain points of the existing wheel set buffer structure, which can only achieve a single vertical small adjustment, cannot adapt to the lateral shape and position deviation of the guardrail, and is prone to hard jamming.

[0009] A two-way support and limiting system is constructed by using top support rollers and lower limiting rollers. The top support rollers bear the overall vertical load of the equipment, avoiding the failure of the track to fit due to additional vertical pressure. The lower limiting rollers achieve lateral limiting and vibration buffering through buffer springs, forming a full-dimensional attitude constraint. This solves the safety risks of derailment and falling of existing equipment during long-distance travel, and greatly improves the stability and reliability of equipment operation.

[0010] Furthermore, in the outer drive clamp track assembly and the upper drive clamp track assembly, each track is equipped with two drive wheels and two driven wheels. The two drive wheels are located at the front and rear ends of the track along the direction of travel of the moving carrier, and the two driven wheels are located between the two drive wheels. Each drive wheel is equipped with an independent drive motor. The drive motor is connected to the axle of the drive wheel and fixed to the carrier body. The two drive motors of the same side track are linked synchronously. The axle of the driven wheel is fixed to the corresponding adaptive adjustment slide. A linear sliding pair is provided between the adaptive adjustment slide and the carrier body along the lateral side of the guardrail, so that the driven wheel can make linear floating displacement along the lateral side of the guardrail with the adaptive adjustment slide. The preload spring between the two adaptive adjustment slides set opposite to each other continuously provides opposing preload clamping forces to the driven wheels on both sides, so that the track working surface always maintains surface contact with the corrugated guardrail surface.

[0011] Each track is equipped with a distributed drive structure with front and rear dual drive wheels. The two drive points are arranged along the direction of the equipment's movement, which can synchronously adapt to the changes in the horizontal and vertical curves of the wave-shaped guardrail. Even if a single drive wheel experiences contact fluctuations when passing through guardrail joints or deformed road sections, the other drive wheel can still maintain stable transmission, forming drive redundancy. This solves the problem of power interruption and equipment stagnation that is common with existing single drive wheels.

[0012] Each drive wheel is equipped with an independent drive motor, and the two drive motors on the same side of the track work in sync. This not only achieves precise closed-loop control of the equipment's walking speed and start-stop actions, but also has fault redundancy capabilities. If a single motor fails, the remaining motors can still maintain the basic walking function of the equipment, preventing the equipment from being stranded in the highway driving area and causing secondary accidents, thus improving the safety of equipment operation.

[0013] The driven wheel assembly, through a linear sliding pair, cooperates with the carrier body to achieve precise linear floating displacement along the transverse direction of the corrugated guardrail, avoiding swaying or jamming of the driven wheels and ensuring that the track working surface and the curved surface of the guardrail always remain parallel and in contact, eliminating the risk of track wear and derailment. The pre-tension springs act directly on the adaptive adjustment slides of the driven wheels on both sides, with a short and lossless pre-tension force transmission path, stable and uniform clamping force, no need for additional electric / hydraulic adjustment mechanisms, compact structure, low failure rate, and suitable for the harsh outdoor operating environment of highways.

[0014] Furthermore, there are two top support rollers, the axis of which is perpendicular to the extension direction of the corrugated guardrail, and their outer circumferential surfaces are rolled and fitted against the top edge of the corrugated guardrail. The lower limiting roller is vertically arranged, and its upper and lower ends are rotatably connected to the horizontally extending support rod through the connector. The support rod is horizontally slidably assembled in the horizontal positioning hole of the carrier body. The connector and the support rod slide in the horizontal direction. A buffer spring is sleeved on the outside of the support rod. The two ends of the buffer spring abut against the carrier body and the connector respectively. The outer circumferential surface of the lower limiting roller rolls in contact with the lower crest curved surface.

[0015] The double-top support rollers form a dual-point vertical support along the walking direction. Compared to a single-roller structure, this can evenly distribute the vertical load of the equipment, significantly improving the stability of the vertical load-bearing capacity. It can perfectly adapt to the undulating deformation of the top of the corrugated guardrail and the height difference of the joints, avoiding the risk of overturning and jamming that occurs with single-point support, and ensuring that the equipment maintains a horizontal walking posture on undulating road sections. The lower limiting roller adopts a vertical layout structure, with the outer circumference of the roller forming a circumferential rolling fit with the lower crest curved surface of the corrugated guardrail. Through the cooperation of the support rod with buffer spring and the carrier body, the lower limiting roller can achieve adaptive buffer displacement along the lateral side of the corrugated guardrail, adapting in real time to the lateral deformation of the guardrail, joint misalignment, and corrugated protrusions, avoiding hard collisions and jamming between the roller and the guardrail.

[0016] The buffer spring can effectively absorb high-frequency vibrations during equipment operation, reduce structural wear and operating noise, and continuously provide a contact preload to the lower limit roller, ensuring that the roller is always in close contact with the crest surface of the corrugated guardrail, forming a complete lateral limit closed loop with the upper double track clamping structure, further eliminating the risk of lateral sway and derailment of the equipment.

[0017] Furthermore, the carrier body is provided with multiple sets of horizontal positioning holes at intervals along the vertical direction. These multiple sets of horizontal positioning holes form vertical installation positions that are adapted to the different cross-sectional heights of the wave guardrails. The support rod of the lower limiting roller can be selected and installed in the horizontal positioning hole of the corresponding position. Both the drive wheel axle and the driven wheel axle are available in various lengths to adjust the clamping position of the tracks on both sides.

[0018] The carrier body is equipped with multiple sets of vertical installation positions with horizontal positioning holes at intervals along the vertical direction. The installation position of the lower limit roller can be flexibly adjusted according to the different cross-sectional heights of the corrugated guardrails, so that the lower limit roller can always accurately fit the lower crest surface of the corresponding specification of corrugated guardrail. This solves the problem that the existing equipment can only be adapted to a single specification of guardrail and has poor versatility. It can be adapted to various mainstream corrugated guardrail models in China without modifying the main structure of the equipment.

[0019] Both the drive wheel axle and the driven wheel axle are equipped with various length specifications, which can flexibly adjust the lateral clamping position of the tracks on both sides according to different waveform guardrail cross sections. This ensures that the two tracks can always accurately fit the corresponding drive surface of the guardrail, forming a stable clamping and driving effect. This further expands the equipment's adaptability range, reduces the cost of adapting and modifying guardrails for different road sections, and improves the equipment's versatility in engineering applications.

[0020] Furthermore, the adaptive adjustment slide includes a slide body, a linear guide rail fixed on the carrier body, and a slider that slides with the linear guide rail. The linear guide rail is arranged laterally along the wave-shaped guardrail. The slide body and the slider are fixedly connected, and the wheel axle end of the driven wheel set is rotatably connected to the slide body. Two sliding blocks, positioned opposite each other on either side of the wave-shaped guardrail, are equipped with tension spring fixing bolts. The two ends of the pre-tightened tension springs are respectively fixedly connected to the two tension spring fixing bolts. The carrier body is also provided with strip-shaped limiting holes corresponding to the sliding block bodies.

[0021] The adaptive adjustment slide adopts a precise sliding fit structure between the linear guide rail and the slider, which has low sliding resistance, fast floating displacement response speed and high precision, and no risk of jamming or sticking. Even in harsh outdoor environments with dust and humidity, it can still maintain smooth sliding performance and ensure the adaptive floating fit effect of the driven wheel set.

[0022] The preload spring is connected to the slide body on both sides by spring fixing bolts, making it easy to install, disassemble, and replace. Different springs with different elasticity specifications can be quickly replaced according to the working conditions of different guardrails to adjust the clamping force and adapt to different application scenarios without modifying the slide structure.

[0023] The carrier body has strip-shaped limiting holes corresponding to the slide body, which can accurately limit the floating displacement stroke of the slide body, avoid excessive displacement of the driven wheel group, which would cause the track tension to fail and derail. At the same time, it can prevent collision interference between the two slides, thus improving the operational safety and stability of the structure.

[0024] Furthermore, the track working surface of the outer drive clamp track assembly is provided with contouring and fitting protrusions that conform to the contour of the upper crest curved surface. The outer contour curvature of the contouring and fitting protrusions is consistent with the curvature of the upper crest curved surface, and an adaptive gap is provided between adjacent contouring and fitting protrusions to adapt to track deformation. The outer circumference of the lower limit roller is a concave arc-shaped working surface that conforms to the contour of the lower wave crest of the wave guardrail.

[0025] The track working surface of the outer drive clamp track assembly is arranged to conform to the contoured protrusions on the corrugated guardrail, which allows the track working surface to form a completely fitted surface contact with the irregular curved surface of the guardrail. This significantly increases the effective contact area, enhances transmission friction, and ensures uniform distribution of contact stress, preventing rapid track wear caused by localized stress concentration and extending track service life.

[0026] An adaptive gap is set between adjacent contoured protrusions to accommodate track deformation, which ensures the track's bending deformation capability when passing around the drive wheel and driven wheel, preventing the track from wrinkling or tearing. At the same time, it can adapt to the continuous undulation of the corrugated guardrail surface, ensuring that the track always maintains a close fit with the guardrail surface during movement, eliminating the risk of slippage caused by gaps in the fit.

[0027] The outer circumference of the lower limit roller adopts a concave arc-shaped working surface that conforms to the contour of the lower crest of the corrugated guardrail, which greatly increases the contact area, reduces the contact pressure, and reduces the wear between the lower limit roller and the corrugated guardrail. At the same time, it improves the anti-tipping ability of the lateral limit and prevents the lower limit roller from slipping off the lower crest of the corrugated guardrail, further improving the safety of equipment operation.

[0028] Furthermore, the carrier body is equipped with a control unit, which is electrically connected to four drive motors respectively; The carrier body is also equipped with a positioning sensor that is electrically connected to the control unit. The positioning sensor works in conjunction with the positioning baffles preset along the wave-shaped guardrail.

[0029] The control unit is electrically connected to each of the four drive motors, enabling independent speed regulation and synchronous linkage control of the four drive motors. This allows for precise speed control of the equipment's forward and backward movement, and also enables adaptive steering on the curved sections of the wave-shaped guardrail through differential speed adjustment of the two side tracks. This perfectly adapts to the working conditions of guardrail curves, preventing the equipment from getting stuck or experiencing uneven wear at curves. At the same time, it can monitor the operating current, speed, temperature, and other status parameters of each drive motor in real time, and promptly trigger the protection mechanism when abnormalities occur to prevent motor burnout and equipment loss of control.

[0030] The carrier body is equipped with a positioning sensor that is electrically connected to the control unit. It can work with the positioning baffles preset along the wave-shaped guardrail to achieve precise positioning and docking of the equipment. This meets the precise positioning needs of scenarios such as fixed-point inspection, emergency response, and charging, without the need for manual intervention. It improves the level of automated operation of the equipment and is suitable for unattended highway operation and maintenance scenarios.

[0031] Furthermore, the carrier body is equipped with standardized quick-installation interfaces, power supply interfaces, and communication interfaces for detachable mounting of functional devices. The functional devices are connected to the control unit via data, and the functional devices include any one or more of the following: inspection camera unit, light warning unit, traffic information display unit, and emergency broadcast unit.

[0032] The carrier body is equipped with standardized quick-installation interfaces, power supply interfaces, and communication interfaces, forming a universal functional platform. It allows for the rapid and detachable installation of various functional devices without requiring modifications to the carrier body's structure or electrical system, achieving multi-purpose functionality and significantly reducing equipment investment costs for highway operation and maintenance. It can flexibly integrate one or more functional devices from inspection camera units, lighting warning units, traffic information display units, and emergency broadcast units. This not only meets the daily visual inspection needs of roads, guardrails, and ancillary facilities, but also enables on-site safety warnings, traffic information dissemination, and emergency voice guidance in emergency scenarios such as traffic accidents and severe weather, covering all scenarios of highway operation and maintenance management and significantly improving the equipment's application value and reusability.

[0033] Furthermore, the carrier body is equipped with an integrated power supply module and a flexible solar charging panel electrically connected to it, and the carrier body is also equipped with a satellite positioning module for autonomous navigation.

[0034] The integrated power supply module, together with the flexible solar charging panel that is electrically connected to it, can use the outdoor sunlight conditions on the highway to enable the equipment to automatically replenish its power, which greatly extends the equipment's battery life and meets the needs of continuous cruising around the clock and for long periods of time. It eliminates the need for frequent on-site charging, reduces maintenance costs, and is suitable for unattended maintenance needs in remote road sections and long-distance highway sections.

[0035] The carrier is equipped with a satellite positioning module for autonomous navigation, which can obtain the device's precise location information in real time. In conjunction with the control unit, it can realize autonomous navigation along a preset route and electronic fence protection. At the same time, it can upload the location information to the highway control center in real time, enabling remote scheduling and full-process visual monitoring of the device. This improves the device's intelligence level and control efficiency, and meets the development needs of smart highway operation and maintenance.

[0036] Furthermore, the carrier body is positioned against the outer side of the corrugated guardrail, with the outer drive track assembly and the lower limiting rollers both recessed inwards.

[0037] The carrier body is positioned flush against the outer side of the corrugated guardrail, completely avoiding the highway driving lanes and preventing interference with the normal driving of passing vehicles. This significantly reduces the risk of the equipment being scraped by passing vehicles, ensuring both equipment operation and road safety. The outer drive track assembly and lower limit rollers are recessed inwards, minimizing the lateral space occupied by the equipment and further reducing its size extending beyond the guardrail, thus preventing scrapes with passing vehicles and emergency vehicles. This also makes the overall structure more compact, with the center of gravity closer to the corrugated guardrail, improving the equipment's wind resistance and anti-overturning ability. Even in strong crosswinds on highways, it maintains a stable walking posture, eliminating the risk of rollover or falling.

[0038] The beneficial effects of this invention are: This technical solution employs an outer drive clamp track assembly and an upper drive clamp track assembly, located on the lateral sides of the corrugated guardrail, to construct a bidirectional clamping drive structure. This dual-track surface contact transmission mode replaces the traditional line contact transmission method of wheeled equipment, significantly increasing the effective contact area between the drive structure and the irregular curved surface of the corrugated guardrail. Even under harsh working conditions such as rust, wear, dust accumulation, and ice formation on the guardrail surface, it can still maintain stable and continuous transmission friction, fundamentally eliminating safety hazards such as slippage, power interruption, and rollover during equipment operation.

[0039] This technical solution uses a pre-tensioned tension spring to link the adaptive adjustment slides on both sides of the corrugated guardrail, enabling adaptive internal and external floating adjustment of the driven wheel assembly. It can provide real-time dynamic compensation for complex working conditions such as overlapping misalignment, seams, steps, and local lateral deformation at the joints of the corrugated guardrail, continuously maintaining a tight fit between the track working surface and the corrugated guardrail surface, and completely solving the problem of existing equipment having a single buffer adjustment dimension that is prone to hard jamming.

[0040] This technical solution constructs a full-dimensional support and limiting system through top support rollers and lower limiting rollers with buffer springs, achieving stable vertical load bearing and reliable lateral offset constraint. At the same time, it effectively buffers the vibration and impact during equipment operation. Combined with the distributed independent drive dual drive wheel structure, it forms drive redundancy and attitude closed-loop constraint, which can perfectly adapt to the undulations and curves along the wave-shaped guardrail. There is no risk of the machine body swaying, losing its attitude, derailing, or falling during long-distance travel.

[0041] This technical solution possesses strong versatility and functional expandability, adapting to corrugated guardrails of different cross-sectional specifications without requiring modifications to existing corrugated guardrail structures. Furthermore, it enables the rapid integration of various maintenance and operation equipment through standardized interfaces. Combined with an autonomous power replenishment module and a satellite positioning module, it can meet the 24 / 7 unattended maintenance and management needs of highways, significantly reducing maintenance labor costs and operational safety risks. It possesses extremely high engineering application value and industry promotion significance. Attached Figure Description

[0042] Figure 1 A schematic diagram illustrating a illustrative embodiment of a tracked mobile carrier based on a highway guardrail in this invention. Figure 2 An installation diagram illustrating an illustrative embodiment of the present invention in which a tracked mobile carrier based on a highway guardrail is installed onto a corrugated guardrail. Figure 3 Used to explain Figure 2 Enlarged view of a portion of point A in the middle; Figure 4 A side view illustrating a schematic embodiment of the present invention in which a tracked mobile carrier based on a highway guardrail is installed on a corrugated guardrail. Figure 5 A cross-sectional view illustrating a schematic embodiment of a tracked mobile carrier based on a highway guardrail in this invention. Figure 6 A schematic structural diagram illustrating a cross-sectional view of a tracked mobile carrier based on a highway guardrail in this invention. Figure 7 This is a schematic structural diagram illustrating an embodiment of the track of a tracked mobile carrier based on a highway guardrail in this invention.

[0043] List of components and reference numerals: 1. Carrier body; 11. Strip-shaped limiting hole; 2. Walking drive mechanism; 21. Outer side drive track assembly; 22. Upper edge drive track assembly; 23. Track; 231. Contouring fitting protrusion; 232. Adaptive clearance; 24. Drive wheel assembly; 241. Drive wheel; 242. Drive motor; 25. Driven wheel assembly; 251. Driven wheel; 26. Adaptive adjusting slide; 261. Slide body; 262. Linear guide rail; 263. Slider; 26 4. Tension spring fixing bolt; 27. Pre-tightening tension spring; 3. Support guide mechanism; 31. Top support roller; 32. Lower limit roller; 33. Buffer compression spring; 34. Support rod; 35. Connecting piece; 4. Wave-shaped guardrail; 41. Upper wave crest curved surface; 42. Upper edge sloped surface; 43. Lower wave crest curved surface; 5. Position sensor; 51. Positioning baffle; 6. Inspection camera unit; 7. Light warning unit; 8. Traffic information display unit; 9. Emergency broadcast unit. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] It should be noted that the directional terms such as left, right, up, down, front, and back in the embodiments of the present invention are only relative concepts or are based on the normal use state of the product, i.e., the direction of the product's movement, and should not be considered as limiting.

[0046] In addition, it should be noted that the dynamic terms such as "relative motion" mentioned in the embodiments of the present invention refer not only to changes in position, but also to movements such as rotation and rolling in which there is no relative change in position, but the state changes.

[0047] Finally, it should be noted that when a component is said to be "located on" or "set on" another component, it can be on the other component or may have an intervening component at the same time. When a component is said to be "connected to" another component, it can be directly connected to the other component or may have an intervening component at the same time.

[0048] like Figures 1 to 7 The diagram shows a tracked mobile carrier based on a highway guardrail, comprising a carrier body 1, a walking drive mechanism 2, and a support and guide mechanism 3. The walking drive mechanism 2 includes an outer drive clamp track assembly 21 and an upper drive clamp track assembly 22 respectively disposed on both sides of the corrugated guardrail 4, forming a bidirectional clamping drive structure for the corrugated guardrail 4. The working surface of the track 23 of the outer drive clamp track assembly 21 is in contact with the upper crest curved surface 41 of the outer side of the corrugated guardrail 4, and the working surface of the track 23 of the upper drive clamp track assembly 22 is in contact with the upper edge inclined surface 42 of the corrugated guardrail 4. The inclination angle of the working surface of the track 23 of the upper drive clamp track assembly 22 matches that of the upper edge inclined surface 42 of the corrugated guardrail 4. The walking drive force is provided to the carrier through the surface contact transmission of the two tracks 23.

[0049] Both the outer drive clamp track assembly 21 and the upper edge drive clamp track assembly 22 include a drive wheel set 24, a driven wheel set 25, and an adaptive adjustment slide 26. The axle end of the driven wheel set 25 is fixedly connected to the adaptive adjustment slide 26. The adaptive adjustment slides 26 on both sides of the corrugated guardrail 4 are connected by a pre-tension spring 27, so that the driven wheel sets 25 on both sides can adaptively float inside and outside, and continuously maintain the working surface of the track 23 in a close clamping state with the surface of the corrugated guardrail 4.

[0050] The support and guide mechanism 3 includes a top support roller 31 and a lower limiting roller 32. The top support roller 31 rolls in contact with the top edge of the corrugated guardrail 4 to bear the vertical load. The lower limiting roller 32 is connected to the carrier body 1 via a support rod 34 with a buffer spring 33. The lower limiting roller 32 rolls in contact with the lower crest curved surface 43 of the corrugated guardrail 4 to limit the lateral displacement of the carrier body 1 and buffer the running vibration. In the outer drive clamp track assembly 21 and the upper edge drive clamp track assembly 22, each track 23 is equipped with two drive wheels 241 and two driven wheels 251. The two drive wheels 241 are located at the front and rear ends of the track 23 along the direction of travel of the moving carrier, and the two driven wheels 251 are located between the two drive wheels 241. Each drive wheel 241 is equipped with an independent drive motor 242. The drive motor 242 is connected to the axle of the drive wheel 241 and fixed to the carrier body 1. The two drive motors 242 of the track 23 on the same side are synchronously linked. The axle of the driven wheel 251 is fixedly connected to the corresponding adaptive adjustment slide 26. A linear sliding pair is provided between the adaptive adjustment slide 26 and the carrier body 1 along the transverse direction of the guardrail, so that the driven wheel 251 can float linearly along the transverse direction of the guardrail with the adaptive adjustment slide 26. The pre-tension spring 27 between the two adaptive adjustment slides 26 provided opposite to each other continuously provides opposing pre-tension clamping force to the driven wheels 251 on both sides, so that the working surface of the track 23 always maintains surface contact with the surface of the corrugated guardrail 4.

[0051] Two top support rollers 31 are provided. The axis of the top support rollers 31 is perpendicular to the extension direction of the corrugated guardrail 4, and their outer circumferences are rolled and fitted against the top edge of the corrugated guardrail 4. The lower limiting rollers 32 are vertically arranged, and their upper and lower ends are rotatably connected to the horizontally extending support rods 34 through connectors 35. The support rods 34 are horizontally slidably assembled in the horizontal positioning holes of the carrier body 1. The connectors 35 and the support rods 34 slide in the horizontal direction. Buffer springs 33 are sleeved on the outside of the support rods 34. Two buffer springs 33 are provided. The ends respectively abut against the carrier body 1 and the connector 35. The outer peripheral surface of the lower limiting roller 32 rolls and fits against the lower crest curved surface 43. The carrier body 1 is provided with multiple sets of horizontal positioning holes at intervals along the vertical direction. The multiple sets of horizontal positioning holes form vertical installation positions that are adapted to different cross-sectional heights of the wave guardrail 4. The support rod 34 of the lower limiting roller 32 can be selectively installed in the horizontal positioning hole of the corresponding position. The axle of the drive wheel 241 and the axle of the driven wheel 251 are both equipped with multiple length specifications to adjust the clamping position of the tracks 23 on both sides.

[0052] The adaptive adjustment slide 26 includes a slide body 261, a linear guide rail 262 fixed on the carrier body 1, and a slider 263 that slides with the linear guide rail 262. The linear guide rail 262 is arranged transversely along the wave-shaped guardrail 4. The slide body 261 and the slider 263 are fixedly connected. The axle end of the driven wheel assembly 25 is rotatably connected to the slide body 261. Each of the two slide bodies 261, which are opposite to each other on both sides of the wave-shaped guardrail 4, is provided with a tension spring fixing bolt 264. The two ends of the pre-tensioned tension spring 27 are respectively fixed with the two tension spring fixing bolts 264. The carrier body 1 is also provided with a strip-shaped limiting hole 11 corresponding to the slide body 261. The working surface of the track 23 of the outer drive clamp track assembly 21 is provided with a contour fitting protrusion 231 that conforms to the upper crest curved surface 41. The outer contour arc of the contour fitting protrusion 231 is consistent with the arc of the upper crest curved surface 41. An adaptive gap 232 is provided between adjacent contour fitting protrusions 231 to adapt to the deformation of the track 23. The outer peripheral surface of the lower limiting roller 32 is a concave arc-shaped working surface that conforms to the lower crest curved surface 43 of the wave guardrail 4.

[0053] The carrier body 1 is equipped with a control unit, which is electrically connected to four drive motors 242. The carrier body 1 is also equipped with a position sensor 5 electrically connected to the control unit. The position sensor 5 cooperates with the positioning baffle 51 preset along the wave guardrail 4. The carrier body 1 is equipped with a standardized quick-installation interface, power supply interface and communication interface for detachable mounting of functional equipment. The functional equipment is connected to the control unit for data connection. The functional equipment includes any one or more of the following: inspection camera unit 6, light warning unit 7, traffic information display unit 8, and emergency broadcast unit 9. The carrier body 1 is equipped with an integrated power supply module and a flexible solar charging panel electrically connected to it. The carrier body 1 is also equipped with a satellite positioning module for autonomous navigation. The carrier body 1 is laid out against the outside of the wave guardrail 4. The outer drive clamp track assembly 21 and the lower limit roller 32 are both set inward.

[0054] In practical engineering applications, this mobile carrier can be flexibly configured to form differentiated application solutions according to different needs of highway operation and maintenance management. In the basic configuration, the carrier body 1 is equipped with an inspection camera unit 6 through a standardized interface, which is adapted to the routine daily inspection needs of regular highway sections. It can realize continuous autonomous cruising along the wave guardrail 4 and image data collection of the road surface and ancillary facilities, replacing traditional manual inspection operations.

[0055] In the emergency control configuration scheme, the carrier body 1 can adjust the clamping position of the track 23 by changing the wheel axle of different lengths and specifications, and at the same time adjust the vertical installation position of the lower limit roller 32 to quickly adapt to the wave guardrail 4 of different road sections and different cross-section specifications. It is also equipped with a light warning unit 7, a traffic information display unit 8 and an emergency broadcast unit 9 to adapt to on-site safety warnings, traffic guidance information release and emergency voice broadcasting operations in case of traffic accidents, severe weather and other emergencies.

[0056] In the full-function composite configuration solution, the carrier body 1 is equipped with a full range of functional devices, and is equipped with a braking unit and a wireless communication module that are electrically connected to the control unit. It can realize remote two-way data interaction with the highway control center. The control center can remotely issue control commands to adjust the walking status and operation mode of the equipment, and at the same time receive various data and operation status information collected by the equipment in real time, adapting to the intelligent operation and maintenance management needs of the entire highway scenario and the entire life cycle.

[0057] The complete working process of this tracked mobile carrier based on highway guardrail is as follows: First, the equipment is installed and positioned. The carrier body 1 is placed against the outside of the corrugated guardrail 4, so that the outer drive clamp track assembly 21 and the lower limiting roller 32 are both in an inwardly retracted state. The lateral position of the outer drive clamp track assembly 21 and the upper edge drive clamp track assembly 22 is adjusted so that the working surface of the track 23 of the outer drive clamp track assembly 21 is in contact with the upper crest curved surface 41 of the outer side of the corrugated guardrail 4, and the working surface of the track 23 of the upper edge drive clamp track assembly 22 is in contact with the upper edge inclined surface 42 of the corrugated guardrail 4. The two ends of the pre-tension spring 27 are fixed to the tension spring fixing bolts 264 of the adaptive adjustment slides 26 on both sides, so that the pre-tension spring 27 provides a continuous opposing pre-tension clamping force to the two slides, driving the driven wheel group 25 to adaptively adjust its position, so that the working surface of the track 23 and the surface of the corrugated guardrail 4 form a stable fit.

[0058] Next, based on the cross-sectional height and width parameters of the target waveform guardrail 4, select the corresponding horizontal positioning hole to install the support rod 34 of the lower limit roller 32, and at the same time match the drive wheel 241 axle and the driven wheel 251 axle of the corresponding length specifications. Adjust the clamping position of the two side tracks 23 so that the concave arc working surface of the lower limit roller 32 and the lower wave crest curved surface 43 of the lower part of the waveform guardrail 4 form a stable rolling fit, and complete the installation and debugging of the equipment.

[0059] The equipment is then started by the control unit, which sends operation commands to the four drive motors 242. The two drive motors 242 on the same side of the track 23 keep in sync, driving the drive wheel 241 to rotate and driving the track 23 to move synchronously. The surface contact friction between the double track 23 and the corrugated guardrail 4 provides the driving force for the carrier to walk, so that the equipment can walk stably along the extension direction of the corrugated guardrail 4. During the movement of the equipment, the two top support rollers 31 always roll in contact with the top edge of the corrugated guardrail 4, bearing the vertical load of the entire equipment and maintaining the vertical stability of the equipment.

[0060] When the equipment travels through sections of the corrugated guardrail 4 that exhibit lateral deformation, misaligned joints, overlapping steps, or local undulations, the adaptive adjusting slide 26 slides laterally along the linear guide rail 262 via the slider 263, causing the driven wheel assembly 25 to perform inward and outward floating displacement. The pre-tension spring 27 continuously provides a stable pre-tension clamping force, ensuring that the working surface of the track 23 remains in close contact with the surface of the corrugated guardrail 4, preventing slippage and free rotation. Simultaneously, under the action of the buffer spring 33, the lower limiting roller 32 moves relative to the support rod 34. The horizontal extension direction of 34 is displaced so that the lower limiting roller 32 always fits the lower crest surface 43 of the wave guardrail 4, continuously limiting the lateral displacement of the carrier body 1, and at the same time buffering the vibration and impact generated during the operation of the equipment. The control unit monitors the operating status of the four drive motors 242 in real time, and realizes differential speed adjustment by adjusting the operating speed of different drive motors 242 to adapt to the flat curve curve working conditions of the wave guardrail 4, ensuring that the equipment can maintain a stable walking posture on the curve section and avoid the problem of machine body swaying or jamming.

[0061] During equipment operation, the positioning sensor 5 senses the pre-set positioning baffles 51 along the waveform guardrail 4 in real time. When it reaches the preset point, it sends a signal to the control unit. The control unit controls the drive motor 242 to stop running, realizing the precise positioning and docking of the equipment. Various functional devices on board obtain power supply and control commands through standardized power supply and communication interfaces to complete corresponding inspection, warning, information release or emergency broadcast operations. The satellite positioning module collects the precise location information of the equipment in real time and works with the control unit to realize autonomous cruising along the preset route. At the same time, the location information is uploaded to the management and control platform. The integrated power supply module provides a stable power supply for the overall electrical system and functional devices of the equipment. The flexible solar charging panel continuously replenishes the power supply module with power under outdoor sunlight conditions, extending the continuous running time of the equipment. After the equipment completes all preset tasks, the control unit controls the drive motor 242 to stop running, ending the entire operation process.

[0062] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A tracked mobile carrier based on highway guardrail, comprising a carrier body (1), a walking drive mechanism (2), and a support and guiding mechanism (3), characterized in that: The walking drive mechanism (2) includes an outer drive clamp track assembly (21) and an upper drive clamp track assembly (22) respectively disposed on the lateral sides of the wave guardrail (4) to form a bidirectional clamping drive structure for the wave guardrail (4); the working surface of the track (23) of the outer drive clamp track assembly (21) is in contact with the upper crest curved surface (41) of the outer side of the wave guardrail (4), and the working surface of the track (23) of the upper drive clamp track assembly (22) is in contact with the upper edge inclined surface (42) of the wave guardrail (4), and the inclination angle of the working surface of the track (23) of the upper drive clamp track assembly (22) matches that of the upper edge inclined surface (42) of the wave guardrail (4), and the walking drive force is provided to the carrier through the surface contact transmission of the two tracks (23); The outer drive clamp track assembly (21) and the upper drive clamp track assembly (22) both include a drive wheel assembly (24), a driven wheel assembly (25), and an adaptive adjustment slide (26). The axle end of the driven wheel assembly (25) is fixedly connected to the adaptive adjustment slide (26). The adaptive adjustment slides (26) on both sides of the wave guardrail (4) are connected by a pre-tension spring (27), so that the driven wheel assemblies (25) on both sides can adaptively float inside and outside, and continuously maintain the working surface of the track (23) and the surface of the wave guardrail (4) in a close clamping state. The support and guide mechanism (3) includes a top support roller (31) and a lower limiting roller (32). The top support roller (31) rolls in contact with the top edge of the wave guardrail (4) to bear the vertical load. The lower limiting roller (32) is connected to the carrier body (1) through a support rod (34) with a buffer spring (33). The lower limiting roller (32) rolls in contact with the lower wave crest surface (43) of the lower part of the wave guardrail (4) to limit the lateral displacement of the carrier body (1) and buffer the running vibration. The adaptive adjustment slide (26) includes a slide body (261), a linear guide rail (262) fixed on the carrier body (1), and a slider (263) that slides with the linear guide rail (262). The linear guide rail (262) is arranged laterally along the wave guardrail (4). The slide body (261) and the slider (263) are fixedly connected. The axle end of the driven wheel assembly (25) is rotatably connected to the slide body (261). Two sliding bodies (261) located on opposite sides of the wave guardrail (4) are provided with tension spring fixing bolts (264). The two ends of the pre-tightening tension spring (27) are respectively fixedly connected to the two tension spring fixing bolts (264). The carrier body (1) is also provided with strip-shaped limiting holes (11) corresponding to the sliding body (261).

2. The tracked mobile carrier based on highway guardrail according to claim 1, characterized in that, In the outer drive clamp track assembly (21) and the upper edge drive clamp track assembly (22), each track (23) is equipped with two drive wheels (241) and two driven wheels (251). The two drive wheels (241) are located at the front and rear ends of the track (23) along the direction of travel of the moving carrier, and the two driven wheels (251) are located between the two drive wheels (241). Each drive wheel (241) is equipped with an independent drive motor (242). The drive motor (242) is connected to the axle of the drive wheel (241) and fixed on the carrier body (1). The two drive motors (242) on the same side track (23) are synchronously linked. The axle of the driven wheel (251) is fixedly connected to the corresponding adaptive adjustment slide (26). A linear sliding pair is provided between the adaptive adjustment slide (26) and the carrier body (1) along the transverse direction of the guardrail, so that the driven wheel (251) can make linear floating displacement along the transverse direction of the guardrail with the adaptive adjustment slide (26). The pre-tension spring (27) between the two adaptive adjustment slides (26) set opposite to each other continuously provides opposing pre-tension clamping forces to the driven wheels (251) on both sides, so that the working surface of the track (23) always maintains surface contact with the surface of the corrugated guardrail (4).

3. A tracked mobile carrier based on a highway guardrail according to claim 2, characterized in that, There are two top support rollers (31). The axis of the top support rollers (31) is perpendicular to the extension direction of the corrugated guardrail (4), and their outer circumferential surfaces are rolled and fitted against the top edge of the corrugated guardrail (4). The lower limiting roller (32) is vertically arranged, and its upper and lower ends are rotatably connected to the horizontally extending support rod (34) through the connector (35). The support rod (34) is horizontally slidably assembled in the horizontal positioning hole of the carrier body (1). The connector (35) and the support rod (34) slide in the horizontal direction. A buffer spring (33) is sleeved on the outside of the support rod (34). The two ends of the buffer spring (33) abut against the carrier body (1) and the connector (35) respectively. The outer peripheral surface of the lower limiting roller (32) rolls and fits against the lower crest curved surface (43).

4. A tracked mobile carrier based on a highway guardrail according to claim 3, characterized in that, The carrier body (1) is provided with multiple sets of horizontal positioning holes at intervals along the vertical direction. The multiple sets of horizontal positioning holes form vertical installation positions that are adapted to the different cross-sectional heights of the wave guardrail (4). The support rod (34) of the lower limiting roller (32) can be selectively assembled into the horizontal positioning hole of the corresponding position. The axle of the drive wheel (241) and the axle of the driven wheel (251) are both configured with various length specifications to adjust the clamping position of the tracks (23) on both sides.

5. A tracked mobile carrier based on a highway guardrail according to claim 1, characterized in that, The outer drive track assembly (21) has a track (23) working surface with contour fitting protrusions (231) that conform to the upper crest surface (41). The outer contour arc of the contour fitting protrusions (231) is consistent with the arc of the upper crest surface (41). Adaptive gaps (232) that adapt to the deformation of the track (23) are provided between adjacent contour fitting protrusions (231). The outer circumferential surface of the lower limiting roller (32) is a concave arc-shaped working surface that conforms to the contour of the lower crest surface (43) of the wave guardrail (4).

6. A tracked mobile carrier based on a highway guardrail according to claim 2, characterized in that, The carrier body (1) is equipped with a control unit, which is electrically connected to the four drive motors (242) respectively; The carrier body (1) is also provided with a positioning sensor (5) that is electrically connected to the control unit. The positioning sensor (5) cooperates with the positioning baffle (51) preset along the wave guardrail (4).

7. A tracked mobile carrier based on a highway guardrail according to claim 6, characterized in that, The carrier body (1) is equipped with a standardized quick-installation interface, power supply interface and communication interface for detachable mounting of functional devices. The functional devices are connected to the control unit. The functional devices include any one or more of the following: inspection camera unit (6), light warning unit (7), traffic information display unit (8), and emergency broadcast unit (9).

8. A tracked mobile carrier based on a highway guardrail according to claim 7, characterized in that, The carrier body (1) is equipped with an integrated power supply module and a flexible solar charging panel electrically connected to it. The carrier body (1) is also equipped with a satellite positioning module for autonomous navigation.

9. A tracked mobile carrier based on a highway guardrail according to claim 1, characterized in that, The carrier body (1) is arranged to be attached to the outside of the wave guardrail (4), and the outer drive clamp track assembly (21) and the lower limiting roller (32) are both set to be retracted inward.

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