CN210704801U

CN210704801U - Highway inspection robot

Info

Publication number: CN210704801U
Application number: CN201921561043.1U
Authority: CN
Inventors: 张建华; 徐永强; 苏一; 李辉
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2019-09-19
Filing date: 2019-09-19
Publication date: 2020-06-09
Anticipated expiration: 2029-09-19

Abstract

The utility model discloses a highway inspection robot, which comprises a traveling device, a limiting device, a power generation device and an inspection device; the limiting device, the power generation device and the inspection device are all arranged on the travelling device; the traveling device is used for polling the traveling of the robot; the limiting device is used for installing the inspection robot on the corrugated guardrail of the highway; the power generation device is used for supplying power to the inspection robot; the inspection device is used for detecting, monitoring and reminding warning; the travelling device comprises at least two travelling mechanisms; the traveling mechanisms are flexibly connected through bolts; every advancing mechanism all includes marching motor, walking frame, gyro wheel, first band pulley, second band pulley, driven shaft, hold-in range and driving shaft. The utility model discloses a gyro wheel of device of marcing and stop device's side pressure wheel will patrol and examine the robot and install on the highway guardrail, make full use of highway guardrail and do not occupy the motor vehicle lane.

Description

Highway inspection robot

Technical Field

The utility model relates to a robot field specifically is a highway patrols and examines robot.

Background

The expressway is easy to have serious accidents, a plurality of traffic accidents occur every year, and once the accidents are not timely and properly treated, more painful secondary accidents often occur. Therefore, the inspection of the expressway is an important means for avoiding the traffic safety problem of the expressway, and the inspection robot not only shortens the inspection time, but also saves a large amount of manpower.

The document of application No. 201811547333.0 discloses an inspection robot which travels on the ground by using a crawler or a wheel, and occupies a motor lane when used on a highway, thereby affecting the travel of other vehicles. The document with the application number of 201721888922.6 discloses an intelligent highway patrol instrument, which is characterized in that a cross bar at the top end of a highway guardrail penetrates through a through groove on a shell to install the patrol instrument on a highway guardrail, only two sides of the through groove of the shell are provided with traveling wheels, and the upper surface and the lower surface of the through groove, which are in contact with the highway guardrail, are not provided with the traveling wheels, so that the friction force between the patrol instrument and the highway guardrail is increased, the highway guardrail is abraded, and the service life of the highway guardrail is shortened; this patrol and examine appearance charges for the battery through external power supply, has increased use cost.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model discloses the technical problem who plans to solve provides a highway and patrols and examines robot.

The technical scheme of the utility model for solving the technical problems is to provide a highway inspection robot, which comprises a traveling device, a limiting device, a power generation device and an inspection device; the limiting device, the power generation device and the inspection device are all arranged on the travelling device; the traveling device is used for polling the traveling of the robot; the limiting device is used for installing the inspection robot on the corrugated guardrail of the highway; the power generation device is used for supplying power to the inspection robot; the inspection device is used for detecting, monitoring and reminding warning;

the travelling device comprises at least two travelling mechanisms; the traveling mechanisms are flexibly connected through bolts; each travelling mechanism comprises a travelling motor, a travelling frame, a roller, a first belt wheel, a second belt wheel, a driven shaft, a synchronous belt and a driving shaft;

the traveling motor is arranged on the traveling frame through a motor fixing piece; two ends of the driving shaft and the driven shaft are respectively and rotatably connected with a bottom plate and a top plate of the walking frame; one end of the driving shaft is connected with an output shaft of the traveling motor; a plurality of rollers which are matched with the number and the positions of the bulges of the corrugated guardrail of the highway and can rotate relative to the shaft are uniformly arranged on the driving shaft and the driven shaft; all install first band pulley between two adjacent gyro wheels on the driving shaft, all install the second band pulley between two adjacent gyro wheels on the driven shaft, first band pulley and second band pulley pass through the hold-in range and connect.

Compared with the prior art, the utility model discloses beneficial effect lies in:

1. the utility model discloses a gyro wheel of device of marcing and stop device's side pressure wheel will patrol and examine the robot and install on the highway guardrail, make full use of highway guardrail and do not occupy the motor vehicle lane.

2. The utility model charges the storage battery through the wind power generation module and the solar power generation module, and further supplies power for each electric component, thereby fully utilizing natural resources and reducing the use cost; and the mode that adopts wind power generation module and solar energy power generation module to combine together is stored energy, can satisfy the power consumption demand under the different weather conditions.

3. The inspection device adopts a mode of combining the camera and the loudspeaker, monitors and inspects the traffic condition of the highway, and informs a driver of the traffic condition of the road ahead through the loudspeaker, thereby effectively avoiding traffic jam and traffic accidents.

Drawings

Fig. 1 is an axial view of an overall structure of an embodiment of the present invention;

fig. 2 is a schematic structural view of a traveling device according to an embodiment of the present invention;

fig. 3 is an installation diagram of the limiting device according to an embodiment of the present invention;

fig. 4 is a schematic view illustrating an installation of a solar power generation module according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a solar power generation module according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a wind power generation module according to an embodiment of the present invention;

fig. 7 is an installation schematic diagram of the inspection device and the storage battery according to an embodiment of the present invention;

fig. 8 is an embodiment of the utility model relates to an installation schematic diagram of inspection robot.

In the figure: 1. a traveling device; 2. a limiting device; 3. a power generation device; 4. a routing inspection device;

11. a travel mechanism connecting plate; 12. a traveling motor; 13. a motor fixing member; 14. a walking frame; 15. a limiting shaft sleeve; 16. a roller; 17. a first pulley; 18. a second pulley; 19. a driven shaft; 110. a drive shaft; 111. a synchronous belt; 112. a limiting ring; 113. a bolt;

21. a first side pinch roller; 22. a support frame; 23. a second side pinch roller; 24. a support;

31. a blade; 32. a disc; 33. a limit nut; 34. installing a bolt; 35. a fixed base; 36. rotating the base; 37. a generator; 38. a tail wing; 39. an end cap; 310. a speed increaser; 311. a speed increaser fixing plate; 312. a housing; 313. a first fixed seat; 314. a shaft sleeve; 315. a second fixed seat; 316. a rotating shaft; 317. a solar panel; 318. a solar panel mounting frame; 319. a first base; 320. a second base; 321. a storage battery; 322. a battery fixing bolt;

41. a camera; 42. a second horn; 43. a camera support; 44. a first horn; 45. a mounting seat; 46. and (7) connecting the shafts.

Detailed Description

The present invention will be further explained with reference to the following embodiments and accompanying drawings. The specific embodiments are only used for further elaboration of the invention, and do not limit the scope of protection of the claims of the present application.

The utility model provides a highway inspection robot (inspection robot for short), which comprises a traveling device 1, a limiting device 2, a power generation device 3 and an inspection device 4; the limiting device 2, the power generation device 3 and the inspection device 4 are all arranged on the travelling device 1; the traveling device 1 is used for traveling of the inspection robot; the limiting device 2 is used for installing the inspection robot on a corrugated guardrail (for short, guardrail) of the highway; the power generation device 3 is used for converting solar energy and wind energy into electric energy to supply power for the inspection robot; the inspection device 4 is used for detecting, monitoring and reminding warning;

the traveling device 1 includes at least two traveling mechanisms; the traveling mechanisms are flexibly connected through a bolt 113, so that the traveling device 1 can conveniently pass through the turning part of the guardrail; each travelling mechanism comprises a travelling mechanism connecting plate 11, a travelling motor 12, a travelling frame 14, a roller 16, a first belt pulley 17, a second belt pulley 18, a driven shaft 19, a driving shaft 110, a synchronous belt 111 and a limiting ring 112;

at least two traveling mechanism connecting plates 11 are fixed on the side surfaces of the traveling frame 14 (in this embodiment, one traveling mechanism connecting plate 11 is fixed on each of the side surfaces of the top plate and the bottom plate of the traveling frame 14), each traveling mechanism connecting plate 11 is provided with a through hole, and the pins 113 are inserted into the through holes and are in clearance fit with the traveling mechanism connecting plates 11 to realize flexible connection between the traveling mechanisms, so that the traveling mechanism connecting plates 11 can slightly move along the pins 113, and the traveling mechanisms can float on guardrails to adapt to expressways with different gradients; the traveling motor 12 is mounted on the bottom plate of the traveling frame 14 through a motor fixing member 13; both ends of the driving shaft 110 and the driven shaft 19 are respectively and rotatably connected with the bottom plate and the top plate of the walking frame 14 through bearings; one end of the driving shaft 110 is connected to an output shaft of the traveling motor 12 through a coupling; the other end of the driving shaft 110 and the two ends of the driven shaft 19 are both provided with a limiting ring 112 for axially limiting the shaft and preventing impurities from entering the bearing; a plurality of rollers 16 which are matched with the number and the positions of the bulges of the corrugated guardrail of the highway and can rotate relative to the shaft are uniformly arranged on the driving shaft 110 and the driven shaft 19, and the two ends of each roller are limited by a limiting shaft sleeve 15; a first belt wheel 17 is arranged between every two adjacent idler wheels 16 on the driving shaft 110, a second belt wheel 18 is arranged between every two adjacent idler wheels 16 on the driven shaft 19, and the first belt wheel 17 and the second belt wheel 18 are connected through a synchronous belt 111 to realize the transmission of the driven shaft 19; in the embodiment, two rollers 16 are arranged on each shaft, the driving shaft 110 is sequentially provided with a limiting shaft sleeve 15, the rollers 16, the limiting shaft sleeve 15, a first belt pulley 17, the limiting shaft sleeve 15, the rollers 16 and the limiting shaft sleeve 15 from top to bottom, and the driven shaft 19 is sequentially provided with the limiting shaft sleeve 15, the rollers 16, the limiting shaft sleeve 15, a second belt pulley 18, the limiting shaft sleeve 15, the rollers 16 and the limiting shaft sleeve 15 from top to bottom;

preferably, the number of the driven shafts 19 is at least one, and can be increased according to actual conditions;

the curved surface of the roller 16 is matched with the curved surface of the guardrail;

the limiting devices 2 are respectively arranged on the top plate and the bottom plate of the walking frame 14 of each walking mechanism; each limiting device 2 comprises a first side pressing wheel 21, a supporting frame 22, a second side pressing wheel 23 and a support 24; one end of the supporting frame 22 is detachably fixed on the walking frame 14 through a bolt, and the other end is provided with a plurality of rotatable first side pressing wheels 21; a plurality of supports 24 are respectively detachably fixed on the walking frame 14 through bolts, and each support 24 is provided with a rotatable second side pinch roller 23; the first side pinch roller 21 and the idler wheel 16 are respectively located on two sides of the guardrail, the second side pinch rollers 23 on the top plate and the bottom plate of the walking frame 14 are respectively located on the upper end and the lower end of the guardrail, the inspection robot is mounted, and the friction force between the inspection robot and the guardrail can be reduced by the first side pinch roller 21 and the second side pinch rollers 23.

The power generation device 3 can meet the power consumption requirements of different weather conditions and comprises a wind power generation module and a solar power generation module; the wind power generation module converts wind energy into mechanical energy and then converts the mechanical energy into electric energy, and the solar power generation module converts solar energy into electric energy to supply power to various electric components (such as the travelling motor 12, the camera 41, the second loudspeaker 42 and the first loudspeaker 44);

the solar power generation module is arranged on the walking frame 14 and comprises a storage battery 321 and a plurality of solar power generation components; the storage battery 321 is detachably fixed on the walking frame 14 through a storage battery fixing bolt 322; each solar power generation assembly comprises a solar panel 317, a solar panel mount 318, a first base 319 and a second base 320; the first base 319 and the second base 320 are detachably fixed on the side plates of the walking frame 14 through bolts respectively, a solar panel mounting rack 318 is installed on the first base 319 and the second base 320, the solar panel 317 is embedded in the solar panel mounting rack 318, the solar panel 317 is electrically connected with the storage battery 321 through an inverter, and electric energy obtained by the solar panel 317 is stored in the storage battery 321;

the wind power generation module is arranged on a top plate of the walking frame 14 and comprises blades 31, a disc 32, a limit nut 33, an installation bolt 34, a fixed base 35, a rotating base 36, a generator 37, a tail wing 38, an end cover 39, a speed increaser 310, a speed increaser fixed plate 311, a shell 312, a first fixed seat 313, a shaft sleeve 314, a second fixed seat 315 and a rotating shaft 316;

the fixed base 35 is fixed on the top plate of the walking frame 14, and the mounting bolt 34 is fixed at the bottom of the rotating base 36; the mounting bolt 34 is rotatably connected with the fixed base 35 through a bearing, and the outer ring of the bearing is fixed in a groove on the inner side of the fixed base 35 to realize the rotation of the rotating base 36 and the fixed base 35; the second fixed seat 315, the first fixed seat 313 and the speed increaser fixed plate 311 are fixed on the rotating base 36 in sequence; the rotating shaft 316 is rotatably mounted on the first fixing seat 313 and the second fixing seat 315 through bearings, and a shaft sleeve 314 is sleeved at a position between the first fixing seat 313 and the second fixing seat 315 to seal and limit the bearings; a disc 32 is fixed at one end of the rotating shaft 316, at least two blades 31 are uniformly arranged on the disc 32, and the blades 31 are rotated by wind power to drive the disc 32 to rotate so as to drive the rotating shaft 316 to rotate; the limiting nut 33 is in threaded connection with one end of the rotating shaft 316, which is provided with the disc 32, is positioned outside the disc 32 and is used for axially limiting the disc 32; the speed increaser 310 is fixed on the speed increaser fixing plate 311, the input end of the speed increaser 310 is connected with the other end of the rotating shaft 316 through a coupler, the output end of the speed increaser 310 is connected with the generator 37 through a coupler, the rotating speed of the rotor of the generator 37 is increased through the functions of increasing the rotating speed and reducing the torque of the speed increaser 310, and the generator 37 obtains larger current; the generator 37 is electrically connected to the battery 321; the outer shell 312 covers the outer side of the rotating base 36 and is connected with the rotating base 36 through bolts, one end, close to the generator 37, of the outer shell 312 is provided with an end cover 39, the end cover 39 is provided with a tail wing 38, the tail wing 38 is used for sensing the wind direction to enable the rotating base 36 to rotate, the blades 31 are guaranteed to be always over against the wind direction, the rotating speed of the blades 31 is enabled to be as large as possible, and the mechanical energy of the generator 37 is increased.

The inspection device 4 comprises a camera 41, a second loudspeaker 42, a camera supporting frame 43, a first loudspeaker 44, a mounting seat 45 and a connecting shaft 46; the mounting seat 45 is detachably fixed on a top plate of the walking frame 14 through bolts, the mounting seat 45 is provided with a camera supporting frame 43 capable of horizontally rotating, the camera supporting frame 43 is provided with a camera 41 which rotates by taking the connecting shaft 46 as a shaft through the connecting shaft 46, and the angle of shooting and recording of the camera 41 can be adjusted by manually rotating the camera supporting frame 43 and the camera 41; the first horn 44 and the second horn 42 are mounted on the walking frame 14 and used for informing a driver of traffic conditions of a road in front of the driver, and the two horns are attractive and loud and can form a 3D surrounding effect.

Storage battery fixing bolt 322 adopts the nylon material to make, avoids causing wearing and tearing to battery 321, prevents the magnetic field interact that external magnetic field and electric current produced simultaneously, ensures the stability of circuit.

The length of the second base 320 is greater than that of the first base 319, and the solar panel mounting rack 318 is designed in an inclined manner, so that the solar panel 317 faces the sunlight to the greatest extent, and the sunlight can be ensured to irradiate on the solar panel 317 vertically as much as possible, and more energy can be obtained.

The utility model discloses a theory of operation and work flow are: the inspection robot is arranged on a guardrail, all traveling motors 12 are started to drive a driving shaft 110 to rotate and further drive a first belt wheel 17 to rotate, the first belt wheel 17 drives a second belt wheel 18 to rotate through a synchronous belt 111 and further drives a driven shaft 19 to rotate, so that the curved surface of a roller 16 is attached to one side of the guardrail and further rolls along the guardrail, the friction force is increased by increasing the contact area, sufficient power is provided for the inspection robot, and the inspection robot travels along the guardrail;

the blades 31 rotate under the action of wind power to drive the disc 32 to rotate, so as to drive the rotating shaft 316 to rotate, and the generator 37 converts the mechanical energy of the rotating shaft 316 into electric energy to be stored in the storage battery 321; the solar panel 217 converts solar energy into electric energy to be stored in the storage battery 321, so as to supply power to each electric component;

the angles of the camera supporting frame 43 and the camera 41 are manually adjusted, so that the shooting and recording visual field of the camera 41 is optimal, the road traffic condition of the expressway is shot, recorded and monitored, and the traffic condition of the road in front of a driver is informed through a loudspeaker.

The utility model discloses the nothing is mentioned the part and is applicable to prior art.

Claims

1. A highway inspection robot comprises a power generation device and an inspection device; the inspection robot is characterized by further comprising a traveling device and a limiting device; the limiting device, the power generation device and the inspection device are all arranged on the travelling device; the traveling device is used for polling the traveling of the robot; the limiting device is used for installing the inspection robot on the corrugated guardrail of the highway; the power generation device is used for supplying power to the inspection robot; the inspection device is used for detecting, monitoring and reminding warning;

2. The highway inspection robot according to claim 1, wherein the travel mechanism further includes a travel mechanism connection plate; at least two traveling mechanism connecting plates are fixed on the side faces of the traveling frame, each traveling mechanism connecting plate is provided with a through hole, and a bolt is inserted into the through hole and is in clearance fit with the traveling mechanism connecting plates to realize flexible connection between the traveling mechanisms.

3. The highway inspection robot according to claim 1, wherein the travel mechanism further includes a stop collar; and limiting rings are respectively arranged at the other end of the driving shaft and the two ends of the driven shaft, and the shaft is axially limited.

4. The highway inspection robot according to claim 1, wherein both ends of each roller are limited by a limiting shaft sleeve; the curved surface of the roller is matched with the curved surface of the guardrail.

5. The highway inspection robot according to claim 1, wherein the number of driven shafts is at least one.

6. The highway inspection robot according to claim 1, wherein limiting devices are respectively arranged on a top plate and a bottom plate of a traveling frame of each traveling mechanism; each limiting device comprises a first side pressing wheel, a supporting frame, a second side pressing wheel and a support; one end of the supporting frame is fixed on the walking frame, and the other end of the supporting frame is provided with a plurality of rotatable first side pressing wheels; a plurality of supports are respectively fixed on the walking frame, and each support is provided with a rotatable second side pinch roller; the first side pinch roller and the idler wheel are respectively positioned at two sides of the guardrail, and the second side pinch rollers on the top plate and the bottom plate of the walking frame are respectively positioned at the upper end and the lower end of the guardrail.

7. The highway inspection robot according to claim 1, wherein the power generation device includes a wind power generation module and a solar power generation module.

8. The highway inspection robot according to claim 7, wherein the solar power module includes a battery and a plurality of solar power modules; the storage battery is fixed on the walking frame; each solar power generation assembly comprises a solar panel, a solar panel mounting rack, a first base and a second base; first base and second base are fixed on the curb plate of walking frame, install the solar panel mounting bracket on first base and the second base, and solar panel inlays in the solar panel mounting bracket, and solar panel passes through the dc-to-ac converter and is connected with the battery electricity.

9. The highway inspection robot according to claim 7, wherein the wind power generation module comprises blades, a disc, a limit nut, a mounting bolt, a fixed base, a rotating base, a generator, a tail wing, an end cover, a speed increaser fixed plate, a shell, a first fixed seat, a shaft sleeve, a second fixed seat and a rotating shaft;

the fixed base is fixed on the top plate of the walking frame, and the mounting bolt is fixed at the bottom of the rotating base; the mounting bolt is rotatably connected with the fixed base to realize the rotation of the rotating base and the fixed base; the second fixed seat, the first fixed seat and the speed increaser fixed plate are sequentially fixed on the rotary base; the rotating shaft is rotatably arranged on the first fixed seat and the second fixed seat, and a shaft sleeve is sleeved at the position between the first fixed seat and the second fixed seat; a disc is fixed at one end of the rotating shaft, and at least two blades are uniformly arranged on the disc; the limiting nut is in threaded connection with one end of the rotating shaft, which is provided with the disc, and axially limits the disc; the speed increaser is fixed on the speed increaser fixing plate, the input end of the speed increaser is connected with the other end of the rotating shaft, and the output end of the speed increaser is connected with the generator; the generator is electrically connected with the storage battery; the outer cover is connected with the rotating base outside the rotating base, the end cover is installed at one end, close to the generator, of the outer cover, the tail wing is installed on the end cover and used for sensing the wind direction to enable the rotating base to rotate, and the blades are guaranteed to be always opposite to the wind direction.

10. The highway inspection robot according to claim 1, wherein the inspection device comprises a camera, a camera supporting frame, a horn, a mounting seat and a connecting shaft; the mounting seat is fixed on a top plate of the walking frame, a camera supporting frame capable of horizontally rotating is mounted on the mounting seat, and a camera rotating by taking the connecting shaft as a shaft is mounted on the camera supporting frame through the connecting shaft; the loudspeaker is installed on the walking frame.