CN219132328U - Magnetic guardrail inspection robot - Google Patents

Abstract

The utility model relates to the field of inspection robots, and discloses a magnetic guardrail inspection robot, which comprises a robot main body, and a moving and positioning assembly, a detecting assembly and a cleaning assembly which are arranged on the robot main body; the moving and positioning assembly comprises a permanent magnet wheel and an anti-drop protection device, the detecting assembly comprises an obstacle avoidance device and a camera device, the cleaning assembly comprises a mechanical arm and a garbage recycling bin, when the mechanical arm is in a working state, the robot main body is fixed at the guardrail through the anti-drop protection device, and inspection and cleaning work of the expressway are completed through the robot.

Description

Magnetic guardrail inspection robot

Technical Field

The utility model relates to the field of inspection robots, in particular to a magnetic guardrail inspection robot.

Background

The highway has high driving speed and high danger coefficient during highway inspection; meanwhile, part of garbage is easy to form on the road side, the difficulty is high during cleaning, and the personal safety of cleaners is influenced by high-speed driving on site.

CN215942937U discloses a robot of patrolling and examining, mainly used is patrol and supervise to highway traffic conditions, help to carry out real-time effectual early warning and mediation to the highway section that takes place the traffic accident, be equipped with equipment of shooing and rubbish clearance equipment simultaneously, detect the rule-breaking and shoot at high speed and carry out rubbish clearance, reduce people's labour, but this kind of robot of patrolling and examining remove the mode for walking through the dolly, the dolly carries out the shooting to the rule-breaking phenomenon through the surveillance camera head in the walking process, also control motor makes rubbish shovel carry out garbage collection in the walking process, from this it can be known that this kind of robot of patrolling and examining needs to guarantee sufficient walking space on the highway, need occupy the road of highway, there is the potential safety hazard.

CN213647575U discloses a magnetic adsorption type highway removes inspection robot, which comprises a housin, the camera, stop gear and running gear, stop gear sets up in the both sides of casing open end, the highway guardrail sets up between two stop gear, it is spacing in the guardrail with the robot, carry out supervision and shooting to the illegal action through the camera, avoid unable effective supervision illegal action in the control blind area, but the functional ratio of this kind of inspection robot is single, under the prerequisite that occupies certain space, the robot can not exert bigger advantage and effect.

By combining the characteristics of the expressway, the scheme provides a mode of adopting the magnetic guardrail inspection robot to realize inspection and cleaning of the expressway.

Disclosure of Invention

In order to solve one or more technical problems in the prior art, or at least to provide an advantageous option, the present utility model provides a magnetic guardrail inspection robot, which solves the problems mentioned in the background art.

The utility model discloses a magnetic guardrail inspection robot, which comprises a robot main body, and a moving and positioning assembly, a detecting assembly and a cleaning assembly which are arranged on the robot main body, wherein the moving and positioning assembly is arranged on the robot main body; the moving and positioning assembly comprises a permanent magnet wheel and an anti-drop protection device, the detection assembly comprises an obstacle avoidance device and a camera device, the cleaning assembly comprises a mechanical arm and a garbage recycling bin, and when the mechanical arm is in a working state, the robot main body is fixed at the guardrail through the anti-drop protection device.

In a preferred implementation mode of the magnetic guardrail inspection robot, a robot main body is provided with a controller and a gyroscope, and the controller is respectively connected with the gyroscope and the anti-falling protection device.

In a preferred implementation mode of the magnetic guardrail inspection robot, the anti-falling protection device comprises an anti-falling arm and an electromagnet, wherein the anti-falling arm is positioned at the end part of the robot main body, and the electromagnet is positioned at the middle part of the robot main body.

In a preferred implementation mode of the magnetic guardrail inspection robot, the anti-falling arm is provided with a bending section, and the bending section is buckled on the guardrail when the anti-falling arm falls down.

In a preferred implementation mode of the magnetic guardrail inspection robot, a garbage collection box is positioned at the bottom of a robot main body, a grabbing clamp is arranged at the front end of a mechanical arm, and a camera is arranged in the center of the grabbing clamp.

In a preferred implementation mode of the magnetic guardrail inspection robot, the mechanical arm is provided with a plurality of sections of movable shafts.

In a preferred implementation mode of the magnetic guardrail inspection robot, the camera device is mounted on the robot main body, and the obstacle avoidance device is mounted on the outer side of the robot main body.

In a preferred implementation of the magnetic guardrail inspection robot, the robot body is connected with a photovoltaic panel and a wireless charging panel.

In a preferred implementation mode of the magnetic guardrail inspection robot, a robot main body is provided with a voice intercom unit, and the voice intercom unit is connected with a controller.

The utility model has the beneficial effects that:

(1) The robot main body is fixed in the guardrail through removing and locating component, set up permanent magnet wheel, when the robot normally walks, the suction produces frictional force, the arc curve position of guardrail produces ascending frictional force, fixed robot main body can not drop from the guardrail, and keep away barrier device and camera device in the robot main body installation, the road conditions around the inspection in-process robot automated inspection, in time avoid the barrier, avoid the damage of barrier to the robot, camera device can be furnished with the cloud platform simultaneously, zoom, low illuminance and function such as infrared, realize the closely accurate recheck detection of road surface video, for example see ground crack, rubble etc..

(2) The controller links to each other with anti-drop device and clearance rubbish robotic arm respectively, when robot normally walks, robotic arm is in the non-operating condition who packs up, when detecting the rubbish that needs to clear up, robotic arm is to the side direction extension, the arm of force grow, anti-drop protection device starts this moment, anti-drop protection device's anti-drop arm is equipped with the section of buckling that can with the guardrail lock, additionally provide the power and make the robot be fixed in the guardrail, robot main part atress is uneven when preventing robotic arm extension, make the connection between robot and the guardrail stable, prevent that the robot main part from dropping.

(3) The mechanical arm is provided with a plurality of sections of movable shafts, the front end of the mechanical arm is provided with a grabbing clamp along the extending direction, the mechanical arm is provided with a camera, the camera can capture pictures when the mechanical arm works, the cleaning work is helped to be carried out and smoothly completed, the mechanical arm is connected with a controller, the controller controls the expansion and contraction of the plurality of sections of movable shafts to achieve the extending effect of the mechanical arm, meanwhile, the grabbing clamp is controlled to act so as to complete the picking up of garbage, garbage cleaning is carried out when the garbage is patrolled and examined, the driving safety of a vehicle is further guaranteed, and the potential safety hazards of traffic accidents are reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

fig. 1 is a schematic structural diagram of a robot according to an embodiment of the utility model.

Fig. 2 is a right side view of a robot in an embodiment of the present utility model.

Fig. 3 is a schematic structural diagram of a mechanical arm according to an embodiment of the utility model.

Fig. 4 is a schematic structural diagram of an anti-falling arm according to an embodiment of the utility model.

Reference numerals illustrate:

the device comprises a 1-guardrail, a 2-permanent magnet wheel, a 3-anti-falling protection device, a 4-obstacle avoidance device, a 5-camera device, a 6-gyroscope, a 7-mechanical arm, an 8-garbage collection box, a 9-electromagnet, a 10-battery, an 11-controller and a 12-wireless charging plate;

71-grab clips, 72-movable shafts, 73-cameras, 31-anti-falling arms, 32-lifting wheels, 33-bending sections and 41-radar detection devices.

Detailed Description

In order to more clearly illustrate the general inventive concept, reference will be made in the following detailed description, by way of example, to the accompanying drawings.

In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than as described herein, and therefore the scope of the present utility model is not limited by the specific embodiments disclosed below.

In addition, in the description of the present utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. However, it is noted that direct connection indicates that two connected bodies are not connected through a transition structure, but are connected through a connection structure to form a whole. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

First, the technical idea of the technical proposal disclosed by the utility model is explained. The expressway is an important ring in transportation, the driving speed is high, the condition of large traffic flow often occurs, a driver easily does not timely and reasonably avoid the reaction to garbage or other obstacles on the road surface in a fast driving state, so that traffic accidents occur, meanwhile, the expressway has high driving speed, the danger coefficient during road inspection is high, part of garbage is easy to form on the road side, the expressway has long distance, the distance between entrances and exits is long, and the entrance and exit cannot be up and down at any time, so that the garbage is not cleaned timely and is difficult to clean, and the on-site expressway has too high driving speed to influence the personal safety of cleaners; to this problem and phenomenon, this application proposes the mode that adopts the magnetism to inhale guardrail to patrol and examine the robot, patrol and examine the robot and be equipped with obstacle avoidance device and camera device, gather the transmission in real time to the road effect, adsorb in the guardrail through the permanent magnet wheel and march, occupy the space little, do not influence the normal driving of highway, add arm and garbage collection box to patrol and examine the robot simultaneously and make it can carry out rubbish clean when patrolling and examining to this realization robot is to highway's patrolling and examining and clean work.

The scheme adopted is as follows: as shown in fig. 1-4, the magnetic guardrail inspection robot comprises a robot main body, and a moving and positioning assembly, a detecting assembly and a cleaning assembly which are mounted to the robot main body; the moving and positioning assembly comprises a permanent magnet wheel 2 and an anti-drop protection device 3, the detection assembly comprises an obstacle avoidance device 4 and a camera device 5, the cleaning assembly comprises a mechanical arm 7 and a garbage recycling bin 8, and when the mechanical arm 7 is in a working state, the robot main body is fixed at the guardrail 1 through the anti-drop protection device 3.

In one embodiment, the robot is fixed on the guardrail 1 through the permanent magnet wheels 2, and under normal conditions, the neodymium iron boron magnet can absorb an object with 600 times of the weight of the robot, in the device, the weight of a single permanent magnet wheel 2 is about 0.2kg, the weight of four permanent magnet wheels 2 is about 0.8kg, in the embodiment, the weight of the robot main body is about 10kg, during normal walking, the suction force generates friction force, the arc-shaped curve position of the guardrail 1 generates upward friction force, and the fixed inspection robot main body can not fall down, and can also be provided with the permanent magnet wheels 2 and the permanent magnet power wheels, so that the robot main body has better absorption and travelling power; the controller 11 is installed to the robot main part to the controller 11 matches and has driving motor, and robotic arm 7 includes operating condition and non-operating condition, and the robot is when walking, monitors road surface situation through camera device 5, keeps away barrier device 4 and camera device 5 and can be equipped with functions such as cloud platform, infrared as required according to the detection, when discovering road surface and rubble or other rubbish that need handle, camera device 5 conveys the image to control center, and controller 11 sends the signal to driving motor, and driving motor drives robotic arm 7 and stretches out, and robotic arm 7 gets into operating condition.

Further, when the mechanical arm 7 works, the robot is in a non-advancing state, the robot is at rest according to the position of garbage to be cleaned, the mechanical arm 7 is controlled by the controller 11, the mechanical arm 7 stretches towards the direction of the garbage under the driving of the driving motor, as the robot main body is fixed on the guardrail 1 through the moving and positioning assembly, in order to clean the garbage conveniently, the mechanical arm 7 is arranged on one side of the robot main body and far away from the guardrail 1, the mechanical arm 7 stretches outwards when stretching, at the moment, the arm of force of the mechanical arm 7 is increased, a pulling force far away from the guardrail 1 can be generated on the robot main body, in order to ensure the stability of the robot main body on the guardrail 1 under the working state of the mechanical arm 7, when the mechanical arm 7 is in the working state, the anti-falling protection device 3 is started through the controller 11, and the same, the anti-drop protection device 3 is connected with the controller 11, the anti-drop protection device 3 comprises an anti-drop arm 31 and an electromagnet 9, in order to balance the pulling force generated by the mechanical arm 7 on the robot main body during working, the center of the robot main body is taken as an axis, the anti-drop arm 31 is arranged on the opposite side of the mechanical arm 7, the anti-drop arm 31 is provided with a bending section 33, a lifting wheel 32 is arranged at the bending section 33 to control the lifting of the bending section 33, the controller 11 can drive the anti-drop arm 31 to move through a motor, a bending included angle exists between the bending section 33 and the anti-drop arm 31 main body, after the anti-drop arm 31 is started, the lifting wheel 32 enables the height to be lowered, the bending section 33 is buckled on the guardrail 1, which is equivalent to the clamping connection with the guardrail 1 at the included angle, the pulling force close to the guardrail 1 is generated on the robot main body, so as to balance the stress of the robot main body, meanwhile, in order to further enable the robot to stably magnetically attract the guardrail 1, an electromagnet 9 is additionally arranged at the central position of the robot main body, one end of the electromagnet 9 is positioned at the middle part of the robot main body due to the fact that the guardrail 1 is made of metal, the other end of the electromagnet is in contact with the guardrail 1, suction force is additionally arranged between the robot and the guardrail 1 at the central position, in addition, a brake block is arranged at the electromagnet 9, the electromagnet 9 is also connected with a controller 11, braking is achieved on the robot through the brake block when the robot is necessary to stop, and therefore double guarantee is carried out on the magnetic attraction stability of the robot when the mechanical arm 7 works.

In one embodiment, in order to ensure the stability of the robot when the guardrail 1 walks, besides the obstacle avoidance device 4, a gyroscope 6 is installed on the robot main body, the obstacle avoidance device 4 can select a mode of detecting radar, a radar detection device 41 is arranged to detect the periphery of a walking path of the robot, the obstacle is prevented from influencing the walking of the robot or damaging the robot, the gyroscope 6 enables the robot main body to keep stable horizontally, so that the robot can walk and work smoothly, meanwhile, the gyroscope 6 is connected with the controller 11, when the unstable abnormality of the movement state is detected through the gyroscope 6, information is sent to the controller 11, and the controller 11 starts the safe anti-falling device so as to monitor the stability state of the robot in real time and make adjustment in time when the robot works.

In addition, in order to ensure the accuracy of the work of the mechanical arm 7, a grabbing clamp 71 is arranged at the front end of the mechanical arm 7 along the extending direction of the mechanical arm 7, meanwhile, as a certain distance exists between the mechanical arm 7 and the robot main body after extending, in order to prevent a camera shooting blind area from occurring due to the fact that the extending of the mechanical arm 7 is blocked by the line of sight of a camera shooting device 5 equipped with the robot main body, a camera 73 is additionally arranged at the front end of the mechanical arm 7, namely the center position of the grabbing clamp 71, along with the extending of the mechanical arm 7, the camera 73 performs clear and accurate shooting positioning on garbage to be cleaned, the accuracy of grabbing clamp 71 is ensured, the working accuracy and the working efficiency of the robot are improved, meanwhile, an obstacle avoidance device 4 is arranged at the outer side of the robot main body, besides the smooth running process of the robot is detected, when the robot stops running, the robot 7 enters a working state, the surrounding detection is performed by the obstacle avoidance device 4, the robot 7 can receive signals of a controller 11 during working, so that the obstacle can be accurately avoided, in addition, the obstacle avoidance device 4 selects a radar, the camera 5 can select a binocular radar detection device AL, and the garbage can be successfully processed through the binocular radar detection device and the camera shooting device 41, and the garbage can be successfully processed through the camera shooting device 41, and the edge of the robot after the robot is successfully processed, and the garbage can be successfully processed through the robot, and the robot is ensured; further, in order to reduce the volume of the robot body, the robot occupies a smaller space, is limited to a smaller extent, the mechanical arm 7 which needs to have a certain length to complete work is set as a plurality of sections of movable shafts 72, each section of movable shaft 72 can stretch and retract, and the controller 11 controls the motor to drive, so that the stretching length of the mechanical arm 7 can be adjusted according to different site conditions, the movable shafts 72 can be respectively set as a movable shaft 72 in the up-down direction and a movable shaft 72 in the front-back direction, so that the mechanical arm 7 can work in a larger range after stretching, and when the mechanical arm 7 is in a non-working state, all the movable shafts 72 are in a contracted state, so that the space occupation area of the mechanical arm 7 is reduced. In addition, according to the function requirement, the cleaning group is provided with a garbage recycling bin 8, and when the mechanical arm 7 works, garbage is picked up by the grabbing clamp 71 and then is placed into the garbage recycling bin 8, and after the work is finished, the mechanical arm 7 is driven by a motor to be retracted below the garbage recycling bin 8.

In one embodiment, the robot body is from electrified 10, the robot main part is connected with photovoltaic board and wireless charging board 12, the robot power supply adopts from electrified photovoltaic board power supply and wireless dual mode that charges, in the place that possesses the wired power supply, set up wireless charging point, can realize automatic charging, thereby ensure the duration of robot at the in-process of patrolling and examining, in addition set up the pronunciation unit of talkbacking at the robot main part, and the pronunciation unit of talkbacking is connected with controller 11, the robot communication adopts 4G 5G transmission network's mode, start the pronunciation function of talkbacking through controller 11, meet and the hanization through network and control center, realize long-range and on-the-spot personnel's talkbacking. The functional diversity and practicality of inspection robots are enhanced.

The technical solution protected by the present utility model is not limited to the above embodiments, and it should be noted that, the combination of the technical solution of any one embodiment with the technical solution of the other embodiment or embodiments is within the scope of the present utility model. While the utility model has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the utility model and are intended to be within the scope of the utility model as claimed.

Claims (9)

1. The magnetic guardrail inspection robot is characterized by comprising a robot main body, and a moving and positioning assembly, a detecting assembly and a cleaning assembly which are mounted to the robot main body; the moving and positioning assembly comprises a permanent magnet wheel and an anti-drop protection device, the detection assembly comprises an obstacle avoidance device and a camera device, the cleaning assembly comprises a mechanical arm and a garbage recycling bin, and when the mechanical arm is in a working state, the robot main body is fixed at the guardrail through the anti-drop protection device.

2. The magnetic guardrail inspection robot of claim 1, wherein the robot body is provided with a controller and a gyroscope, and the controller is respectively connected with the gyroscope and the anti-falling protection device.

3. The magnetic guardrail inspection robot of claim 1, wherein the anti-drop protection device comprises an anti-drop arm and an electromagnet, the anti-drop arm is located at the end of the robot body, and the electromagnet is located at the middle of the robot body.

4. A magnetic guardrail inspection robot according to claim 3, characterized in that the anti-falling arm is provided with a bending section, and the bending section is buckled with the guardrail when the anti-falling arm falls down.

5. The magnetic guardrail inspection robot of claim 1, wherein the garbage collection box is located at the bottom of the robot body, a grabbing clamp is arranged at the front end of the mechanical arm, and a camera is installed in the center of the grabbing clamp.

6. The magnetic guardrail inspection robot of claim 5, wherein the mechanical arm is provided with a plurality of movable shafts.

7. The magnetic guardrail inspection robot of claim 1, wherein the camera device is mounted on the robot body and the obstacle avoidance device is mounted on the outside of the robot body.

8. The magnetic guardrail inspection robot of claim 1, wherein the robot body is connected with a photovoltaic panel and a wireless charging panel.

9. The magnetic guardrail inspection robot of claim 2, wherein the robot body is provided with a voice intercom unit, and the voice intercom unit is connected with the controller.

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