Ground supporting wheel type inspection robot for wave-shaped guardrail

Abstract

The utility model discloses a ground supporting wheel type inspection robot for a wave-shaped guardrail. The inspection robot comprises a wave-shaped guide wheel mechanism, a driving wheel mechanism, a ground supporting wheel mechanism and a shell, the wave-shaped guide wheel mechanism is mounted to the shell, the wave-shaped guide wheel mechanism comprises at least one set of wave-shaped guide wheels, each wave-shaped guide wheel is provided with a wave-shaped profile matched with the wave-shaped structure of the wave-shaped guardrail, and each set of wave-shaped guide wheels is configured to roll along one wave-shaped structure of the wave-shaped guardrail; the driving wheel mechanism is mounted to the shell and comprises at least one walking driving wheel which is configured to be in contact with the rolling surface of the wave-shaped guardrail; the ground supporting wheel mechanism is mounted to the shell and comprises a plurality of ground supporting wheels; the inspection robot is configured to be driven by the driving wheel mechanism to walk along the wave-shaped guardrail; the inspection robot is installed on the wave-shaped guardrail in the mode that the inspection robot and the upper edge of the wave-shaped guardrail are arranged in a spaced mode. By means of the inspection robot, invasion and occupation of roads or construction areas are avoided.

Description

Technical Field

[0001] The utility model relates to the field of inspection robots, in particular to a ground-supported wheeled inspection robot used for corrugated guardrails. Background Art

[0002] At present, highway construction inspection methods mainly include manual inspection, fixed roadside inspection and mobile robot inspection. Manual inspection is time-consuming, labor-intensive and inefficient, and fixed roadside robots have limited coverage. With the advancement of technology, it has become a trend to use mobile inspection robots to replace manual work to complete high-risk tasks.

[0003] CN110497379A discloses a highway inspection robot that moves along a guardrail. The highway inspection robot comprises a traveling device, a limiting device, a power generation device and an inspection device.

[0004] CN109514577A discloses a patrol robot that uses a crawler-type walking mechanism to move on the ground. In some cases, a patrol robot that walks along the ground has certain advantages. For example, a patrol robot that walks along the ground has the advantage of stability. However, such a crawler-type patrol robot may inappropriately invade a motor vehicle lane or a construction site, affecting road traffic or construction.

[0005] In this regard, a patrol robot driving solution is currently desired, which can maintain the advantages of ground walking while preventing the patrol robot's walking from affecting road traffic or construction.

[0006] The content of this background technology description is only for facilitating understanding of the relevant technology in this field and is not regarded as an admission of the prior art. Utility Model Content

[0007] Therefore, the task of the utility model is to provide a ground-supported wheeled inspection robot that avoids affecting road traffic or construction.

[0008] In an embodiment of the utility model, a ground-supported wheeled inspection robot for a corrugated guardrail is provided. The inspection robot comprises a corrugated guide wheel mechanism, a drive wheel mechanism, a ground-supported wheel mechanism and a shell.

[0009] Wherein, the waveform guide wheel mechanism is installed to the shell, and the waveform guide wheel mechanism includes at least one group of waveform guide wheels, each waveform guide wheel has a waveform profile matching the waveform structure of the waveform guardrail, and each group of waveform guide wheels is configured to roll along a waveform structure of the waveform guardrail.

[0010] Wherein, the driving wheel mechanism is mounted to the housing, and the driving wheel mechanism includes at least one traveling driving wheel configured to contact the rolling surface of the corrugated guardrail.

[0011] Wherein, the ground support wheel mechanism is mounted to the housing, and the ground support wheel mechanism comprises a plurality of ground support wheels.

[0012] Wherein, the inspection robot is configured to be driven by the driving wheel mechanism to walk along the corrugated guardrail.

[0013] Wherein, the inspection robot is installed on the corrugated guardrail in a manner of being spaced apart from the upper edge of the corrugated guardrail.

[0014] Optionally, the waveform guide wheel is a magnetic wheel.

[0015] Optionally, the waveform guide wheel includes a wheel body and a wheel axle, and a first group of magnet bars located on a first side of the waveform profile and a second group of magnet bars located on a second side of the waveform profile are arranged in the wheel body, wherein the first group of magnet bars and the second group of magnet bars are respectively arranged radially at intervals around the wheel axle of the waveform guide wheel.

[0016] Optionally, the driving wheel mechanism includes a plurality of first lower side supporting wheels configured to contact the front rolling surface of the lower edge of the corrugated guardrail, and the plurality of first lower side supporting wheels are traveling driving wheels.

[0017] Optionally, the driving wheel mechanism also includes a driver and a transmission wheel connected to the output shaft of the driver, the first lower side supporting wheels are arranged in groups to form at least one walking driving wheel group, the walking driving wheels in the same group are connected by a transmission toothed belt transmission, and the transmission wheel is connected to at least one of the walking driving wheel groups by a transmission toothed belt transmission.

[0018] Optionally, the driving wheel mechanism further comprises a plurality of second lower side supporting wheels configured to contact the back rolling surface of the lower edge of the corrugated guardrail and a plurality of third lower side supporting wheels configured to contact the side rolling line of the lower edge of the corrugated guardrail.

[0019] Optionally, the plurality of second lower side support wheels and the third lower side support wheels are idler wheels.

[0020] Optionally, the driving wheel mechanism further comprises a first spring floating structure for providing radial floating for the first lower supporting wheel and a second spring floating structure for providing radial floating for the second lower supporting wheel.

[0021] Optionally, the inspection robot further includes a plurality of back support wheels configured to contact the back side of the corrugated guardrail.

[0022] Optionally, the inspection robot also includes an inspection mechanism.

[0023] Wherein, the shell includes an inspection mechanism interface located at the top of the shell, and the inspection mechanism is detachably mounted to the shell through the inspection mechanism interface.

[0024] Wherein, the inspection mechanism includes a retractable and / or cantilever bracket and an image acquisition device installed at the end of the bracket.

[0025] Compared with the prior art, the embodiments of the present invention include the following beneficial effects.

[0026] The ground-supported wheeled inspection robot of the utility model not only has a stable ground-supporting capability by providing a ground-supporting wheel mechanism, but also avoids the inspection robot from walking in a manner other than the prescribed path by guiding and driving the inspection robot along the corrugated guardrail, so that the inspection robot of the utility model embodiment can take into account the stability advantage of ground walking while avoiding the impact on road traffic or construction due to improper invasion of the inspection robot structure into roads or construction areas. The inspection robot is also installed at intervals from the upper edge of the guardrail, so that the guardrail posts or the connection between the guardrail posts and the guardrail do not interfere with the operation of the inspection robot along the corrugated guardrail. At the same time, the inspection mechanism adopts a modular and detachable design, and realizes flexible task switching and convenient maintenance through the inspection mechanism interface on the top of the shell, which not only improves the functional extensibility of the inspection robot, but also simplifies the maintenance work, further improving the practicality and ease of operation of the inspection robot.

[0027] Other optional features and technical effects of the embodiments of the present utility model are partially described below, and partially can be understood by reading this document. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Hereinafter, embodiments of the present utility model will be described in detail with reference to the accompanying drawings. The elements shown are not limited by the proportions shown in the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements, wherein:

[0029] Figures 1A to 1C Schematic side views of various corrugated guardrails are shown;

[0030] Figure 2 A schematic three-dimensional diagram showing a ground-supported wheeled inspection robot according to an embodiment of the utility model being installed on a corrugated guardrail;

[0031] Figure 3 The utility model is shown according to the embodiment of the present invention Figure 2 A schematic side view of a ground-supported wheeled inspection robot shown being mounted to a corrugated guardrail, wherein the housing is removed to show the internal structure;

[0032] Figure 4 The utility model is shown according to the embodiment of the present invention Figure 2 and Figure 3 A schematic structural diagram of a wave-shaped guide wheel assembly of a wave-shaped guide wheel mechanism used in a ground-supported wheeled inspection robot shown;

[0033] Figure 5 The embodiment according to the utility model is shown Figure 2 and Figure 3 A schematic structural diagram of a corrugated guide wheel of a corrugated guide wheel mechanism used in a ground-supported wheeled inspection robot shown;

[0034] Figure 6 The embodiment according to the utility model is shown Figure 2 and Figure 3 The schematic diagram of the structure of the waveform guide magnetic wheel of the waveform guide wheel mechanism used by the ground-supported wheeled inspection robot shown, wherein the magnetic wheel body of the waveform guide magnetic wheel is removed to show the internal structure;

[0035] Figure 7 The embodiment according to the utility model is shown Figure 2 and Figure 3 A cross-sectional view of a corrugated guide magnetic wheel of a corrugated guide wheel mechanism used by a ground-supported wheeled inspection robot shown;

[0036] Figure 8 The embodiment according to the utility model is shown Figure 2 and Figure 3 A schematic diagram of the structure of the driving wheel mechanism used by the ground-supported wheeled inspection robot shown;

[0037] Fig. 9 Shows Figure 8 A partially exploded view of a drive wheel mechanism used by a ground-supported wheeled inspection robot according to the illustrated embodiment;

[0038] Fig.10 Shows Figure 8 A partially exploded view of a drive wheel mechanism used by a ground-supported wheeled inspection robot according to the illustrated embodiment;

[0039] Fig.11 The utility model is shown Figure 2 and Figure 3 A schematic structural diagram of an alternative driving wheel mechanism of a ground-supported wheeled inspection robot shown;

[0040] Fig.12 The utility model is shown Figure 2 and Figure 3 A schematic structural diagram of an alternative driving wheel mechanism of a ground-supported wheeled inspection robot shown;

[0041] Fig.13 Shows Fig.12A partially exploded view of a drive wheel mechanism used by a ground-supported wheeled inspection robot according to the illustrated embodiment;

[0042] Fig.14 A schematic structural diagram of a ground-supported wheeled inspection robot for corrugated guardrails according to an embodiment of the utility model is shown, wherein an inspection mechanism installed on the top of the shell is shown.

[0043] Fig.15 A schematic three-dimensional diagram showing a ground-supported wheeled inspection robot according to another embodiment of the utility model being installed on a corrugated guardrail;

[0044] Fig.16 Shown according to the utility model Fig.15 A schematic side view of a ground-supported wheeled inspection robot shown being mounted to a corrugated guardrail, wherein the housing is removed to show the internal structure;

[0045] Fig.17 The utility model is shown Fig.15 and Fig.16 A schematic structural diagram of a wave-shaped guide wheel assembly of a wave-shaped guide wheel mechanism used in a ground-supported wheeled inspection robot shown;

[0046] Fig.18 The utility model is shown Fig.15 and Fig.16 A schematic diagram of the structure of the driving wheel mechanism used by the ground-supported wheeled inspection robot shown;

[0047] Fig.19 Shows Fig.18 A partially exploded view of a drive wheel mechanism used by a ground-supported wheeled inspection robot according to the illustrated embodiment;

[0048] Fig. 20 The invention is shown Fig.15 and Fig.16 A schematic structural diagram of an alternative driving wheel mechanism of a ground-supported wheeled inspection robot shown in FIG.

[0049] Fig.21 A schematic side view of a ground-supported wheeled inspection robot according to another embodiment of the present invention when installed to a corrugated guardrail is shown, wherein the shell is removed to show the internal structure.

[0050] In the present invention, the same or similar reference numerals are used to indicate the same or similar features or components.

[0051] List of reference numerals:

[0052] 1-inspection robot; 10-waveform guide wheel mechanism; 11-waveform guide wheel; 110-wheel body; 111-wheel axle; 112-first magnetic strip; 113-second magnetic strip; 114-third magnetic strip; 115-fourth magnetic strip; 116-end cover; 117-end cover; 12-bracket; 13-first set of waveform guide wheels; 14-second set of waveform guide wheels; 15-third set of waveform guide wheels; 16-first retaining magnet; 17-second retaining magnet; 18 - third holding magnet; 20- driving wheel mechanism; 21- first lower side supporting wheel (travel driving wheel); 210- wheel body; 211- wheel axle; 212- first gear transmission part; 213- second gear transmission part; 22- second lower side supporting wheel (travel idler wheel); 220- wheel body; 221- wheel axle; 222- bearing; 23- third lower side supporting wheel (travel idler wheel); 24- driving wheel; 242- gear transmission part; 242'- first gear transmission part; 243'- second gear transmission part Two-tooth transmission part; 25-driver; 261-transmission toothed belt; 262-transmission toothed belt; 263-transmission toothed belt; 264-transmission toothed belt; 27-first spring floating mechanism; 271-first floating block; 272-first spring; 273-first spring guide pin; 274-first limiter; 275-first mounting member; 276-guide rod; 2761-limiting flange; 277-third spring; 28-second spring floating mechanism; 281-second floating block; 28 2-second spring; 283-second spring guide pin; 284-second limit member; 285-second mounting member; 287-fourth spring; 30-ground support wheel mechanism; 41-dorsal support wheel; 50-housing; 51-interface; 60-inspection mechanism; 61-retractable bracket section; 62-cantilever bracket section; 63-image acquisition device; L-guardrail, L1-upper corrugated structure, L2-middle corrugated structure, L3-lower corrugated structure; P-guardrail column; G-ground. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in combination with specific implementation methods and drawings. Here, the schematic implementation methods and descriptions of the utility model are used to explain the utility model, but are not used as limitations of the utility model.

[0054] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0055] In multiple embodiments of the present utility model, a patrol robot for roads is provided. More specifically, the present utility model embodiment provides a ground-supported wheeled patrol robot for corrugated guardrails. Here, it will be understood that the patrol robot provided by the embodiment of the present utility model can be widely used in various roads, as long as the road side has corrugated guardrails. In an exemplary embodiment, the road is a highway. Here, it will be understood that the patrol robot provided by the embodiment of the present utility model can be applied to different scenes of roads, such as highways, including but not limited to new road / highway scenes (as long as corrugated guardrails have been built), road / highway reconstruction and expansion scenes, and road / highway scenes that have been put into use. In multiple exemplary embodiments below, the patrol robot according to the embodiment of the present utility model will be described in conjunction with the highway reconstruction and expansion scene. However, as mentioned above, the patrol robot of the embodiment of the present utility model can be applied to other road scenes with corrugated guardrails, for example, the patrol robot of the embodiment of the present utility model can be used to patrol on the side of a highway that has been opened to traffic to confirm traffic safety or road violations.

[0056] Several embodiments of the present utility model will be described below in conjunction with the accompanying drawings.

[0057] refer to Figures 1A to 1C , shows a schematic diagram of a road corrugated guardrail L, which is a three-wave guardrail. Figures 1A to 1C As shown, the corrugated guardrail L can be supported by the guardrail column P, and the corrugated guardrail L is constructed to have three corrugated structures, specifically including an upper corrugated structure L1, a middle corrugated structure L2 and a lower corrugated structure L3 ( Figure 3 ).

[0058] According to the different connection methods between the guardrail posts and the corrugated guardrail, the corrugated guardrail has different spatial structures, especially different back-side spatial structures. Figure 1A The corrugated guardrail L shown is connected to the guardrail post P through a connecting portion, and the height of the connecting portion is relatively small, so that a relatively large back space of the corrugated guardrail is formed between the corrugated guardrail L and the guardrail post P and below the connecting portion. Figure 1B The corrugated guardrail L shown is connected to the guardrail post P through a connecting portion, and the height of the connecting portion is relatively large, so that a relatively small back space of the corrugated guardrail is formed between the corrugated guardrail L and the guardrail post P and below the connecting portion. Figure 1C The corrugated guardrail L shown is directly connected to the guardrail post P, so that there is almost no corrugated guardrail back space between the corrugated guardrail L and the guardrail post P.

[0059] The following will Figures 1A to 1C The inspection robot of the embodiment of the utility model is described by taking the corrugated guardrail shown as an example.

[0060] like Figure 2 and Figure 3 As shown, the inspection robot 1 according to the embodiment of the utility model includes a wave-shaped guide wheel mechanism 10 , a drive wheel mechanism 20 , a ground support wheel mechanism 30 and a shell 50 .

[0061] Combined with reference Figures 2 to 5 The wave guide wheel mechanism 10 is mounted to the housing 50. The wave guide wheel mechanism 10 includes at least one set of wave guide wheels, each set of wave guide wheels 11 being configured to roll along a wave structure of the wave guardrail L. Figures 3 to 5 As shown, each wave guide wheel 11 has a wave profile matching the wave structure of the wave guardrail L. More specifically, each group of wave guide wheels (wave guide wheels) may include a plurality of (eg, 2) wave guide wheels 11 and a bracket 12 supporting the wave guide wheels 11 .

[0062] like Figure 3 As shown, in some embodiments of the present invention, the waveform guide wheel mechanism 10 includes three groups of waveform guide wheels (three waveform guide wheel groups), wherein the first group of waveform guide wheels 13 matches the upper waveform structure L1 of the waveform guardrail L, the second group of waveform guide wheels 14 matches the middle waveform structure L2 of the waveform guardrail L, and the third group of waveform guide wheels 15 matches the lower waveform structure L3 of the waveform guardrail L.

[0063] Combined with reference Figures 5 to 7 , a waveform guide wheel 11 of a waveform guide wheel mechanism of an inspection robot according to an embodiment of the utility model is shown. Figure 6 to Figure 7 As shown, the wave guide wheel 11 may be a magnetic wheel and includes a wheel body 110 and a wheel axle 111. Figure 5 and Figure 6 As shown, a concave corrugated profile matching the convex corrugated structure of the corrugated guardrail is formed in the wheel body 110, so that the corrugated guide wheel 11 can be well guided along the convex corrugated structure.

[0064] Continue to refer Figures 5 to 7 The wave guide wheel 11 may further include end covers 116 and 117, which cover both ends of the wheel body 110. Figure 6 and Figure 7 As shown, a first group of magnet bars 112 located on the first side of the waveform profile and a second group of magnet bars 113 located on the second side of the waveform profile are arranged in the wheel body 110, and the first group of magnet bars 112 and the second group of magnet bars 113 are radially spaced around the wheel axle 111 of the waveform guide wheel 11. The first group of magnet bars 112 and the second group of magnet bars 113 can be installed in the wheel body 110 at an angle 111 relative to the wheel axle, so that the first group of magnet bars 112 is arranged parallel to the first side of the waveform profile, and the second group of magnet bars 113 is arranged parallel to the second side of the waveform profile.

[0065] As a preferred structure, Figure 7 As shown, a third group of magnet strips 114 located on the first side of the wave-shaped profile and a fourth group of magnet strips 115 located on the second side of the wave-shaped profile are provided in the wheel body 110. Figure 7 As shown, each magnet bar in the third group of magnet bars 114 is stacked on the corresponding magnet bar in the first group of magnet bars 112 and away from the side of the wavy profile. Each magnet bar in the fourth group of magnet bars 115 is stacked on the corresponding magnet bar in the second group of magnet bars 113 and away from the side of the wavy profile. Figure 7 As shown, the magnet bars in the third group of magnet bars 114 are shorter than the magnet bars in the first group of magnet bars 112; the magnet bars in the fourth group of magnet bars 115 are shorter than the magnet bars in the second group of magnet bars 113. Figure 7 As shown, the first group of magnet bars 112 and the optional third group of magnet bars 114 are placed in the grooves formed in the end cover 116; the second group of magnet bars 113 and the optional fourth group of magnet bars 115 are placed in the grooves formed in the end cover 117. The magnet bars can be neodymium magnets or neodymium iron boron magnets. In a specific example, the magnet bars are N52 neodymium magnet bars. However, it is understood that those skilled in the art can select other types of magnets according to needs, which falls within the scope of the present invention.

[0066] Continue to refer Figure 2 and Figure 3 , showing that according to Figure 2 and Figure 3 The inspection robot 1 of the illustrated embodiment uses a ground support wheel mechanism 30, which is mounted to a housing 50. The ground support wheel mechanism 30 includes at least one ground support wheel in contact with the ground G, and the ground support wheel can be constructed as an idle wheel without power or with a certain power. The ground support wheel mechanism 30 preferably contacts a road surface that has not been constructed, such as a highway surface that has not been affected by a reconstruction or expansion project. It can be understood that, as will be described later, the inspection robot according to the utility model has a need to bear loads in some usage scenarios, and thus, the provision of the ground support wheel mechanism 30 will be beneficial to the stability and bearing capacity of the inspection robot.

[0067] Combination Figure 2 and Figure 3 And refer to Figures 8 to 10 , showing that according to Figure 2 and Figure 3 The driving wheel mechanism 20 used by the inspection robot 1 of the illustrated embodiment.

[0068] like Figure 2 and Figure 3As shown, the drive wheel mechanism 20 can be mounted to a housing 50 (only the housing outline is shown). The drive wheel mechanism 20 may include at least one first lower support wheel 21, at least one second lower support wheel 22, and at least one third lower support wheel 23. Figure 2 As shown, the first lower side supporting wheel 21 contacts the front rolling surface of the lower edge of the corrugated guardrail L, the second lower side supporting wheel 22 contacts the back rolling surface of the lower edge of the corrugated guardrail L, and the third lower side supporting wheel 23 contacts the side rolling line of the lower edge of the corrugated guardrail L.

[0069] like Figures 8 to 10 As shown, the driving wheel mechanism also includes a driver 25 and a transmission wheel 24 driven and connected by the driver 25. Figure 2 and Figure 3 And refer to Figures 8 to 10 The first lower support wheel 21 is configured as a travel driving wheel, and the second lower support wheel 22 and the third lower support wheel 23 are configured as travel idle wheels. Fig.10 As shown, the first lower side supporting wheel 21 (travel driving wheel) may include a wheel body 210 and a wheel axle 211, and the wheel body 210 may be fixedly mounted with the wheel axle 211 to rotate synchronously. The second lower side supporting wheel 22 may also include a wheel body 220 and a wheel axle 221, and may optionally include a bearing 222, wherein the bearing 222 is sleeved on the wheel axle 221, and the wheel body 220 is sleeved on the bearing 222, so that the wheel body 220 can rotate freely relative to the wheel axle 221. The third lower side supporting wheel 23 as a travel idle wheel may also include a wheel axle body, a wheel axle and an optional bearing (not marked) accordingly.

[0070] like Figures 8 to 10 As shown, a plurality of first lower side support wheels 21 (travel driving wheels) are configured to be arranged in parallel in the travel direction, and a plurality of second lower side support wheels 22 are configured to be arranged in parallel in the travel direction. Figures 8 to 10 As shown, the number of the first lower side supporting wheels 21 and the second lower side supporting wheels 22 is the same (for example, 4), and each first lower side supporting wheel 21 is radially correspondingly provided with a second lower side supporting wheel 22, so as to clamp the lower edge of the corrugated guardrail L between the first lower side supporting wheel 21 and the second lower side supporting wheel 22 ( Figure 3 best shown). Figures 8 to 10 As shown, the third lower supporting wheel 23 is located at the front and rear ends of the first lower supporting wheel 21 and the second lower supporting wheel 22 respectively.

[0071] like Figures 8 to 10 As shown, the first lower support wheels 21 can be arranged in groups to form at least one travel driving wheel group, the transmission wheel 24 is connected to at least one of the travel driving wheel groups through a transmission toothed belt 261, and the travel driving wheels in the same group are connected through transmission toothed belts 262, 263, and 264 (such as Fig.10More specifically, Figures 8 to 10 As shown, a plurality of first lower side supporting wheels 21 (travel driving wheels) are arranged in groups to form a plurality of (3) travel driving wheel groups (two travel driving wheels in each group) connected in series, and the transmission wheel 24 is connected to the starting travel driving wheel of the first series travel driving wheel group through a transmission toothed belt 261, and the end travel driving wheel of each travel driving wheel group constitutes the starting travel driving wheel of the next series travel driving wheel group. Figures 8 to 10 As shown, the transmission wheel 24 may include at least one tooth transmission portion 242, wherein Fig.10 In the exploded view shown, the transmission wheel 24 is removed to better show its gear transmission part 242. Figures 8 to 10 As shown, the gear transmission part 242 can be arranged on the outer peripheral surface of the transmission wheel 24. Figures 8 to 10 As shown, the first lower support wheel 21 (travel driving wheel) may further include at least one (for example, two) tooth transmission parts arranged on the wheel axle 211. Specifically, as Figures 8 to 10 As shown, except that the terminal travel driving wheel of the last series travel driving wheel group only includes a single tooth transmission part (second tooth transmission part 213), the wheel axles 211 of the remaining first lower side supporting wheels 21 (travel driving wheels) may include a first tooth transmission part 212 and a second tooth transmission part 213. In the embodiment shown, the first tooth transmission part 212 provided on the first lower side supporting wheel 21 (travel driving wheel) can be used to drive other (downstream) first lower side supporting wheels 21 (travel driving wheels) of the same group through a transmission toothed belt, and the second tooth transmission part 213 can be driven by the transmission wheel 24 or other (upstream / starting) first lower side supporting wheels 21 (travel driving wheels) of the same group through a transmission toothed belt.

[0072] Continue to refer Figures 8 to 10 The driving wheel mechanism 20 may further include a first spring floating structure 27 for providing radial floating for the first lower supporting wheel 21 (travel driving wheel).

[0073] like Figures 8 to 10 As shown, the first spring floating structure 27 includes a plurality of first floating blocks 271, a plurality of first springs 272, a first limiting member 274 and a guide rod 276 having a limiting flange 2761. Each first floating block 271 supports a first lower side support wheel 21 (travel driving wheel), more specifically, supports the axle 211 of the first lower side support wheel 21 (travel driving wheel). Accordingly, the first floating block 271 may be provided with an axle hole (not marked) for accommodating the axle 211. Each first floating block 271 is movably supported on the limiting flange 2761 of the guide rod 276 along the guide rod 276. Figures 8 to 10In the illustrated embodiment, the first stopper 274 is fixedly installed. At least one (e.g., two) first springs 272 may be disposed between each first floating block 271 and the first stopper 274. More specifically, the first springs 272 may be accommodated in spring holes (not marked) in the first floating block 271 and the first stopper 274, respectively. Figures 8 to 10 As shown, the first spring floating structure 27 may further include a first spring guide pin 273 fixedly mounted to the first floating block 271 and / or the first stopper 274, and the first spring guide pin 273 extends through the first spring 272 to guide the elastic expansion and contraction of the first spring 272. In the embodiment shown, the first spring guide pin 273 extends through the through hole of the first stopper 274 and is fixed to the spring hole of the first floating block 271. In addition, the first spring floating structure 27 may further include a first mounting member 275 located at the end of the guide rod 276, which may be used to maintain the structural stability of the first spring floating structure 27.

[0074] like Figures 8 to 10 As shown, the driving wheel mechanism may further include a second spring floating structure 28 for providing radial floating for the second lower supporting wheel 22 .

[0075] like Figures 8 to 10 As shown, the second spring floating structure 28 includes a plurality of second floating blocks 281, a plurality of second springs 282, a second limiting member 284 and a guide rod 276 having a limiting flange 2761. Each second floating block 281 supports a second lower support wheel 22, more specifically, supports the axle 221 of the second lower support wheel 22. Accordingly, the second floating block 281 may be provided with an axle hole (not marked) for accommodating the axle 221. Each second floating block 281 is movably supported on the limiting flange 2761 of the guide rod 276 along the guide rod 276. Figures 8 to 10 In the illustrated embodiment, the second stopper 284 is fixedly installed. At least one (e.g., two) second springs 282 may be disposed between each second floating block 281 and the second stopper 284. More specifically, the second springs 282 may be accommodated in spring holes (not marked) in the second floating block 281 and the second stopper 284, respectively. Figures 8 to 10 As shown, the second spring floating structure 28 may further include a second spring guide pin 283 fixedly mounted to the second floating block 281 and / or the second stopper 284, and the second spring guide pin 283 extends through the second spring 282 to guide the elastic expansion and contraction of the second spring 282. In the embodiment shown, the second spring guide pin 283 extends through the through hole of the second stopper 284 and is fixed to the spring hole of the second floating block 281. In addition, the second spring floating structure 28 may further include a second mounting member 285 located at the end of the guide rod 286, which may be used to maintain the structural stability of the second spring floating structure 28.

[0076] exist Figures 8 to 10 In the illustrated embodiment, the first spring floating structure 27 and the second spring floating structure 28 can share a guide rod and a limit flange of the guide rod, that is, the guide rod extends through the optional first mounting member, the first limit member, the first floating block, the second floating block, the second limit member and the optional second mounting member, wherein the first floating block and the second floating block abut against opposite sides of the limit flange of the guide rod respectively in a normal state. However, it is conceivable that the second spring floating structure 28 can have a guide rod independent of the guide rod for the first spring floating structure 27, which falls within the scope of the present invention.

[0077] By combining an elastic floating structure in the driving wheel mechanism and arranging the walking driving wheels in groups through a transmission toothed belt, the inspection robot can be provided with an effective obstacle avoidance capability.

[0078] Although not shown in the figures, in a preferred embodiment, the first lower side support wheel and the second lower side support wheel are preloaded when in the installed state, that is, there is a floating spring force applied in the direction of the corrugated guardrail in the installed state, thereby providing better supporting force while helping to avoid recessed obstacles.

[0079] refer to Fig.11 , showing the utility model as Figure 2 and Figure 3 An alternative to the drive wheel mechanism used by the inspection robot shown. Fig.11 In the embodiment shown, it can be used Figure 2 and Figure 3 The driving wheel mechanism of the inspection robot shown also includes a plurality of first lower side support wheels 21, a plurality of second lower side support wheels 22 and a plurality of third lower side support wheels 23, a driving wheel 24, a driver 25, a first spring floating structure and a second spring floating structure, and a plurality of transmission toothed belts for transmission. Fig.11 In the embodiment shown, the first lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt 261, and the travel drive wheels in the same group are connected through a transmission toothed belt. Fig.11 The embodiment shown is Figures 8 to 10The difference between the illustrated embodiments is that the first stopper is not fixedly installed, but can be installed movably along the guide rod, and a third spring 277 is arranged between the first stopper and the first mounting member, thereby providing the first lower side support wheel 21 (travel driving wheel) with a radial secondary spring floating ability, and the secondary spring floating is an integral floating for multiple first lower side support wheels 21 (travel driving wheels), rather than a floating for a single first lower side support wheel 21 (travel driving wheel). Here, the first stopper constitutes a main stopper, and the first mounting member constitutes a secondary stopper. In a more preferred embodiment, the third spring 277 can have a spring force significantly greater than that of the first spring, and preferably a corresponding third spring is arranged corresponding to the first spring arranged for each first floating block, and the spring force of the corresponding third spring 277 is significantly greater than the spring force of the corresponding first spring.

[0080] Optionally, Fig.11 The embodiment shown is Figures 8 to 10 The embodiment shown also has the difference that the second stopper 284 is not fixedly installed, but can be installed movably along the guide rod, and a fourth spring 287 is arranged between the second stopper 284 and the second mounting member 285, so as to provide the second lower side support wheel 22 with a radial secondary spring floating ability, and the secondary spring floating is for the integral floating of multiple second lower side support wheels 22, rather than for the floating of a single second lower side support wheel 22. Here, the second stopper 284 constitutes a main stopper, and the second mounting member 285 constitutes a secondary stopper. In a more preferred embodiment, the fourth spring 287 can have a spring force significantly greater than that of the second spring 282, and preferably a corresponding fourth spring is arranged corresponding to the second spring arranged for each second floating block, and the spring force of the corresponding fourth spring is significantly greater than the spring force of the corresponding second spring.

[0081] like Fig.11 As shown in Figure 2 and Figure 3 The driving wheel mechanism of the inspection robot shown in the figure exhibits significantly better obstacle avoidance capability. As an explanation but not limitation, this may be because the driving wheel mechanism of this embodiment exhibits better overall obstacle avoidance capability when facing longer obstacles (including deformation) while ensuring the walking driving capability of the grouped walking driving wheels.

[0082] refer to Fig.12 and Fig.13 , showing the use of Figure 2 and Figure 3 Another alternative driving wheel mechanism of the inspection robot shown. Fig.12 and Fig.13In the embodiment shown, the driving wheel mechanism also includes a plurality of first lower side supporting wheels 21, a plurality of second lower side supporting wheels 22 and a plurality of third lower side supporting wheels 23, a driving wheel 24, a driver 25, a first spring floating structure and a second spring floating structure, and a plurality of transmission toothed belts for transmission (in Fig.12 and Fig.13 In the embodiment shown, some identical or similar components such as stoppers, mounting components, and guide rods are omitted or truncated to better illustrate the differences. Fig.12 and Fig.13 In the embodiment shown, the first lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt, and the travel drive wheels in the same group are connected through a transmission toothed belt. Fig.12 and Fig.13 In the illustrated embodiment, a plurality of lower support wheels 21 (travel driving wheels) are arranged in groups to form a plurality of (two) travel driving wheel groups. The travel driving wheels in the same group are connected to the corresponding transmission wheels 24 through transmission toothed belts 262 and 263, and the travel driving wheels 21 in different groups are driven independently by the transmission wheels 24. There are a plurality of transmission wheels 24 (two in the figure), including a main transmission wheel directly connected to the driver 25 and at least one slave transmission wheel connected to the main transmission wheel through a transmission toothed belt 261. Each transmission wheel 24 is connected to the corresponding travel driving wheel group. Accordingly, each transmission wheel 24 includes a first gear transmission part 242' and a second gear transmission part 243'. In the illustrated embodiment, the transmission wheel 24 may have two wheel bodies, and the outer peripheral surface of each wheel body is provided with a gear transmission part. The wheel body of the main transmission wheel may be fixedly connected to the drive shaft of the driver in a non-rotatable manner, and the slave transmission wheel may be fixedly connected to the wheel shaft of the slave transmission wheel in a non-rotatable manner. The wheel shaft of the slave transmission wheel is in turn supported in a fixed base in a rotatable manner.

[0083] like Fig.12 and Fig.13 As shown, the driving wheel mechanism further includes a plurality of (e.g., 2) tensioning wheels 29 corresponding to the plurality of travel driving wheel sets, and the tensioning wheels 29 tension the corresponding travel driving wheel sets through transmission toothed belts 262, 263. Although not shown in the figure, in a preferred embodiment, springs may be provided between the tensioning wheels 29 for adjacent travel driving wheel sets, so that tension balance of adjacent travel driving wheel sets can be achieved.

[0084] Although not shown in the figures, in alternative embodiments, the Figure 2 and Figure 3The multiple travel driving wheels of the driving wheel mechanism 20 of the inspection robot shown can be arranged in groups to form a single travel driving wheel group, and the transmission wheel 24 is synchronously connected to all the travel driving wheels 21 in the single travel driving wheel group through a single transmission toothed belt 261.

[0085] In a further embodiment, the driving wheel mechanism 20 may further include a plurality of back support wheels 41 configured to contact the back side of the corrugated guardrail, such as Figure 2 and Figure 3 shown.

[0086] like Fig.14 As shown, Figure 2 and Figure 3 The inspection robot 1 of the utility model shown in the figure may also include an inspection mechanism 60, the shell 50 includes an inspection mechanism interface 51 located at the top of the shell, and the inspection mechanism 60 is detachably mounted to the shell 50 through the inspection mechanism interface 51. The inspection mechanism 60 includes a bracket and an image acquisition device 63 installed at the end of the bracket. The bracket may include a plurality of bracket segments, such as bracket segments 61 and 62, and the bracket segments 61 and 62 may be pivotally connected, so that the bracket segment 62 may form a cantilever. Optionally, the bracket, such as the bracket segment 61, may be retractable. The retractable and / or cantilever structure of the bracket is advantageous for. Inspection such as Fig.15 As shown, the bracket, such as the bracket segment 62, may also include an end pivot, so that the image acquisition device 63 can pivot between a horizontal image acquisition position and a top view image acquisition position. This is advantageous for the inspection function, for example, images related to hooks, safety belts, and safety clothing can be acquired in the horizontal image acquisition position, and images related to open flame gas sources (such as acetylene cylinders and oxygen cylinders) can be acquired in the top view image acquisition position.

[0087] Here, it will be understood that the inspection robot of the embodiment of the utility model may be provided with or without an inspection mechanism. For example, in some embodiments, the inspection robot may not be provided with an inspection mechanism, and an inspection mechanism adapted to the inspection mechanism interface may be installed to the inspection robot as required. In other embodiments, the inspection robot may be equipped with a variety of different inspection mechanisms (including but not limited to image acquisition devices), and a variety of different inspection mechanisms may be adapted to the inspection mechanism interface 51, which falls within the scope of the utility model.

[0088] Combined with reference Figure 15 to Figure 16 , shows a ground-supported wheeled inspection robot 1 for corrugated guardrails according to another embodiment of the utility model.

[0089] like Figure 14 to Figure 15 As shown, the inspection robot 1 also includes a wave-shaped guide wheel mechanism 10 , a drive wheel mechanism 20 , a ground support wheel mechanism 30 and a shell 50 .

[0090] Combined with reference Figure 14 to Figure 15 The wave guide wheel mechanism 10 is also mounted to the housing 50. The wave guide wheel mechanism 10 includes at least one set of wave guide magnetic wheels (for example, two sets), and the wave guide magnetic wheels 11 are configured to roll along a wave structure of the wave guardrail L. Fig.16 As shown, each wave-shaped guide magnetic wheel 11 has a wave-shaped profile that matches the wave-shaped structure of the wave-shaped guardrail L. More specifically, as shown in FIG. Fig.17 As shown, each group of waveform guide magnetic wheels (waveform guide magnetic wheel group) may include a plurality of (eg, 2) waveform guide magnetic wheels 11 and a bracket 12 for supporting the waveform guide magnetic wheels 11 .

[0091] In this embodiment, if Fig.15 and Fig.16 As shown, the waveform guide wheel mechanism 10 includes two groups of waveform guide magnetic wheels (two waveform guide magnetic wheel groups), wherein the first group of waveform guide magnetic wheels 13 matches the upper waveform structure L1 of the waveform guardrail L, and the second group of waveform guide magnetic wheels 14 matches the lower waveform structure L3 of the waveform guardrail L.

[0092] In this embodiment, Figures 2 to 3 The ground-supported wheeled inspection robot shown is used differently as Fig.15 and Fig.16 The wave-shaped guide wheel mechanism 10 of the ground-supported wheeled inspection robot 1 shown in the figure further includes at least one (e.g., three) retaining magnets facing the wave-shaped structure of the wave-shaped guardrail and spaced apart from the wave-shaped structure, such as a first retaining magnet 16 aligned with the upper wave-shaped structure, a second retaining magnet 17 aligned with the middle wave-shaped structure of the wave-shaped guardrail, and a third retaining magnet 18 aligned with the lower wave-shaped structure. Fig.15 and Fig.16 Specifically, the first retaining magnet 16 is arranged between the first group of wave-shaped guide magnetic wheels 13, and the third retaining magnet 18 is arranged between the second group of wave-shaped guide magnetic wheels 14. It can be understood that in the example Fig.15 and Fig.16 The ground-supported wheeled inspection robot 1 shown may also be combined with the aforementioned Figures 2 to 3 The inspection robot shown in the figure uses Figures 5 to 7 The waveform guide magnetic wheel 11 shown is not described in detail here.

[0093] Combination Fig.14 and Fig.15 And refer to Fig.18 and Fig.19 , showing the method used in the present utility model Fig.15 and Fig.16 The ground shown supports the driving wheel mechanism of the wheeled inspection robot 1 .

[0094] like Fig.15As shown, the drive wheel mechanism 20 can be mounted to the housing 50. Fig.19 Specifically, the driving wheel mechanism 20 may include a plurality of first lower side supporting wheels 21 configured as travel driving wheels, and the lower side supporting wheels 21 are in contact with the rolling surface of the corrugated guardrail L. However, in this embodiment, Figures 2 to 3 Different from the ground-supported wheeled inspection robot shown, the first lower supporting wheel 21 only contacts the lower edge of the corrugated guardrail L.

[0095] like Fig.18 and Fig.19 As shown, the driving wheel mechanism may also include a driver 25 and a transmission wheel 24 connected by the driver 25, which is used to drive the first lower support wheel 21 configured as a travel driving wheel. Fig.19 As shown, the first lower supporting wheel 21 (travel driving wheel) may also include a wheel body 210 and a wheel axle 211 , and the wheel body 210 may be fixedly mounted with the wheel axle 211 to rotate synchronously.

[0096] like Fig.18 and Fig.19 As shown, a plurality of first lower supporting wheels 21 (travel driving wheels) are configured to be arranged in parallel in the traveling direction, wherein the second lower supporting wheel and the third lower supporting wheel are omitted, that is, only the first lower supporting wheel 21 is in front contact with the lower edge of the guardrail L.

[0097] In such Fig.18 and Fig.19 In the illustrated embodiment, the driving wheel mechanism 20 further comprises a plurality of lower supporting wheels 21, a driving wheel 24, a driver 25, a spring floating structure and a plurality of transmission toothed belts for transmission. Fig.18 and Fig.19 In the embodiment shown, the lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt 261, and the travel drive wheels in the same group are connected through transmission toothed belts 262, 263, and 264. Fig.18 and 19 The driving wheel mechanism 20 shown is similar to the aforementioned Figures 2 to 3 The difference between the driving wheel mechanism of the inspection robot shown is that: Fig.18 and 19 The driving wheel mechanism shown does not include the aforementioned second lower support wheel and the corresponding spring floating structure to better suit the following example. Figure 1C Corrugated guardrail shown.

[0098] refer to Fig. 20 , showing that Fig.15 and Fig.16 A further alternative of a drive wheel mechanism that can be used with the ground-supported wheeled inspection robot 1 is shown.

[0099] exist Fig. 20 In the embodiment shown, the driving wheel mechanism also includes a plurality of lower support wheels 21, a driving wheel 24, a driver 25, a spring floating structure 27 and a plurality of transmission toothed belts for transmission (in Fig. 20 In the illustrated embodiment, some identical or similar components such as guide rods are omitted or truncated to better show the differences). Fig. 20 In the embodiment shown, the lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt, and the travel drive wheels in the same group are connected through a transmission toothed belt. Fig. 20 In the illustrated embodiment, a plurality of lower support wheels 21 (travel driving wheels) are arranged in groups to form a plurality of (two) travel driving wheel groups. The travel driving wheels in the same group are connected to the corresponding transmission wheels 24 through transmission toothed belts 262 and 263, and the travel driving wheels 21 in different groups are driven independently by the transmission wheels 24. There are a plurality of transmission wheels 24 (two in the figure), including a main transmission wheel directly connected to the driver 25 and at least one slave transmission wheel connected to the main transmission wheel through a transmission toothed belt 261. Each transmission wheel 24 is connected to the corresponding travel driving wheel group. Accordingly, each transmission wheel 24 includes a first gear transmission part 242' and a second gear transmission part 243'. In the illustrated embodiment, the transmission wheel 24 may have two wheel bodies, and the outer peripheral surface of each wheel body is provided with a gear transmission part. The wheel body of the main transmission wheel may be fixedly connected to the drive shaft of the driver in a non-rotatable manner, and the slave transmission wheel may be fixedly connected to the wheel shaft of the slave transmission wheel in a non-rotatable manner. The wheel shaft of the slave transmission wheel is in turn supported in a fixed base in a rotatable manner.

[0100] like Fig. 20 As shown, the driving wheel mechanism 20 further includes a plurality of (e.g., two) tensioning wheels 29 corresponding to the plurality of travel driving wheel sets, and the tensioning wheels 29 tension the corresponding travel driving wheel sets through transmission toothed belts 262, 263. Although not shown in the figure, in a preferred embodiment, springs may be provided between the tensioning wheels 29 for adjacent travel driving wheel sets, so that tension balance of adjacent travel driving wheel sets can be achieved.

[0101] Combined with reference Figures 1A to 1C as well as Figures 15 to 20 This embodiment provides a ground support wheel mechanism and a driving wheel mechanism at the lower edge of the corrugated guardrail, and in particular, only contacts the front rolling surface of the lower edge of the corrugated guardrail, thereby achieving the goal of Figure 1C The adaptability of the corrugated guardrail shown has no back space at the connection between the guardrail post and the corrugated guardrail.

[0102] refer to Fig.21As an alternative embodiment, a ground-supported wheeled inspection robot 1 for corrugated guardrails according to another embodiment of the utility model is shown. Fig.21 As shown, the inspection robot 1 also includes a wave-shaped guide wheel mechanism 10, a drive wheel mechanism 20, a ground support wheel mechanism 30 and a housing 50. Figures 2 to 3 , Figure 15 to Figure 16 The ground-supported wheeled inspection robot shown is different in that Fig.21 The ground-supported wheeled inspection robot 1 shown uses Figures 2 to 3 The wave-shaped guide wheel assembly of the inspection robot shown in FIG. Figure 18 to Figure 19 The driving wheel mechanism of the inspection robot shown, the ground-supported wheeled inspection robot 1 can also advantageously have at least the advantages of one of the aforementioned embodiments while maintaining the advantages of ground walking.

[0103] However, it can be understood that the features in the above-mentioned embodiments of the present invention can be combined with each other to form new embodiments, which fall within the scope of the present invention.

[0104] Although the utility model has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to it on the basis of the utility model. Therefore, these modifications or improvements made on the basis of not departing from the spirit of the utility model all belong to the scope of protection claimed by the utility model. In this article, multiple embodiments of the utility model are described, but for the sake of simplicity, the description of each embodiment is not exhaustive, and the same or similar features or parts between the various embodiments may be omitted. In this article, "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" are meant to be applicable to at least one embodiment or example according to the utility model, rather than all embodiments. The above terms do not necessarily mean to refer to the same embodiment or example. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0105] The exemplary system and method of the present invention have been specifically shown and described with reference to the above embodiments, which are only examples of the best mode for implementing the present system and method. It will be appreciated by those skilled in the art that various changes may be made to the embodiments of the system and method described herein when implementing the present system and / or method without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A ground-supported wheeled inspection robot for corrugated guardrails, characterized in that: The inspection robot comprises a wave-shaped guide wheel mechanism, a driving wheel mechanism, a ground support wheel mechanism and a housing; wherein the wave-shaped guide wheel mechanism is mounted to the housing, the wave-shaped guide wheel mechanism comprising at least one set of wave-shaped guide wheels, each wave-shaped guide wheel having a wave-shaped profile matching the wave-shaped structure of the wave-shaped guardrail, and each set of wave-shaped guide wheels being configured to roll along one wave-shaped structure of the wave-shaped guardrail; Wherein, the driving wheel mechanism is mounted to the housing, and the driving wheel mechanism comprises at least one traveling driving wheel configured to contact the rolling surface of the corrugated guardrail; wherein the ground support wheel mechanism is mounted to the housing, and the ground support wheel mechanism comprises a plurality of ground support wheels; Wherein, the inspection robot is configured to be driven by the driving wheel mechanism to walk along the corrugated guardrail; Wherein, the inspection robot is installed on the corrugated guardrail in a manner of being spaced apart from the upper edge of the corrugated guardrail.

2. The ground-supported wheeled inspection robot for corrugated guardrail according to claim 1, characterized in that: The wave-shaped guide wheel is a magnetic wheel.

3. The ground-supported wheeled inspection robot for corrugated guardrail according to claim 2, characterized in that: The waveform guide wheel includes a wheel body and a wheel axle, in which a first group of magnet bars located on a first side of the waveform profile and a second group of magnet bars located on a second side of the waveform profile are arranged in the wheel body, wherein the first group of magnet bars and the second group of magnet bars are respectively arranged radially at intervals around the wheel axle of the waveform guide wheel.

4. The ground-supported wheeled inspection robot for corrugated guardrail according to claim 1, characterized in that: The driving wheel mechanism includes a plurality of first lower side supporting wheels configured to contact the front rolling surface of the lower edge of the corrugated guardrail, and the plurality of first lower side supporting wheels are traveling driving wheels.

5. The ground-supported wheeled inspection robot for corrugated guardrail according to claim 4, characterized in that: The driving wheel mechanism also includes a driver and a transmission wheel connected to the output shaft of the driver. The first lower supporting wheels are arranged in groups to form at least one walking driving wheel group. The walking driving wheels in the same group are connected by a transmission toothed belt, and the transmission wheel is connected to at least one of the walking driving wheel groups by a transmission toothed belt.

6. The ground-supported wheeled inspection robot for corrugated guardrail according to claim 4, characterized in that: The driving wheel mechanism also includes a plurality of second lower side supporting wheels configured to contact the back rolling surface of the lower edge of the corrugated guardrail and a plurality of third lower side supporting wheels configured to contact the side rolling line of the lower edge of the corrugated guardrail.

7. The ground-supported wheeled inspection robot for corrugated guardrail according to claim 6, characterized in that: The plurality of second lower side support wheels and the third lower side support wheels are idler wheels.

8. The ground-supported wheeled inspection robot for corrugated guardrail according to claim 6, characterized in that: The driving wheel mechanism further includes a first spring floating structure providing radial floating for the first lower supporting wheel and a second spring floating structure providing radial floating for the second lower supporting wheel.

9. The ground-supported wheeled inspection robot for corrugated guardrail according to claim 4, characterized in that: The inspection robot further includes a plurality of back-side supporting wheels configured to contact the back side of the corrugated guardrail.

10. The ground-supported wheeled inspection robot for corrugated guardrail according to any one of claims 1 to 9, characterized in that: The inspection robot also includes an inspection mechanism. The housing includes an inspection mechanism interface located at the top of the housing, and the inspection mechanism is detachably mounted to the housing through the inspection mechanism interface. Wherein, the inspection mechanism includes a retractable and / or cantilever bracket and an image acquisition device installed at the end of the bracket.

Images