Narrow side vibration flattening device with anti-collision buffering function based on wave-shaped guardrail walking

Abstract

The application discloses a narrow-edge vibration flattening device with a collision-preventing and buffering function based on a wave-shaped guardrail walking, which comprises a machine base, a driving device, a guiding device, a mechanical arm and a vibration flattening mechanism. The driving device is arranged on the machine base and comprises a generator assembly, an energy storage battery and a driving wheel assembly. The generator assembly is connected with the energy storage battery, the energy storage battery supplies energy for the driving wheel assembly, and the driving wheel assembly drives the machine base to move. The guiding device is arranged on the machine base and comprises a guiding wheel assembly used for cooperating with the guardrail. The guiding wheel assembly can guide the driving wheel assembly to move along the guardrail. The mechanical arm is arranged on the machine base. The vibration flattening mechanism is arranged on the mechanical arm. The mechanical arm can drive the vibration flattening device to move to a road shoulder outside the guardrail, and the vibration flattening mechanism can perform vibration flattening treatment on the road shoulder. The automatic construction can be realized, and the energy can be saved and the emission can be reduced during the operation process. The construction efficiency can be improved, the personnel configuration can be reduced, and the safety risk can be reduced.

Description

Technical Field

[0001] This invention relates to the field of energy-saving technology, and in particular to a narrow-side vibrating and leveling device with anti-collision and buffering functions based on a wave-shaped guardrail walking system. Background Technology

[0002] In the construction and maintenance of highways, shoulder hardening is a crucial step in improving the stability of roadbed slopes, reducing rainwater erosion, and ensuring the service life of road ancillary facilities. Currently, highway shoulder hardening projects are mainly carried out manually, with low mechanization and high manpower consumption. Furthermore, the large on-site workforce and prolonged work hours near the highway edges increase labor and management costs, and also pose significant traffic and operational safety risks. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a narrow-side vibratory leveling device with anti-collision buffer function based on the walking of a corrugated guardrail, which can solve the problems of low construction efficiency and high safety risks.

[0004] According to a first aspect of the present invention, a narrow-side vibration leveling device with anti-collision buffer function based on a wave-shaped guardrail walking system includes: Base; A drive unit is provided on the base. The drive unit includes a generator assembly, an energy storage battery, and a drive wheel assembly. The generator assembly is connected to the energy storage battery. The energy storage battery supplies power to the drive wheel assembly, and the drive wheel assembly drives the base to move. A guiding device is provided on the base, and the guiding device includes a guide wheel assembly for cooperating with the guardrail, the guide wheel assembly being able to guide the drive wheel assembly to move along the guardrail; A robotic arm, which is mounted on the base; A leveling mechanism is provided on the robotic arm. The robotic arm can drive the leveling device to move to the shoulder outside the guardrail, and the leveling mechanism can perform leveling treatment on the shoulder.

[0005] The narrow-edge vibratory leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to embodiments of the present invention has at least the following beneficial effects: the drive device can be powered by an energy storage battery to drive the base to move, and can also be powered by a generator assembly to achieve low energy consumption and long-range driving. The guide wheel assembly can cooperate with the guardrail, so that the base can automatically move along the guardrail. The vibratory leveling mechanism can be extended to the shoulder by a robotic arm, which can adjust the position of the vibratory leveling mechanism to realize automated vibratory leveling operation. The base can move along the edge of the guardrail, occupying little space, not affecting traffic, and workers do not need to work on the roadside, which can reduce construction risks.

[0006] According to some embodiments of the present invention, the guide wheel assembly includes a bracket, an inner guide wheel, and an outer guide wheel. The inner guide wheel and the outer guide wheel are disposed opposite to each other on the bracket along the inner and outer directions of the guardrail to clamp the guardrail. The inner guide wheel and the outer guide wheel are slidably connected to the bracket along the inner and outer directions of the guardrail, and an elastic damping component is provided between the inner guide wheel, the outer guide wheel, and the bracket.

[0007] According to some embodiments of the present invention, the elastic damping component includes an elastic damper and an energy recovery component, wherein the inner guide wheel and the outer guide wheel can drive the elastic damper to move and buffer, and the energy recovery component can recover energy through the elastic damper.

[0008] According to some embodiments of the present invention, the robotic arm is provided with an electric drive assembly, which is capable of driving the robotic arm to operate.

[0009] According to some embodiments of the present invention, the robotic arm includes a fixed arm, a first movable arm, and a second movable arm. The fixed arm is vertically disposed on the base. One end of the first movable arm is rotatably connected to the top of the fixed arm, and the other end is rotatably connected to one end of the second movable arm. The vibrating and leveling mechanism is disposed at the other end of the second movable arm. The electric drive assembly includes a first electric push rod and a second electric push rod. The first electric push rod is disposed between the fixed arm and the first movable arm to drive the first movable arm to rotate relative to the fixed arm. The second electric push rod is disposed between the first movable arm and the second movable arm to drive the second movable arm to rotate relative to the first movable arm.

[0010] According to some embodiments of the present invention, the vibrating leveling mechanism includes a vibrating ruler and a vibrating motor. The vibrating ruler is connected to the outer end of the second movable arm, and the vibrating motor is disposed on the vibrating ruler. The second electric push rod can control the rotation of the second movable arm to adjust the angle of the vibrating ruler.

[0011] According to some embodiments of the present invention, the base is detachably equipped with a collision buffer structure, the collision buffer structure being arranged at least on the side of the base away from the guardrail.

[0012] According to some embodiments of the present invention, the bracket includes an upper support arm and a lower support arm, the upper support arm extends above the guardrail, the lower support arm extends below the guardrail, and the guide wheel assembly is provided as at least two, one of which is provided on the upper support arm and the other is provided on the lower support arm.

[0013] According to some embodiments of the present invention, the robotic arm extends outward from the side of the base near the guardrail to the shoulder, and the energy storage battery is disposed on the side of the base away from the guardrail so that the energy storage battery can provide counterweight for the robotic arm.

[0014] According to some embodiments of the present invention, the generator assembly includes a solar panel and an internal combustion engine generator, both of which are capable of charging the energy storage battery.

[0015] According to some embodiments of the present invention, the drive wheel assembly is provided with a kinetic energy recovery module.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the overall structure of some embodiments of the present invention; Figure 2 This is a schematic diagram of the structure after disassembling the anti-collision buffer structure in some embodiments of the present invention; Figure 3 for Figure 2 A schematic diagram from another direction; Figure 4 for Figure 2 A sectional view; Figure 5 This is a schematic diagram of the structure of the vibrating leveling device of the present invention; Figure 6 for Figure 4 A magnified view of a portion of point A in the middle.

[0018] Figure label: 100 for the base; 110 for the warning light; 120 for the anti-collision buffer structure; Drive unit 200; generator assembly 210; energy storage battery 220; drive wheel assembly 230; Guide wheel assembly 300; bracket 310; upper support arm 311; lower support arm 312; inner guide wheel 320; outer guide wheel 330; elastic damping component 340; Robotic arm 400; first electric push rod 410; second electric push rod 420; fixed arm 430; first movable arm 440; second movable arm 450; Vibration leveling mechanism 500; vibration ruler 510; vibration motor 520. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and 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, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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.

[0022] Reference Figures 1 to 6According to a first aspect of the present invention, a narrow-edge vibrating and leveling device with anti-collision buffer function based on a wave-shaped guardrail includes a base 100, a drive device 200, a guide device, a robotic arm 400, and a vibrating and leveling mechanism 500. The drive device 200 is mounted on the base 100 and includes a generator assembly 210, an energy storage battery 220, and a drive wheel assembly 230. The generator assembly 210 is connected to the energy storage battery 220, which supplies power to the drive wheel assembly 230, which drives the base 100 to move. The guide device is mounted on the base 100 and includes a guide wheel assembly 300 for cooperating with the guardrail, which guides the drive wheel assembly 230 to move along the guardrail. The robotic arm 400 is mounted on the base 100. The vibrating and leveling mechanism 500 is mounted on the robotic arm 400, which drives the vibrating and leveling device to the shoulder outside the guardrail, and performs vibrating and leveling treatment on the shoulder. The drive unit 200 can be powered by the energy storage battery 220 to drive the base 100 to move, and can also generate electricity using the generator assembly 210 to achieve low energy consumption and long driving range. The guide wheel assembly 300 can cooperate with the guardrail, so that the base 100 can automatically move along the guardrail. The vibrating and leveling mechanism 500 can be extended to the shoulder by the robotic arm 400. The robotic arm 400 can adjust the position of the vibrating and leveling mechanism 500 to realize automated vibrating and leveling operation. The base 100 can move along the edge of the guardrail, occupying little space and not affecting traffic. Moreover, workers do not need to work on the roadside, which can reduce construction risks. Compared with pure manual construction, this embodiment can improve efficiency by 8 to 10 times.

[0023] Specifically, the base 100 has a drive wheel assembly 230 at its bottom, which can be driven by a single motor or multiple motors. The base 100 also has a set of omnidirectional wheels for reversing direction. A guide wheel assembly 300 is located on the side of the base 100 closest to the guardrail. The guide wheel assembly 300 cooperates with the guardrail; it is conceivable that the guide wheel assembly 300 can abut the two sides of the guardrail via the guide wheels. The drive wheel assembly 230 controls the forward and backward movement and the speed, while the guide wheel assembly 300... The guide base 100 moves along the guardrail track, and the robotic arm 400 extends from the base 100 outwards towards the shoulder. A leveling mechanism 500 is connected to the outer end of the robotic arm 400. The leveling mechanism 500 can also be electrically connected to the energy storage battery 220 or have an independent power supply component. The leveling mechanism 500 can be moved by the robotic arm 400 to the shoulder for leveling operations. The robotic arm 400 can adjust the position and angle of the leveling mechanism 500 to ensure it conforms to the shoulder. The specific form of the robotic arm 400 is not limited here. Furthermore, the base 100 can move close to the guardrail, and it can be designed with a narrow structure to reduce road encroachment. The energy storage battery 220 and generator assembly 210 on the base 100 can provide a counterweight effect, ensuring the base 100 remains stable after the robotic arm 400 extends. In practical use, the energy storage battery 220 can be pre-charged, and the electric drive system can save energy and reduce emissions, making it suitable for slow-moving conditions. The generator assembly 210 can be configured as a diesel generator or other similar unit. When the working distance is long, the generator assembly 210 can be used to charge the energy storage battery 220, enabling energy-efficient operation. During actual construction, the base 100 can travel automatically at a speed of 3-7 km / h. During travel, the vibration leveling mechanism 500 can avoid the guardrail from vibrating the road shoulder, and the guide wheel assembly 300 can adapt to the corrugated guardrail structure and automatically guide the vehicle.

[0024] It is conceivable that a shock-absorbing pad, an alarm light assembly, and other safety features could be installed at the rear of the base 100. Furthermore, the leveling device in this embodiment can be equipped with a remote control system, which can be configured as an industrial wireless remote control system based on a long-range high-frequency RF wireless radio frequency chip. This allows for remote control of the construction process, eliminating the need for on-site personnel and achieving a high degree of automation.

[0025] Reference Figure 4 and Figure 6In some embodiments of the present invention, the guide wheel assembly 300 includes a bracket 310, an inner guide wheel 320, and an outer guide wheel 330. The inner guide wheel 320 and the outer guide wheel 330 are disposed opposite to each other on the bracket 310 along the inner and outer directions of the guardrail to clamp the guardrail. Both the inner guide wheel 320 and the outer guide wheel 330 are slidably connected to the bracket 310 along the inner and outer directions of the guardrail, and each of the inner guide wheel 320, the outer guide wheel 330, and the bracket 310 is provided with an elastic damping component 340. Specifically, the bracket 310 extends from the side of the base 100, the inner guide wheel 320 is attached to the inner side of the guardrail, and the outer guide wheel 330 is attached to the outer side of the guardrail. The rotation axes of the guide wheels are all in the vertical direction. Both the inner guide wheel 320 and the outer guide wheel 330 can be equipped with a rotating shaft that can slide along the bracket 310. The rotating shaft is fitted with a roller structure made of elastic plastic material. The bracket 310 is provided with a sliding groove for the rotating shaft to slide. An elastic damping element can be provided in the sliding groove. One end of the elastic damping element is connected to the rotating shaft, and the other end is connected to the sliding groove. The elastic damping element can be set as a hydraulic damping sleeve. When the guide wheel assembly 300 is in cooperation with the guardrail, the hydraulic damping sleeve can buffer the impact of the inner guide wheel 320 and the outer guide wheel 330 on the guardrail, thereby guiding the machine base 100 to travel smoothly along the guardrail.

[0026] Reference Figures 1 to 4 In some embodiments of the present invention, the elastic damping component 340 includes an elastic damper and an energy recovery component. The inner guide wheel 320 and the outer guide wheel 330 drive the elastic damper to move and buffer, while the energy recovery component recovers energy through the elastic damper. When the elastic damper moves, it drives the energy recovery component to work, converting the aforementioned kinetic energy into electrical energy. Specifically, the elastic damper can be configured as a hydraulic damping sleeve, and the energy recovery component includes a transmission structure and a micro-generator. The transmission structure is connected to the elastic damper, and when the elastic damper moves, it drives the micro-generator to rotate through the transmission structure and generate electricity to the energy storage battery 220. This further reduces the operating energy consumption of the device.

[0027] Reference Figures 1 to 5In some embodiments of the present invention, the robotic arm 400 is provided with an electric drive assembly, which can be powered by an energy storage battery. The robotic arm 400 includes a fixed arm 430, a first movable arm 440, and a second movable arm 450. The fixed arm 430 is vertically mounted on the base 100. One end of the first movable arm 440 is rotatably connected to the top of the fixed arm 430, and the other end is rotatably connected to one end of the second movable arm 450. A leveling mechanism 500 is disposed at the other end of the second movable arm 450. The electric drive assembly includes a first electric push rod 410 and a second electric push rod 420. The first electric push rod 410 is disposed between the fixed arm 430 and the first movable arm 440 to drive the first movable arm 440 to rotate relative to the fixed arm 430. The second electric push rod 420 is disposed between the first movable arm 440 and the second movable arm 450 to drive the second movable arm 450 to rotate relative to the first movable arm 440. Specifically, the fixed end of the first electric push rod 410 can be pivotally connected to the lower part of the fixed arm 430, and the output end of the first electric push rod 410 is pivotally connected to the middle of the first movable arm 440. The first electric push rod 410 can push the first movable arm 440 to flip upward and retract, or retract to drive the first movable arm 440 to extend downward. The fixed end of the second electric push rod 420 can be pivotally connected to the first movable arm 440, and the output end is pivotally connected to the second movable arm 450. The second electric push rod 420 can control the rotation of the second movable arm 450 relative to the first movable arm 440, thereby adjusting the tilt angle of the vibrating and leveling mechanism 500 to adapt to the inclined road shoulder. Furthermore, through the cooperation of the first movable arm 440 and the second movable arm 450, the vibrating and leveling mechanism 500 can be driven over the guardrail.

[0028] Reference Figure 2 and Figure 3 In some embodiments of the present invention, the vibrating leveling mechanism 500 includes a vibrating scale 510 and a vibrating motor 520. The vibrating scale 510 is connected to the outer end of the second movable arm 450, and the vibrating motor 520 is mounted on the vibrating scale 510. A second electric push rod 420 can control the rotation of the second movable arm 450 to adjust the angle of the vibrating scale 510. Specifically, the vibrating leveling scale is fixedly connected to the outer end of the second movable arm 450 and can be arranged perpendicularly to the second movable arm 450. The vibrating motor 520 is mounted on the vibrating leveling scale, and the vibrating leveling scale is driven to vibrate by the vibrating motor 520. When the second electric push rod 420 pushes the second movable arm 450 to rotate, it can drive the vibrating leveling scale to rotate and adjust the angle.

[0029] Reference Figure 1According to some embodiments of the present invention, a collision buffer structure 120 is detachably mounted on the base 100, and the collision buffer structure 120 is arranged at least on the side of the base 100 away from the guardrail. Specifically, the collision buffer structure 120 can be configured as a buffer energy absorption box, which is connected to the base 100 by fasteners. The buffer energy absorption box can be arranged around the base 100 to achieve the protection function.

[0030] Reference Figure 4 and Figure 5 In some embodiments of the present invention, the bracket 310 includes an upper support arm 311 and a lower support arm 312. The upper support arm 311 extends above the guardrail, and the lower support arm 312 extends below the guardrail. At least two guide wheel assemblies 300 are provided, one on the upper support arm 311 and the other on the lower support arm 312. Specifically, the upper and lower ends of the guardrail are continuously arranged in their extending direction. The upper support arm 311 can clamp the guide wheel assembly 300 on the inner and outer sides of the upper end of the guardrail, while the lower support arm 312 can clamp the other guide wheel assembly 300 on the inner and outer sides of the lower end of the guardrail. This design facilitates the insertion of the guide wheel assembly 300 into the guardrail and avoids interference between the guide wheel assembly 300 and other components of the guardrail when the base 100 moves.

[0031] It should be noted that, in order to improve the guiding effect, a bracket 310 and a guide wheel assembly 300 can be added to the front and rear directions of the base 100.

[0032] Reference Figure 5 In some embodiments of the present invention, the robotic arm 400 extends outward from the side of the base 100 near the guardrail to the shoulder, and the energy storage battery 220 is disposed on the side of the base 100 away from the guardrail so that the energy storage battery 220 can provide counterweight for the robotic arm 400. Specifically, a door is provided on the side of the base 100 away from the guardrail, and the energy storage battery 220 is disposed inside the door, so that the energy storage battery 220 is arranged opposite to the robotic arm 400, and the energy storage battery 220 can provide counterweight for the robotic arm 400.

[0033] It is conceivable that a sliding structure could be provided between the energy storage battery 220 and the base 100, so that the energy storage battery 220 can dynamically adjust the position of the counterweight to adapt to the operation of the robotic arm 400 and make the vibrating and leveling device run more smoothly.

[0034] In some embodiments of the present invention, the generator assembly 210 includes a solar panel and an internal combustion engine generator, both of which can charge the energy storage battery 220. Specifically, the solar panel can be added to the top of the base 100. During construction, when there is sufficient sunlight outdoors, the solar panel can generate sufficient electricity to power the energy storage battery 220, thereby further saving operating energy consumption. The internal combustion engine generator can be a diesel generator. When the energy storage battery 220 is low on power, the diesel generator can be used to generate electricity for emergency power supply.

[0035] In some embodiments of the present invention, the drive wheel assembly 230 is equipped with a kinetic energy recovery module. When the road is going downhill, the drive wheel assembly 230 can convert gravitational potential energy into electrical energy and store it in the energy storage battery 220 through the kinetic energy recovery module to further optimize energy consumption.

[0036] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A narrow-side vibrating leveling device with anti-collision and buffering function based on a wave-shaped guardrail, characterized in that, include: Base (100); A drive unit (200) is provided on the base (100). The drive unit (200) includes a generator assembly (210), an energy storage battery (220), and a drive wheel assembly (230). The generator assembly (210) is connected to the energy storage battery (220). The energy storage battery (220) supplies power to the drive wheel assembly (230). The drive wheel assembly (230) drives the base (100) to move. A guiding device is provided on the base (100), the guiding device including a guide wheel assembly (300) for cooperating with the guardrail, the guide wheel assembly (300) being able to guide the drive wheel assembly (230) to move along the guardrail; A robotic arm (400) is mounted on the base (100). A leveling mechanism (500) is provided on the robotic arm (400). The robotic arm (400) can drive the leveling device to move to the shoulder outside the guardrail. The leveling mechanism (500) can perform leveling treatment on the shoulder.

2. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking as described in claim 1, characterized in that, The guide wheel assembly (300) includes a bracket (310), an inner guide wheel (320), and an outer guide wheel (330). The inner guide wheel (320) and the outer guide wheel (330) are disposed opposite to each other on the bracket (310) along the inner and outer directions of the guardrail to clamp the guardrail. The inner guide wheel (320) and the outer guide wheel (330) are slidably connected to the bracket (310) along the inner and outer directions of the guardrail. An elastic damping component (340) is provided between the inner guide wheel (320), the outer guide wheel (330), and the bracket (310).

3. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to claim 2, characterized in that, The elastic damping component (340) includes an elastic damper and an energy recovery component. The inner guide wheel (320) and the outer guide wheel (330) can drive the elastic damper to move and buffer. The energy recovery component can recover energy through the elastic damper.

4. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to claim 3, characterized in that, The robotic arm (400) is equipped with an electric drive assembly. The robotic arm (400) includes a fixed arm (430), a first movable arm (440), and a second movable arm (450). The fixed arm (430) is vertically mounted on the base (100). One end of the first movable arm (440) is rotatably connected to the top of the fixed arm (430), and the other end is rotatably connected to one end of the second movable arm (450). The vibrating and leveling mechanism (500) is located at the other end of the second movable arm (450). The electric drive assembly includes a first electric push rod (410) and a second electric push rod (420). The first electric push rod (410) is disposed between the fixed arm (430) and the first movable arm (440) to drive the first movable arm (440) to rotate relative to the fixed arm (430). The second electric push rod (420) is disposed between the first movable arm (440) and the second movable arm (450) to drive the second movable arm (450) to rotate relative to the first movable arm (440).

5. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to claim 4, characterized in that, The vibrating leveling mechanism (500) includes a vibrating scale (510) and a vibrating motor (520). The vibrating scale (510) is connected to the outer end of the second movable arm (450), and the vibrating motor (520) is mounted on the vibrating scale (510). The second electric push rod (420) can control the rotation of the second movable arm (450) to adjust the angle of the vibrating scale (510).

6. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to claim 1, characterized in that, The base (100) is detachably equipped with a collision buffer structure (120), which is arranged at least on the side of the base (100) away from the guardrail.

7. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to claim 2, characterized in that, The bracket (310) includes an upper support arm (311) and a lower support arm (312). The upper support arm (311) extends above the guardrail, and the lower support arm (312) extends below the guardrail. The guide wheel assembly (300) consists of at least two parts, one of which is located on the upper support arm (311) and the other on the lower support arm (312).

8. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to claim 1, characterized in that, The robotic arm (400) extends outward from the side of the base (100) near the guardrail to the shoulder, and the energy storage battery (220) is located on the side of the base (100) away from the guardrail so that the energy storage battery (220) can provide counterweight for the robotic arm (400).

9. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to claim 1, characterized in that, The generator assembly (210) includes a solar panel and an internal combustion engine generator, both of which are capable of charging the energy storage battery (220).

10. The narrow-side vibrating and leveling device with anti-collision buffer function based on wave-shaped guardrail walking according to claim 1, characterized in that, The drive wheel assembly (230) is equipped with a kinetic energy recovery module.

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