A special-purpose refurbishing device for high-speed guardrails

Abstract

The application discloses a kind of special renovation equipment for high-speed guardrail, it is related to highway traffic safety facilities maintenance technical field.Renovation equipment includes mobile support, polishing mechanism, dust suction and air curtain sealing system and self-propelled chassis.Mobile support is equipped with the mobile guide mechanism of straddling on the edge of guardrail and the external anti-overturning mechanism of anti-overturning, and is enclosed into operation chamber;Polishing mechanism includes inflatable wave-shaped airbag self-adapting polishing component and constant pressure control system;Dust suction and air curtain sealing system adopt air filtration and front and rear air curtain to build dynamic air curtain sealing, rear air curtain integrates atomizing nozzle synchronous spraying protective liquid;Self-propelled chassis is equipped with two-dimensional laser radar automatic tracking.The application solves the problems of poor adaptability, insufficient adhesion and uncontrollable pressure of existing equipment, realizes full-wave constant-pressure polishing, non-contact sealing dust removal and instant protection, improves renovation quality and prolongs maintenance cycle.

Description

Technical Field

[0001] This invention relates to the field of highway traffic safety facility maintenance technology, specifically to a special renovation equipment for highway guardrails. Background Technology

[0002] Highway guardrail panels are exposed to the outdoor environment for extended periods, causing their surface coatings to age, powder, and rust, necessitating regular renovation. Existing hand-held grinding methods are inefficient and produce inconsistent quality; sandblasting generates significant dust pollution and is costly.

[0003] While some existing automated devices (such as the authorized invention patent CN120023744B) have achieved sealed polishing, their rigid structures cannot adapt to horizontal turns and uphill / downhill sections of the guardrail, and the seal relies on mechanical contact, making them prone to wear and leakage. Furthermore, existing polishing elements are mostly of fixed shapes, resulting in insufficient fit to the guardrail's wave pattern, easily causing inadequate polishing of troughs and over-polishing of peaks. The polishing pressure also lacks a real-time adjustment mechanism. Simply applying a protective layer manually after polishing increases secondary work costs, and the exposed metal surface after refurbishment is extremely prone to rapid rusting before painting.

[0004] Therefore, how to provide an integrated refurbishment device that can adapt to bending paths, maintain constant pressure polishing, achieve full waveform bonding, efficiently seal and remove dust, and simultaneously perform surface protection treatment has become a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings of the prior art and provide a special renovation equipment for high-speed guardrails. This invention aims to solve the technical problems of the prior art being unable to adapt to guardrail turning, poor polishing fit, and uncontrollable polishing pressure.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A special renovation equipment for highway guardrails includes: The mobile support includes a mobile guide mechanism, a frame, and a working chamber with open front and rear ends enclosed by side plates, a top plate, and a bottom plate. The mobile guide mechanism is installed at the front and rear ends of the frame near the guardrail. The mobile guide mechanism straddles the edge of the guardrail and moves along the length of the guardrail. The polishing mechanism includes a telescopic constant pressure system and an airbag adaptive polishing assembly. The airbag adaptive polishing assembly is fixed to a floating mounting plate inside the working chamber and includes a rotating shaft, a drive motor, an inflatable airbag, and a polishing belt layer sleeved on the outside of the airbag. Circular shaping plates are provided at the upper and lower ends of the inflatable airbag. The rotating shaft passes through the circular shaping plates and is rotatably connected to the floating mounting plate. The drive motor is located on one side of the floating mounting plate and is drively connected to the rotating shaft. The inflatable airbag is wave-shaped to match the corrugated surface of the guardrail. After inflation, it expands, forcing the polishing belt layer to conform to the corrugated surface of the guardrail. The telescopic constant pressure system includes a servo electric cylinder, a pressure sensor, and a controller. The servo electric cylinder is installed on the outer wall of the working chamber. The telescopic end of the servo electric cylinder enters the chamber and connects to the floating mounting plate to drive the floating mounting plate to feed or retract towards the guardrail. The pressure sensor is used to detect the contact pressure between the polishing assembly and the guardrail in real time. The controller adjusts the extension amount of the servo electric cylinder based on the pressure sensor feedback to maintain a constant polishing pressure.

[0007] Furthermore, it also includes a dust extraction and air curtain sealing system, which includes an air extractor, a filter box, a pressure-stabilizing air tank, and air curtain nozzles installed at the front and rear ends of the frame. The inlet of the filter box is connected to the working chamber, and the outlet is connected to the inlet of the air extractor. The outlet of the air extractor is connected to the inlet of the pressure-stabilizing air tank, and the outlet of the pressure-stabilizing air tank is connected to the air curtain nozzles.

[0008] Furthermore, the movable guide mechanism includes a guide wheel bracket, a guide wheel, and a first compression spring. The guide wheel bracket is slidably limited on the frame. The guide wheel is a V-grooved wheel, which is rotatably mounted on the guide wheel bracket and abuts against the edge of the guardrail. The first compression spring is disposed between the frame and the guide wheel bracket to provide a preload force that keeps the guide wheel elastically pressed against the edge of the guardrail.

[0009] Furthermore, it also includes an external anti-tipping mechanism, which includes a guide rod, a sliding frame, a second compression spring, and a support pulley. The guide rod is fixed to the side plate of the working chamber and extends towards the guardrail. The sliding frame is slidably sleeved in the guide rod, and the second compression spring is sleeved in the guide rod, with its two ends abutting against the side plate and the sliding frame respectively, providing an elastic force to push the sliding frame towards the guardrail. The support pulley is rotatably installed at the bottom of the sliding frame and abuts against the trough of the guardrail.

[0010] Furthermore, the air curtain nozzle is a stainless steel square tube, including a front air curtain nozzle and a rear air curtain nozzle. The exhaust port of the front air curtain nozzle is divided into a vertical exhaust port and a front exhaust port. The vertical exhaust port is set perpendicular to the guardrail plate, and the front exhaust port is set facing the front of the guardrail plate. The exhaust port of the rear air curtain nozzle is a vertical exhaust port.

[0011] Furthermore, the rear air curtain nozzle also integrates a protective liquid spraying device, which includes a storage tank and an atomizing nozzle. The rear air curtain nozzle has a baffle plate inside to divide the cavity into a first channel communicating with a vertical exhaust hole and a second channel communicating with the atomizing nozzle. The air inlet of the second channel is connected to the pressure stabilizing gas tank. The air inlet of the atomizing nozzle is connected to the second channel, and the liquid inlet is connected to the storage tank through a guide pipe. The spray nozzle faces the surface of the guardrail and is used to spray the protective liquid onto the surface of the guardrail after polishing.

[0012] Furthermore, it also includes a self-propelled chassis. The mobile support is mounted on the self-propelled chassis, and a scanning mechanism is set above the self-propelled chassis. The scanning mechanism includes a two-dimensional lidar, which is used to collect multi-point distance data between the corrugated surface of the guardrail and the scanning mechanism in real time during the movement. The self-propelled chassis calculates the real-time lateral offset and heading angle of the self-propelled chassis relative to the guardrail based on the multi-point distance data, and adjusts the speed difference between the left drive motor and the right drive motor of the chassis to make the self-propelled chassis always move autonomously along a path parallel to the guardrail.

[0013] Furthermore, it also includes a height adjustment mechanism, which is a screw lifting mechanism. The height adjustment mechanism is located between the self-propelled chassis and the mobile support, and is used to adjust the ground clearance of the mobile support to accommodate guardrail panels of different specifications.

[0014] Furthermore, the pressure sensor is a spoke-type pressure sensor, which is sleeved on the rotating shaft of the airbag adaptive polishing assembly, and the controller is a PLC installed on the self-propelled chassis, which adjusts the extension amount of the servo electric cylinder through a closed-loop PID algorithm.

[0015] Furthermore, the inflatable airbag is made of oil-resistant and wear-resistant rubber, with an internal fiber reinforcement layer and a Velcro hook surface. The polishing belt layer has a ring-shaped, seamless structure, with an inner layer of nylon hook-and-loop fabric and an outer layer of polyester film incorporating abrasive particles. The Velcro hook surface of the inflatable airbag is detachably bonded to the fabric surface of the polishing belt layer.

[0016] The beneficial effects of this invention are as follows: 1. This invention constructs a dynamic air curtain using air curtain nozzles at both ends, forming a non-contact seal with the chambers enclosed by the side plates, top plate, and bottom plate. This ensures near-zero dust leakage without any mechanical wear or affecting equipment turning. Furthermore, by utilizing the internal cavity and atomizing nozzles of the rear air curtain nozzle, the protective liquid can be atomized and evenly sprayed onto the freshly polished guardrail surface using only the air curtain airflow itself. This achieves simultaneous automatic "polish and protection" treatment, eliminating the need for separate coating equipment and processes. It also forms a protective film at the moment when the metal surface is most active, fundamentally preventing rust recurrence and significantly extending the refurbishment and maintenance cycle. The Velcro structure on the airbag surface, combined with the ring-shaped seamless polishing belt, makes consumable replacement quick and easy, further reducing downtime maintenance costs.

[0017] 2. This invention, through the cooperation of an autonomous walking chassis and an elastic straddle-type guiding mechanism, enables the equipment to automatically and smoothly follow tracks on various horizontal curves and sloping sections of highway guardrails, eliminating the need for additional slewing bearings or complex steering structures. This significantly improves adaptability to complex road conditions and operational continuity. The polishing assembly uses inflatable, wave-shaped airbags that actively conform to the crests, troughs, and sidewalls of the guardrail after inflation. Combined with closed-loop constant pressure control using a servo electric cylinder and pressure sensor, it completely eliminates under-polishing and over-polishing caused by surface undulations or waveform deviations, achieving a high degree of uniformity and consistency in polishing quality. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the refurbishment equipment of the present invention in operation.

[0019] Figure 2 This is a perspective view of the movable support of the present invention passing through the guardrail.

[0020] Figure 3 This is a schematic diagram of the back structure of the movable support of the present invention.

[0021] Figure 4 This is a cross-sectional view of the movable support of the present invention along a direction perpendicular to the ground.

[0022] Figure 5 This is a cross-sectional view of the movable support of the present invention parallel to the ground.

[0023] In the diagram: 1-Moving guide mechanism; 11-Guide wheel bracket; 12-Guide wheel; 13-First compression spring; 2-Working chamber; 21-Frame; 22-Floating mounting plate; 23-Guide column; 3-Guardrail; 4-Telescopic constant pressure system; 41-Servo electric cylinder; 42-Pressure sensor; 43-Controller; 5-Airbag adaptive polishing assembly; 51-Rotating shaft; 52-Drive motor; 53-Inflatable airbag; 54-Polishing belt layer; 55-Circular shaping plate; 61-Ejector; 62-Filter box; 63-Pressure stabilizing air tank; 64-Front air curtain nozzle; 65-Rear air curtain nozzle; 66-Liquid storage tank; 67-Atomizing nozzle; 7-External anti-tipping mechanism; 71-Guide rod; 72-Sliding frame; 73-Supporting pulley; 8-Self-propelled chassis; 9-Height adjustment mechanism. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0025] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "horizontal," "inner," "outer," and "one side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Example 1

[0027] like Figures 1 to 5 As shown in the figure, this embodiment discloses a special renovation equipment for highway guardrails, including a mobile support, a polishing mechanism, a dust extraction and air curtain sealing system, a protective liquid spraying device, and a self-propelled chassis.

[0028] The movable support frame forms the main framework of the renovation equipment. This frame includes a movable guide mechanism 1, a frame body 21, and a working chamber 2 with open front and rear ends, enclosed by side plates, a top plate, and a bottom plate. The working chamber 2 is open on the side facing the guardrail 3, and its front and rear ends are also open, allowing the guardrail 3 to pass through as the equipment moves along it. The movable guide mechanism 1 is installed at both the front and rear ends of the frame body 21 near the guardrail 3. Each movable guide mechanism 1 straddles the edge of the guardrail 3 and moves along its length. Figure 3 and Figure 4 As shown, each movable guide mechanism 1 specifically includes a guide wheel bracket 11, a guide wheel 12, and a first compression spring 13. The guide wheel 12 is preferably a V-grooved wheel, rotatably mounted on the guide wheel bracket 11 and abutting against the edge of the guardrail 3. The guide wheel bracket 11 is slidably confined on the frame 21 and can move slightly in a direction perpendicular to the edge of the guardrail 3. The first compression spring 13 is disposed between the frame 21 and the guide wheel bracket 11, always providing a preload force to elastically press the guide wheel 12 against the edge of the guardrail 3. This structure ensures reliable contact between the equipment and the guardrail 3, and also allows for adaptive floating when encountering slight changes in the thickness of the guardrail 3 or when turning, preventing jamming.

[0029] An external anti-tipping mechanism 7 is installed on the side plate of the working chamber 2 to provide elastic support force acting on the front of the guardrail 3, resisting the reaction force exerted on the guardrail 3 by the floating mounting plate 22 during polishing, and preventing the entire moving support from tipping away from the guardrail 3. Specifically, the external anti-tipping mechanism 7 includes a guide rod 71, a sliding frame 72, a second compression spring, and a support pulley 73. The guide rod 71 is fixed to the side plate of the working chamber 2 and extends towards the guardrail 3; the sliding frame 72 is slidably sleeved in the guide rod 71, and the second compression spring is sleeved in the guide rod 71, with its two ends abutting against the side plate and the sliding frame 72 respectively, providing an elastic force to push the sliding frame 72 towards the guardrail 3; the support pulley 73 is rotatably installed at the bottom of the sliding frame 72, and elastically abuts against the trough of the guardrail 3 under the action of the spring force, providing stable support for the entire moving support.

[0030] The polishing mechanism is located inside the working chamber 2 and mainly includes a floating mounting plate 22, an airbag adaptive polishing assembly 5, and a telescopic constant pressure system 4. The floating mounting plate 22 is slidably mounted in the working chamber 2 via guide posts 23 and can move forward or backward in a direction perpendicular to the guardrail plate 3. The airbag adaptive polishing assembly 5 is fixed on the floating mounting plate 22 and specifically includes a rotating shaft 51, a drive motor 52, an inflatable airbag 53, and a polishing belt layer 54 sleeved on the outside of the inflatable airbag 53. Circular shaping plates 55 are provided at the upper and lower ends of the inflatable airbag 53 to maintain the overall shape of the airbag and transmit torque; the rotating shaft 51 passes through the circular shaping plate 55 and is rotatably connected to the floating mounting plate 22, with both ends of the rotating shaft 51 supported by bearing seats. The drive motor 52 is located on one side of the floating mounting plate 22 and is connected to the rotating shaft 51 for transmission, driving the entire airbag assembly to rotate. The inflatable airbag 53 adopts a wave-shaped structure that is perfectly adapted to the wave surface of the guardrail 3, and can remain soft when it is not inflated or under low pressure. When compressed air is injected through the air passage, the airbag expands radially, forcing the polished strip layer 54 to actively conform to the crests, troughs and side slopes of the guardrail 3, achieving full-wave, no-dead-angle enveloping contact.

[0031] The telescopic constant pressure system 4 is used to precisely control and maintain a constant contact pressure between the polishing belt layer 54 and the guardrail plate 3. This system includes a servo electric cylinder 41, a pressure sensor 42, and a controller 43. The cylinder body of the servo electric cylinder 41 is fixedly installed on the outer wall of the working chamber 2, and its telescopic end is rigidly connected to the floating mounting plate 22 through the chamber. When the servo electric cylinder 41 telescopically extends or retracts, it drives the entire floating mounting plate 22 and its airbag adaptive polishing assembly 5 to move forward or backward toward the guardrail plate 3. The pressure sensor 42 is preferably a spoke-type pressure sensor, sleeved on the rotating shaft 51 of the airbag adaptive polishing assembly 5, capable of sensing the total contact reaction force on the polishing assembly in real time. The controller 43 uses a PLC and is installed on the self-propelled chassis 8. During operation, the pressure sensor 42 converts the contact pressure into an electrical signal and feeds it back to the controller 43 in real time. The controller 43 compares the feedback signal with a preset target pressure value using a closed-loop PID algorithm, dynamically adjusting the extension amount of the servo electric cylinder 41. For example, when the equipment moves to the joint of the guardrail 3, the contact pressure increases instantly. The controller 43 will instruct the servo electric cylinder 41 to retract slightly to release the pressure, thereby achieving constant pressure polishing on the entire wavy surface and completely eliminating over-polishing and under-polishing.

[0032] The dust extraction and air curtain sealing system is used to achieve efficient sealing and dust control in the working chamber 2. This system includes an extractor 61, a filter box 62, a pressure-stabilizing air tank 63, and air curtain nozzles installed at both ends of the frame 21. The inlet of the filter box 62 is connected to the working chamber 2, and the outlet is connected to the inlet of the extractor 61; the outlet of the extractor 61 is connected to the inlet of the pressure-stabilizing air tank 63. After the extractor 61 is started, the dust-laden air in the working chamber 2 is drawn into the filter box 62 through the inlet for purification. The purified clean air enters the extractor 61 from the outlet of the filter box 62 and is then discharged into the pressure-stabilizing air tank 63 for buffering and pressure stabilization. The outlet of the pressure-stabilizing air tank 63 is connected to the air curtain nozzles at both ends via branch lines, providing a stable air source for the air curtain nozzles.

[0033] In a preferred embodiment of the present invention, the air curtain nozzle is a stainless steel square tube, including a front air curtain nozzle 64 and a rear air curtain nozzle 65. The exhaust holes on the front air curtain nozzle 64 are divided into vertical exhaust holes and front exhaust holes; the vertical exhaust holes are set perpendicular to the guardrail plate 3, used to form a vertical air curtain from top to bottom at the front end of the working chamber 2 to prevent dust from overflowing; the front exhaust holes are set facing the front of the guardrail plate 3, which can form a forward blowing airflow in the front area to pre-blow away floating dust on the surface of the guardrail plate 3, and form a second inclined air curtain at the chamber entrance to further enhance the sealing effect. The exhaust holes of the rear air curtain nozzle 65 are vertical exhaust holes, forming a flat vertical air curtain at the rear end of the working chamber 2. Because the air curtain seal is non-contact, no mechanical wear or resistance will occur when the equipment passes through horizontal bends, and the turning performance of the equipment will not be affected at all.

[0034] In a preferred embodiment of the present invention, a protective liquid spraying device is also integrated on the rear air curtain nozzle 65, realizing the function of immediate rust prevention after polishing. The protective liquid spraying device includes a storage tank 66 and an atomizing nozzle 67. The rear air curtain nozzle 65 is provided with a baffle plate, which divides the cavity into a first channel communicating with the vertical exhaust hole and a second channel communicating with the atomizing nozzle 67; the air inlet of the second channel is connected to the pressure stabilizing air tank 63 to independently introduce a portion of the pressure-stabilized clean airflow. The air inlet of the atomizing nozzle 67 is connected to the second channel, and the liquid inlet is connected to the storage tank 66 through a guide pipe; the spray nozzle of the atomizing nozzle 67 faces the surface of the guardrail 3. When the air curtain system is working, the high-speed airflow in the second channel generates a Venturi effect through the throat of the atomizing nozzle 67, forming a negative pressure at the liquid inlet, which automatically draws out the protective liquid in the storage tank 66 and instantly atomizes it into tiny droplets, which are evenly sprayed onto the metal surface of the guardrail 3 that has just been polished and is still in a clean and activated state, forming an extremely thin protective film. This process utilizes the compressed air of the air curtain system itself as power, simultaneously achieving "immediate protection after application," fundamentally isolating the direct contact between air and metal, and avoiding the problem of rapid rusting during the gap period between grinding and painting in traditional operations.

[0035] To achieve automated walking and path tracking, this device also includes a self-propelled chassis 8. The entire mobile support is mounted on the self-propelled chassis 8 via a height adjustment mechanism 9. The self-propelled chassis 8 is preferably a tracked chassis. A scanning mechanism is installed above the self-propelled chassis 8, the core of which is a two-dimensional lidar. During movement, the lidar emits laser beams at a certain frequency towards the guardrail 3 and scans, collecting real-time distance data between the guardrail 3's peaks, troughs, and sidewall surfaces and the scanning mechanism. The on-board controller of the self-propelled chassis 8 analyzes this data and calculates the real-time lateral offset and heading angle of the chassis relative to the guardrail 3. When a deviation is detected, differential steering is achieved by adjusting the speed difference between the left and right drive motors of the chassis, automatically correcting the vehicle's attitude, so that the self-propelled chassis 8 always maintains a preset path parallel to the guardrail 3 and moves autonomously, accurately following the various horizontal curvatures of the guardrail 3.

[0036] To accommodate highway guardrail panels of different specifications, the equipment is equipped with a height adjustment mechanism 9. The height adjustment mechanism 9 is a screw-driven lifting mechanism, installed between the self-propelled chassis 8 and the movable support. The operator can drive the screw to rotate via a handwheel or motor, causing the movable support to rise or fall relative to the chassis, thereby adjusting the ground clearance of the working chamber 2 and polishing components. This ensures precise alignment with guardrail panels 3 of different heights, guaranteeing that the guide wheels 12 can correctly straddle the edge of the guardrail panel 3.

[0037] In a preferred embodiment of the present invention, since the polishing belt layer 54 is a consumable, it adopts a detachable structure for easy and quick replacement. Specifically, the inflatable airbag 53 is made of oil-resistant and wear-resistant rubber, with an internal fiber reinforcement layer and a Velcro hook surface. The polishing belt layer 54 has a ring-shaped, seamless structure, with an inner layer of nylon hook-and-loop fabric and an outer layer of polyester film incorporating abrasive particles; the Velcro hook surface of the inflatable airbag 53 is detachably bonded to the loop surface of the polishing belt layer 54. During replacement, simply deflate the inflatable airbag 53 to allow it to contract, then peel off the old polishing belt layer 54, and press the loop surface of the new polishing belt layer 54 against the hook surface of the airbag. No tools are required, significantly reducing maintenance time. The material and fiber reinforcement layer of the inflatable airbag 53 ensure its structural strength and service life under frequent inflation and deflation and polishing torque conditions.

[0038] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A special renovation equipment for highway guardrails, characterized in that, include: The mobile support includes a mobile guide mechanism (1), a frame (21), and a working chamber (2) with open front and rear ends enclosed by side plates, top plates, and bottom plates. The mobile guide mechanism (1) is installed at the front and rear ends of the frame (21) near the guardrail (3). The mobile guide mechanism (1) straddles the edge of the guardrail (3) and moves along the length of the guardrail (3). The polishing mechanism includes a telescopic constant pressure system (4) and an airbag adaptive polishing assembly (5). The airbag adaptive polishing assembly (5) is fixed on a floating mounting plate (22) inside the working chamber (2). It includes a rotating shaft (51), a drive motor (52), an inflatable airbag (53), and a polishing belt layer (54) sleeved on the outside of the airbag. The upper and lower ends of the inflatable airbag (53) are provided with circular shaping plates (55). The rotating shaft (51) passes through the circular shaping plate (55) and is rotatably connected to the floating mounting plate (22). The drive motor (52) is located on one side of the floating mounting plate (22) and is connected to the rotating shaft (51) for transmission. The inflatable airbag (53) is wavy and adapted to the wave-shaped surface of the guardrail plate (3). After inflation, the polishing belt layer (54) expands, forcing it to conform to the wave-shaped surface of the guardrail (3). The telescopic constant pressure system (4) includes a servo electric cylinder (41), a pressure sensor (42), and a controller (43). The servo electric cylinder (41) is installed on the outer wall of the working chamber (2). The telescopic end of the servo electric cylinder (41) passes through the chamber and connects to the floating mounting plate (22) to drive the floating mounting plate (22) to feed or retract towards the guardrail (3). The pressure sensor (42) is used to detect the contact pressure between the polishing component and the guardrail (3) in real time. The controller (43) adjusts the extension amount of the servo electric cylinder (41) according to the feedback from the pressure sensor (42) to maintain a constant polishing pressure.

2. The special renovation equipment for highway guardrails according to claim 1, characterized in that, It also includes a dust extraction and air curtain sealing system, which includes an air extractor (61), a filter box (62), a pressure-stabilizing air tank (63), and air curtain nozzles installed at the front and rear ends of the frame (21). The inlet of the filter box (62) is connected to the working chamber (2), and the outlet is connected to the inlet of the air extractor (61). The outlet of the air extractor (61) is connected to the inlet of the pressure-stabilizing air tank (63), and the outlet of the pressure-stabilizing air tank (63) is connected to the air curtain nozzles.

3. The special renovation equipment for highway guardrails according to claim 1, characterized in that, The moving guide mechanism (1) includes a guide wheel bracket (11), a guide wheel (12) and a first compression spring (13). The guide wheel bracket (11) is slidably limited on the frame (21). The guide wheel (12) is a V-grooved wheel, which is rotatably mounted on the guide wheel bracket (11) and abuts against the edge of the guardrail (3). The first compression spring (13) is disposed between the frame (21) and the guide wheel bracket (11) to provide a preload force that keeps the guide wheel (12) elastically pressing against the edge of the guardrail (3).

4. The special renovation equipment for highway guardrails according to claim 1, characterized in that, It also includes an external anti-tipping mechanism (7), which includes a guide rod (71), a sliding frame (72), a second compression spring, and a support pulley (73). The guide rod (71) is fixed on the side plate of the working chamber (2) and extends towards the guardrail (3). The sliding frame (72) is slidably sleeved in the guide rod (71). The second compression spring is sleeved in the guide rod (71) and its two ends abut against the side plate and the sliding frame (72) respectively, providing an elastic force to push the sliding frame (72) towards the guardrail (3). The support pulley (73) is rotatably installed at the bottom of the sliding frame (72) and abuts against the trough of the guardrail (3).

5. The special renovation equipment for highway guardrails according to claim 2, characterized in that, The air curtain nozzle is a stainless steel square tube, including a front air curtain nozzle (64) and a rear air curtain nozzle (65). The exhaust port of the front air curtain nozzle (64) is divided into a vertical exhaust port and a front exhaust port. The vertical exhaust port is set perpendicular to the guardrail plate (3), and the front exhaust port is set facing the front of the guardrail plate (3). The exhaust port of the rear air curtain nozzle (65) is a vertical exhaust port.

6. The special renovation equipment for highway guardrails according to claim 5, characterized in that, The rear air curtain nozzle (65) is also integrated with a protective liquid spraying device, which includes a storage tank (66) and an atomizing nozzle (67). The rear air curtain nozzle (65) is provided with a baffle to divide the cavity into a first channel connected to the vertical exhaust hole and a second channel connected to the atomizing nozzle (67). The air inlet of the second channel is connected to the pressure stabilizing gas tank (63). The air inlet of the atomizing nozzle (67) is connected to the second channel, and the liquid inlet is connected to the storage tank (66) through a guide pipe. The spray nozzle (67) faces the surface of the guardrail (3) and is used to spray protective liquid onto the surface of the guardrail (3) after polishing.

7. The special renovation equipment for highway guardrails according to claim 1, characterized in that, It also includes a self-propelled chassis (8), the mobile support is installed on the self-propelled chassis (8), and a scanning mechanism is provided above the self-propelled chassis (8). The scanning mechanism includes a two-dimensional laser radar, which is used to collect multi-point distance data between the corrugated surface of the guardrail (3) and the scanning mechanism in real time during the movement. The self-propelled chassis (8) calculates the real-time lateral offset and heading angle of the self-propelled chassis (8) relative to the guardrail (3) based on the multi-point distance data, and adjusts the speed difference between the left drive motor and the right drive motor of the chassis so that the self-propelled chassis (8) always moves autonomously along a path parallel to the guardrail (3).

8. The special renovation equipment for highway guardrails according to claim 7, characterized in that, It also includes a height adjustment mechanism (9), which is a screw lifting mechanism. The height adjustment mechanism (9) is located between the self-propelled chassis (8) and the mobile support, and is used to adjust the ground clearance of the mobile support to adapt to guardrails (3) of different specifications.

9. A special renovation equipment for highway guardrails according to claim 7, characterized in that, The pressure sensor (42) is a spoke-type pressure sensor, which is mounted on the rotating shaft (51) of the airbag adaptive polishing assembly (5). The controller (43) is a PLC installed on the self-propelled chassis (8), which adjusts the extension amount of the servo electric cylinder (41) through a closed-loop PID algorithm.

10. A special renovation equipment for highway guardrails according to claim 1, characterized in that, The inflatable airbag (53) is made of oil-resistant and wear-resistant rubber, with a fiber reinforcement layer inside and a Velcro hook surface on the surface. The polishing belt layer (54) is a ring-shaped seamless structure with a nylon hook and loop fastener inner layer and a polyester film with abrasive material on the outer layer. The Velcro hook surface of the inflatable airbag (53) and the loop surface of the polishing belt layer (54) can be detachably bonded.

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