阅读说明：本技术 巡逻预警机器人的行走机构及巡逻预警机器人 (Walking mechanism of patrol early-warning robot and patrol early-warning robot ) 是由 程归兵 于 2018-08-31 设计创作，主要内容包括：本发明涉及一种巡逻预警设备,并公开了一种巡逻预警机器人的行走机构及巡逻预警机器人,所述行走机构用于带动所述巡逻预警机器人行走于所述导轨系统上,所述行走机构包括电机、连接于所述电机输出轴的主动轮、从动轮,以及绕设于所述主动轮和从动轮上与之形成同步带传动的的同步带,所述从动轮上同轴设置有随所述从动轮转动而带动所述巡逻预警机器人沿所述导轨系统行走的导轮,该行走机构在满足巡逻预警机器人在隧道内移动需要的同时,减少巡逻预警机器人的震动,以提升监控及拍摄画面的清晰程度。(The invention relates to patrol early-warning equipment and discloses a walking mechanism of a patrol early-warning robot and the patrol early-warning robot, wherein the walking mechanism is used for driving the patrol early-warning robot to walk on a guide rail system, the walking mechanism comprises a motor, a driving wheel connected to an output shaft of the motor, a driven wheel and a synchronous belt wound on the driving wheel and the driven wheel and forming synchronous belt transmission with the driving wheel and the driven wheel, a guide wheel which rotates along with the driven wheel to drive the patrol early-warning robot to walk along the guide rail system is coaxially arranged on the driven wheel, and the walking mechanism reduces the vibration of the patrol early-warning robot while meeting the requirement of the patrol early-warning robot on moving in a tunnel so as to improve the clearness of monitoring and shooting pictures.)

1. The utility model provides a running gear of early warning robot patrols for drive early warning robot patrols (2) walk in on the guide rail system (1), its characterized in that, running gear includes motor (27), connect in action wheel (22a) of motor (27) output shaft, follow driving wheel (22b), and around locating on action wheel (22a) and follow driving wheel (22b) form synchronous belt drive's hold-in range (26) with it, follow coaxial being provided with on driving wheel (22b) and follow driving wheel (22b) and rotate and drive patrolling early warning robot (2) are followed guide pulley (23) that guide rail system (1) walked.

2. A walking mechanism of a patrol warning robot according to claim 1, wherein the driven wheels (22b) comprise two timing pulleys (22) having the same wheel diameter, and the two driven wheels (22b) are located on both sides of the driving wheel (22a) in a transmission direction of the timing belt (26).

3. A walking mechanism of a patrol warning robot according to claim 2, wherein the guide wheels (23) are provided in two and have the same wheel diameter, and are coaxially provided on the two driven wheels (22b), respectively.

4. A walking mechanism of a patrol warning robot according to claim 1, wherein the walking mechanism further comprises an idler (24), the idler (24) being provided outside a timing belt (26) and urging the timing belt (26) in a direction toward the driving wheel (22a) and/or the driven wheel (22 b).

5. A walking mechanism of a patrol warning robot according to claim 4, wherein the idle wheels (24) are provided at both sides of the driving wheel (22a), respectively, so that a wrapping angle α of the timing belt (26) with the driving wheel (22a) is not more than 90 °.

6. A walking mechanism of a patrol early-warning robot according to claim 1, further comprising auxiliary wheels (25), wherein the auxiliary wheels (25) and the guide wheels (23) are respectively provided on upper and lower sides of the rail system (1) to position the patrol early-warning robot (2) on the rail system (1).

7. A walking mechanism of a patrol early-warning robot according to claim 1, wherein the circumference of the guide wheel (23) contacting the guide rail system (1) is concave, so that at least part of the guide rail system (1) is covered by the guide wheel (23).

8. A patrol warning robot, comprising a walking mechanism according to any one of claims 1 to 7.

Technical Field

The invention relates to patrol early-warning equipment, in particular to a walking mechanism of a patrol early-warning robot and the patrol early-warning robot.

Background

In recent years, with the continuous development of urban construction, the urban scale is continuously enlarged, and the traffic pressure is continuously increased. In urban municipal engineering projects, the number of urban traffic tunnels is increasing, and the operation safety of the tunnels also attracts more and more attention. Different from open environments such as expressways and bridges, the tunnel has certain sealing performance and low visibility in the tunnel. The existing fixed-point monitoring equipment for the highway is difficult to be directly applied in the tunnel. When an accident occurs in the tunnel, due to the lack of proper monitoring equipment in the tunnel, large-area congestion is easily caused, and the field law enforcement is difficult.

The patrol early-warning equipment is arranged in the tunnel and used as real-time monitoring equipment in the tunnel, so that related personnel can master conditions such as traffic bearing capacity, traffic flow, field environment and the like in the tunnel in real time, and can replace traffic patrol law enforcement personnel to enforce law in the tunnel, and the patrol early-warning equipment becomes a common wish of related management departments.

In order to meet the real-time monitoring of the road surface condition and the traffic flow in the tunnel, equipment with shooting and video monitoring functions, such as a holder, a snapshot machine and the like, needs to be arranged in the patrol early-warning robot. Different from conventional fixed-point monitoring equipment, the patrol early-warning robot needs to move in the tunnel along the extending direction of the tunnel so as to comprehensively monitor the traffic condition in the tunnel. The vibration of the patrol early-warning robot in the walking process and the vibration caused by the influence of other factors in the tunnel can cause the unclear pictures captured by the shooting and video monitoring equipment.

Disclosure of Invention

Therefore, it is necessary to provide a walking mechanism of a patrol early-warning robot and the patrol early-warning robot for at least some of the above problems, where the walking mechanism meets the requirement of the patrol early-warning robot to move in a tunnel, and reduces the vibration of the patrol early-warning robot, so as to improve the clarity of monitoring and shooting pictures.

The utility model provides a running gear of early warning robot patrols for drive early warning robot walks in on the guide rail system, running gear includes the motor, connect in the action wheel of motor output shaft, from the driving wheel to and around locating the action wheel with form synchronous belt drive's hold-in range from the driving wheel on with it, follow the coaxial being provided with on the driving wheel and follow the driving wheel rotation and drive early warning robot patrols follow the guide pulley of guide rail system walking.

Preferably, the driven wheels comprise two synchronous belt wheels with the same wheel diameter, and the two driven wheels are positioned on two sides of the driving wheel along the transmission direction of the synchronous belt.

Preferably, the guide wheels are arranged in two parts with the same wheel diameter and are respectively and coaxially arranged on the two driven wheels.

Preferably, the traveling mechanism further includes an idler disposed outside the timing belt and urging the timing belt in a direction toward the driving pulley and/or the driven pulley.

Preferably, the idler wheels are respectively arranged on two sides of the driving wheel, so that the wrapping angle α of the synchronous belt and the driving wheel is not more than 90 degrees.

Preferably, the walking mechanism further comprises auxiliary wheels, and the auxiliary wheels and the guide wheels are respectively arranged on the upper side and the lower side of the guide rail system so as to position the patrol early-warning robot on the guide rail system.

Preferably, the peripheral surface of the guide wheel contacting with the guide rail system is concave, so that at least part of the guide rail system is covered by the guide wheel.

In another aspect of the invention, a patrol early-warning robot is provided, which includes the above-mentioned traveling mechanism.

In the travelling mechanism, the driving wheel and the driven wheel form synchronous belt transmission, the transmission form has the characteristics of precision of gear transmission and stability of belt transmission, the travelling speed of the patrol early-warning robot on a guide rail system can be accurately controlled, the vibration in the travelling process of the patrol early-warning robot is reduced, and the situation that pictures captured by shooting and video monitoring equipment are not clear is avoided.

Drawings

Fig. 1 is a schematic view of the operation state of a patrol early-warning robot on a track system;

fig. 2 is a view of the patrol pre-warning robot from a perspective showing a walking system of the patrol pre-warning robot;

fig. 3 is a structural view of the patrol early-warning robot with the shell removed, wherein a preferred placement position of each component of the patrol early-warning robot on the bottom plate is shown;

FIG. 4 is another perspective view of the structure of FIG. 3 with the door panel removed to show the charging dock;

FIG. 5 is a perspective view of the door opening mechanism with one side door panel removed;

FIG. 6 is another perspective view of the structure of FIG. 5;

FIG. 7 is a partial view of a rail system;

FIG. 8 is a partial perspective view of a rail body;

FIG. 9 is a partial structural view of the rail system with the rail body at one end removed;

FIG. 10 is a partial structural view of a shock absorbing cladding tube;

FIG. 11 is a view of the positioning post;

fig. 12 is a view showing a docking relationship of the charging docking device and the charging system;

fig. 13 is an exploded view of the charging dock;

fig. 14 is an exploded view of the charging system;

fig. 15 is a position relationship diagram after the charging docking device and the charging system are docked in place.

Description of the reference numerals

1. A rail system;

10. a guide rail body; 100. a front plate; 101. mounting a back plate; 102. an upper protection plate; 103. a lower guard plate; 104. an upper running track; 105. a lower running track; 106. a first connection hole; 107. a second connection hole; 108. positioning the column hole; 109. a transverse plate;

11. a shock-absorbing cladding pipe; 110. a bayonet;

12. pressing a plate; 120. a press plate connecting hole;

13. a positioning column; 130. a first positioning section; 131. a second positioning section; 132. a soft gasket;

2. a patrol early-warning robot;

20. a housing;

200. a speaker; 201. a speed measuring radar; 202. a snapshot machine; 203. a light supplement lamp; 204. an electronic control box; 205. a storage battery; 206. a driver; 207. a switching power supply; 208. a network bridge; 209. a holder;

21. a base plate; 22. a synchronous pulley; 22a, a driving wheel; 22b, a driven wheel; 23. a guide wheel; 24. an idler pulley; 25. an auxiliary wheel; 26. a synchronous belt; 27. a motor;

28. a door opening mechanism; 280. a door panel; 2800. rotating the connecting seat; 281. a door shaft; 282. an upper support plate; 283. a lower support plate; 2830. a motor support; 2831. a gear support; 284. a pillar; 285. a door opening motor; 286. a driving gear; 287. a driven gear; 288. a limit switch; 289. a connecting rod;

29. a charging docking device; 290. a keyhole seat; 2900. a lock hole; 2901. punching a magnet hole; 291. a first sensing device; 292. a second sensing device; 293. bending the male component; 294. an electromagnet; 295. a telescopic head; 3. a charging device;

30. a lock rod support; 300. a lock rod mounting hole; 31. a straight female component; 32. a lock lever; 320. a guide cone; 321. a suction ring groove; 322. an induction column; 323. installing a limiting column; 33. and adjusting the gasket.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

A tunnel early warning patrol apparatus, as shown in fig. 1, includes at least a patrol early warning robot 2, a rail system 1, and a charging system. Wherein: the guide rail system 1 is arranged at a proper height on the side surface of the tunnel and extends along the direction of the vehicle to shuttle the tunnel, the patrol early-warning robot 2 runs on the guide rail system 1 to perform real-time monitoring on license plates, early warning and the like on the vehicle in the tunnel, and the charging system is used for charging the patrol early-warning robot 2 when necessary.

As shown in fig. 1 to 6, the patrol early-warning robot 2 includes a housing 20, a bottom plate 21, and a traveling mechanism installed on the bottom plate 21, wherein the traveling mechanism is matched with the rail system 1 for driving the patrol early-warning robot 2 to operate on the rail system 1 as a whole. The bottom plate 21 is further provided with:

the loudspeaker 200 can play pre-stored voice or play real-time voice under the control of remote equipment, and as the guide rail system 1 is arranged at a higher position on the side wall in the tunnel, in order to ensure that passing vehicles in the tunnel can clearly hear the voice played by the loudspeaker 200, the bell mouth of the loudspeaker 200 is arranged towards the bottom surface in the tunnel;

the speed measuring radar 201 is used for measuring the speed of the vehicles in the tunnel;

the system comprises a snapshot machine 202 and a light supplement lamp 203, wherein the snapshot machine 202 is responsible for snapshot of illegal vehicles and can also be matched with a speed measuring radar 201, when the speed measuring radar 201 detects that the vehicles are overspeed, the snapshot machine 202 takes pictures of overspeed vehicles, and the light supplement lamp 203 is used for light supplement when light rays are weak, so that images shot by the snapshot machine 202 are clearer;

the electric control box 204 is internally provided with a main program main control board and is used for controlling all the activities of the whole patrol early-warning robot 2;

the power supply comprises a storage battery 205 and a switching power supply 207, wherein the storage battery 205 stores electric energy and outputs alternating current outwards, and the switching power supply 207 is responsible for converting the alternating current output by the storage battery 205 into direct current so as to supply power to all electric equipment of the patrol early-warning robot 2;

the driver 206 is responsible for receiving signals sent by the main control board in the electronic control box 204 and converting and transmitting the signals to each controlled component (such as the loudspeaker 200, the speed measuring radar 201 and the like), and meanwhile, information feedback of each component is also subjected to signal conversion through the driver 206 and then transmitted into the electronic control box 204;

a motor 27 for converting the electric energy inputted from the switching power supply 207 into the kinetic energy of the traveling mechanism;

a network bridge 208 for connecting the network of the patrol warning robot 2 to the network hub; and the number of the first and second groups,

and the holder 209 is used for monitoring the road surface in the tunnel in real time.

Because the patrol early-warning robot 2 runs on the guide rail system 1 on the side wall of the tunnel, and the space in the tunnel is narrow, in order to reduce the occupied space and balance the overall weight of the patrol early-warning robot 2, the components on the bottom plate 21 are preferably arranged along the length direction of the tunnel.

As shown in fig. 3 and 4: considering that the cradle head 209 needs to monitor the road surface in real time, and the bridge 208 is easily affected by metal, therefore, the bridge 208 and the cradle head 209 are uniformly arranged at the head of the patrol early-warning robot 2, it can be understood that the shell 20 is made of non-metal materials, for example, hard non-metal materials such as glass fiber reinforced plastics, and the like, so that the interference of the shell 20 to internal components can be avoided, and the components on the bottom plate 21 can be reliably protected; the driver 206 causes conductive interference and radiation interference to adjacent components, so that the driver 206 is arranged between the storage battery 205 and the switching power supply 207 along the length direction of the tunnel to isolate the driver 206 from other components by using the storage battery 205 and the switching power supply 207 so as to avoid the driver 206 causing conductive interference and radiation interference to other components; the speed measuring radar 201 needs to be aligned to the road surface, so that the speed measuring radar is arranged obliquely at the tail of the patrol early-warning robot 2 and faces the road surface; the snapshot machine 202 is arranged in the same direction as the speed measuring radar 201 and is positioned on one side of the speed measuring radar 201 so as to accurately snapshot the overspeed vehicle; in order to supplement light to the snapshot machine 202, a light supplement lamp 203 is arranged between the working part of the snapshot machine 202 and the bottom plate 21; in order to avoid the electromagnetic interference generated by the motor 27 from affecting the electronic control box 204, the motor 27 is arranged above the speed measuring radar 201; the speaker 200 is disposed at the rear of the patrol early-warning robot 2 to balance the overall weight of the robot.

As shown in fig. 1 to 2, in one embodiment, the traveling mechanism includes the motor 27 and three timing pulleys 22 described above, and a timing belt 26 wound around the timing pulleys 22. A motor 27 is arranged on the base plate 21 towards one side of the housing 20, with its output shaft passing out of the base plate 21 to output a rotational movement to the other side of the base plate 21. The driving pulley 22a of the three timing pulleys 22 is connected to an output shaft of the motor 27 so that the rotational motion of the output of the motor 27 is transmitted into the traveling mechanism. The other two synchronous pulleys 22 are driven pulleys 22b, and the rotation of the driving pulley 22a drives the synchronous belt 26 to drive so as to drive the two driven pulleys 22b to rotate.

In a preferred embodiment, three timing pulleys 22 are arranged in the tunnel extension direction, the driving pulley 22a is located at a position between the two driven pulleys 22b, and the two driven pulleys 22b have the same wheel diameter, so that the two driven pulleys 22b have the same rotational speed. The driven wheels 22b are coaxially provided with guide wheels 23, the guide wheels 23 can rotate at the same speed along with the rotation of the two driven synchronous belt wheels 22, and therefore the two driven wheels 22b are used as parts for driving the patrol early-warning robot to move at the same time, and compared with single-wheel driving, the energy consumption is smaller. In particular, the driving pulley 22a is used as a driving member, and the motion thereof is buffered and absorbed by the timing belt 26 and then transmitted to the two driven pulleys 22b, so that the guide pulleys 23 connected to the two driven pulleys 22b move more smoothly and the vibration is less. It can be understood that the traveling mechanism may also be provided with only one driven wheel 22b, the driving wheel 22a and the driven wheel 22b are driven by a synchronous belt 26, and the guide wheel 23 may be arranged on only the driven wheel 22b, or may be arranged on each of the driving wheel 22a and the driven wheel 22 b.

Preferably, a plurality of idle pulleys 24 are further provided in the traveling mechanism, the idle pulleys 24 are preferably disposed on both sides of the driving pulley 22a, and the idle pulleys 24 are disposed outside the timing belt 26 for increasing the wrapping angle α of the timing belt 26 and the driving pulley 22a to be not more than 90 °, and preferably, the wrapping angle α of the timing belt and the driving pulley 22a is set to be between 35 ° and 60 ° so that the rotation of the driving pulley 22a is reliably transmitted to the timing belt 26. furthermore, the idle pulleys 24 may be disposed outside any timing belt 26 to play a role in tensioning the timing belt 26, for example, one idle pulley 24 is disposed near each driven pulley 22b to improve the transmission reliability of the timing belt 26 and the driven pulley 22 b.

The synchronous belt transmission has the advantages of both gear transmission and belt transmission, and the synchronous belt 26 is in gear tooth contact with the synchronous belt wheel 22, so that the transmission precision of the transmission mode is high, and the motion output by the motor 27 can be accurately transmitted into a synchronous belt transmission device consisting of the synchronous belt wheel 22 and the synchronous belt 26, so that the motion speed of the patrol early-warning robot can be accurately controlled; on the other hand, the synchronous belt 26 itself is a flexible belt with a certain elasticity, which not only has a better buffering and shock absorbing function, but also can be adapted to the remote motion transmission, so that when the length of the base plate 21 is longer, the two driven synchronous pulleys 22 can be arranged according to the overall length and the central position of the patrol early-warning robot 2, and the motion can be stably and reliably transmitted from the driving synchronous pulley 22 to the two driven synchronous pulleys 22. The motion transmission mode can also avoid that the patrol early-warning robot 2 bumps and shakes in the walking process, so that the candid camera 202 and the cradle head 209 are difficult to capture clear images.

In addition, the traveling mechanism preferably includes two or more auxiliary wheels 25, and no power input is provided in the auxiliary wheels 25 to only assist the movement of the patrol alarming robot 2. When the patrol early-warning robot 2 runs on the guide rail system 1, the auxiliary wheel 25 and the guide wheel 23 are arranged up and down, and the guide rail system 1 penetrates through the space between the auxiliary wheel 25 and the guide wheel 23.

As shown in fig. 7 to 11, the guide rail system 1 for guiding the walking process of the patrol pre-warning robot 2 includes a plurality of sections of rail bodies 10 that are spliced together, and adjacent rail bodies 10 are spliced together into a whole by a pressing plate 12, a positioning column 13 and a suitable number of connecting members (not shown in the figure). The rail body 10 includes a front plate 100, a mounting back plate 101, and two upper and lower cross plates 109 connected between the front plate 100 and the mounting back plate 101. When the rail system 1 is mounted to the side wall of the tunnel, the mounting back plate 101 abuts against the side wall of the tunnel and is fixed.

An upper running rail 104 and a lower running rail 105 which are arranged along the extending direction of the rail body 10 are respectively arranged on the upper and lower transverse plates 109, the guide wheel 23 runs on the upper running rail 104, and correspondingly, the auxiliary wheel 25 runs on the lower running rail 105. In order to increase the bonding area between the guide wheel 23 and the auxiliary wheel 25 and the upper and lower running rails and to make the walking of the patrol early-warning robot 2 more stable, the upper running rail 104 and the lower running rail 105 are both arranged in an approximately cylindrical shape, and correspondingly, the guide wheel 23 and/or the auxiliary wheel 25 are arranged in an inward concave shape, so that the inward concave surface on the guide wheel 23 and/or the auxiliary wheel 25 is bonded to the upper running rail 104 and/or the lower running rail 105. In addition, since the relative positional relationship between the auxiliary wheels 25 and the guide wheels 23 is determined, the interval between the upper running rail 104 and the lower running rail 105 is also determined, and the patrol early-warning robot 2 can be reliably run on the rail system 1 in the arrangement direction of the rail bodies 10.

In order to further prevent the patrol early-warning robot 2 from falling off from the guide rail body 10, an upper protection plate 102 and a lower protection plate 103 are further provided on the front plate 100. The upper protection plate 102 exceeds the transverse plate 109 by a distance of about 2cm, when the patrol early-warning robot 2 vibrates and the guide wheel 23 is about to be separated from the upper running rail 104, the guide wheel 23 collides with the upper protection plate 102, and the upper protection plate 102 can exert a reaction force on the guide wheel 23 at the moment to push the guide wheel 23 back into the upper running rail 104. It will be appreciated that the height of the upper fender 102 should extend at least beyond the height of the upper running rail 104, and thus, a distance of about 2cm of the upper fender 102 beyond the cross plate 109 is a particular setting in one embodiment, and is not a vertical limitation on the height of the upper fender 102.

Further, the upper guard plate 102 is inclined by 5 ° to 45 ° toward the direction of the installation back plate 101 so that the upper end of the upper guard plate 102 and the upper end of the installation back plate 101 are close to each other, so that the upper guard plate 102 can push the guide wheel 23 back to the upper running rail 104 in more time when the guide wheel 23 is separated from the upper running rail 104. When the protruding height of the upper shield plate 102 is set to 2cm, the inclination angle thereof toward the mounting backboard 101 is preferably 10 °. It will be appreciated that the height of the upper fender 102 is somewhat related to the angle of inclination, which is not a fixed value, but is also related to the diameter of the guide wheel 23, the curvature of the concave surface of the guide wheel 23, and the cross-sectional dimension of the upper running rail 104, and that the angle of inclination of the upper fender 102 is understood to be close to the mounting backing plate 101 but not in contact with the side surface of the guide wheel 23 in normal operation.

Similar to the upper fender 102, the lower fender 103 is also inclined toward the mounting backboard 101, which functions to reduce the auxiliary wheels 25 from falling off the lower running rail 105.

On the guide rail body 10, the mounting back plate 101 plays a role in fixing the guide rail system 1 to the side wall of the tunnel, and the stress is not large; the front plate 100 needs to bear the weight of the patrol early-warning robot 2, and the weight of the patrol early-warning robot 2 is mostly borne by the front plate 100. Therefore, in order to accommodate the stress of the two plate bodies, the plate thickness of the front plate 100 is larger than that of the mounting back plate 101. In addition, the upper and/or lower guard plates 102 and/or 103 are directly contacted when the guide wheels 23 and/or the auxiliary wheels 25 are derailed, and the thickness of the upper and/or lower guard plates 102 and/or 103 is greater than that of the front plate 100 in order to secure strength. In one embodiment, the back installation plate 101 is a plate body with a thickness of 3cm, the front plate 100 is a plate body with a thickness of 4cm, and the upper protection plate 102 and/or the lower protection plate 103 is a plate body with a thickness of 4.1.

So set up, the relation of thick not only makes the thick atress condition of the corresponding position of the board adaptation of each position on the guide rail body 10 to, when patrol early warning robot 2 and install between last orbit 104 and the lower orbit 105, patrol early warning robot 2's gravity actually acts on two orbit positions on diaphragm 109, and when the thickness of front bezel 100 and upper guard plate 102 and lower guard plate 103 is greater than the board thickness of front bezel 100, can also compensate patrol early warning robot 2's gravity action position.

Further, as shown in fig. 9 and 10, in order to reduce friction loss between the patrol early-warning robot 2 and the upper running rail 104 and/or the lower running rail 105 and reduce vibration of the patrol early-warning robot 2 running in the guide rail system 1, a shock-absorbing coating pipe 11 is arranged outside the upper running rail 104 and/or the lower running rail 105, the shock-absorbing coating pipe 11 is provided with a bayonet 110 along the axial direction, and the shock-absorbing coating pipe 11 is coated outside the upper running rail 104 and/or the lower running rail 105 through the bayonet 110.

The shock-absorbing cladding pipe 11 is preferably made of high-resilience polyurethane material or 100% high-physical-property plastic polyurethane elastomer (TPU), and can also be made of other soft and wear-resistant materials. The processing mode can be, but is not limited to, a mode of forming the bayonet 110 on the whole PU pipe along the axial opening, and in this mode, because the PU pipe has a certain degree of elastic retraction after the opening, the shock-absorbing coating pipe 11 can be tightly attached to the upper running rail 104 and/or the lower running rail 105.

As mentioned above, the guide rail system 1 is formed by splicing a plurality of guide rail bodies 10, and when the vibration-damping coating pipe 11 is also spliced by a plurality of sections of pipes, in order to avoid overlapping of a gap at the splicing position of the guide rail bodies 10 and a splicing gap of the vibration-damping coating pipe 11, the splicing positions of two adjacent sections of vibration-damping coating pipes 11 are preferably staggered from the splicing position of the adjacent guide rail bodies 10. Specifically, a section of the shock absorbing cladding tube 11 preferably spans the seam of the adjacent rail body 10 and is spliced with the adjacent shock absorbing cladding tube 11 on any one rail body 10.

Referring to fig. 8, 9 and 11, the rail bodies 10 are opened with positioning post holes 108 on the surface facing the adjacent rail body 10, and in some embodiments, the positioning post holes 108 are provided in two and are provided at the junction of the front plate 100 and the two cross plates 109. The positioning column hole 108 is used for inserting the positioning column 13 shown in fig. 11, and is preferably made of nylon material, so that the splicing position of the rail body 10 has a good shock absorption effect. The positioning column 13 includes a first positioning section 130 and a second positioning section 131 respectively inserted into the positioning column holes 108 on two adjacent guide rail bodies 10, a soft gasket 132 is preferably disposed between the first positioning section and the second positioning section, the soft gasket 132 is made of a soft material (such as rubber, silica gel, etc.) with good elasticity, and when the adjacent guide rail bodies 10 are spliced, the soft gasket 132 is clamped between the splicing side faces of the two guide rail bodies 10. With this arrangement, when the rail body 10 is thermally expanded due to heat of weather, the expansion amount of the rail body 10 can be compensated by the elastic deformation of the soft gasket 132, thereby preventing the rail bodies 10 from being squeezed against each other.

The positioning column 13 can be a continuous nylon rod, and a soft gasket 132 is sleeved at any position, and the positioning column 13 is used for aligning and splicing the adjacent guide rail bodies 10 to improve the splicing regularity of the guide rail system 1.

The pressing plate 12 is installed in a cavity enclosed by the front plate 100, the installation back plate 101 and the upper and lower horizontal plates 109. The pressing plate 12 is provided with a pressing plate connecting hole 120, the pressing plate connecting hole 120 is disposed along the upper and lower direction in a waist-shaped hole, and correspondingly, the front plate 100 and the mounting back plate 101 are respectively provided with a first connecting hole 106 and a second connecting hole 107. It should be noted here that the first connection hole 106 and the second connection hole 107 on a single rail body 10 are only a part of holes in the conventional sense, and the first connection hole 106 on the adjacent rail body 10 is butted to form a complete circular hole, and similarly, the second connection hole 107 on the adjacent rail body 10 is butted to form a complete circular hole, and the two circular holes correspond to the platen connection hole 120.

When splicing adjacent rail bodies 10, firstly inserting the first positioning section 130 or the second positioning section 131 in the positioning column 13 into one of the rail bodies 10, and making the soft gasket 132 abut against the end face of the positioning column hole 108; fixing the pressing plate 12 to one of the rail bodies 10 with the pressing plate connection hole 120 coaxial with the first connection hole 106 and the second connection hole 107; aligning the positioning post hole 108 on the other rail body 10 with the positioning post 13, and then moving the rail body 10 along the axial direction of the positioning post 13 until the rail body abuts against the end face of the soft gasket 132; the connector is fixed to the inner wall of the tunnel after passing through the pressing plate coupling hole 120 and the second coupling hole 107 from the first coupling hole 106 of the front plate 100.

As shown in fig. 3, the tail of the patrol alarming robot 2 is also provided with a charging docking device 29 which cooperates with the charging device 3 in the charging system for docking with the charging device 3 as necessary to charge the storage battery 205 on the base plate 21.

The patrol early-warning robot 2 runs in a tunnel, when the electric quantity in the storage battery 205 is insufficient, the patrol early-warning robot 2 may be located at any position in the tunnel, the residual electric quantity is difficult to support the patrol early-warning robot 2 to move to a charging position to charge the storage battery 205, therefore, the charging system at least comprises a fixed charging pile and a charging trolley which can move to the position where the patrol early-warning robot 2 is located, the charging trolley is usually connected to the fixed charging pile to keep the electric quantity in the charging trolley sufficient, when the storage battery 205 of the patrol early-warning robot 2 is insufficient, the electric control box 204 sends out an electric quantity shortage signal to the charging system, and the charging trolley is started to move towards the patrol early-warning robot 2 to charge the storage battery 205. When the storage battery 205 is in short of power, the electronic control box 204 in the patrol early-warning robot 2 sends a signal to be charged to the charging system and information of the current position of the patrol early-warning robot 2, and at this time, the charging trolley in the charging system moves towards the patrol early-warning robot 2. It should be understood that, the charging trolley moving towards the patrol early-warning robot 2 as referred to herein means that there is relative motion between the charging trolley and the patrol early-warning robot 2, so that the charging trolley can approach the patrol early-warning robot 2, for example, the patrol early-warning robot 2 still has a certain moving speed when the power is insufficient at a certain position, and moves towards or away from the charging trolley. At this time, the current position information sent by the electronic control box 204 may further include information such as the current speed and the moving direction of the patrol early-warning robot 2 so as to guide the movement of the charging trolley, and in this case, the charging trolley and the patrol early-warning robot 2 are in butt joint in the relative movement process; for another example, the patrol early-warning robot 2 stops operating immediately after sending the power shortage signal, and at this time, the current position information sent by the electronic control box 204 should at least include the current stop position of the patrol early-warning robot 2, so that the charging trolley moves to the position at a proper speed and is docked in the state where the patrol early-warning robot 2 stops.

It should be noted that although the following description is made by taking a contact charging manner as an example, this does not exclude that the charging system may charge the storage battery 205 in a wireless charging manner.

As shown in fig. 12 to 15, the charging docking device 29 at the tail of the patrol pre-warning robot 2 includes a keyhole seat 290 which is fixed to the base plate 21 shown in fig. 3 and is located at the tail of the patrol pre-warning robot 2. The keyhole base 290 is provided with a first sensing device 291, a second sensing device 292, a male bending assembly 293 and an electromagnet 294, and the keyhole base 290 is provided with a keyhole 2900 and a magnet through hole 2901, wherein the electromagnet 294 is movably disposed in the magnet through hole 2901.

The charging trolley in the charging system is provided with a charging device 3, which comprises a lock rod support 30, a straight female component 31 and a lock rod 32, wherein: the straight female component 31 is matched with the bent male component 293 on the charging docking device 29, and when the straight female component and the bent male component are docked, the charging trolley can charge the storage battery 205 in the patrol early-warning robot 2 through the charging docking device 29.

Further, the lock rod 32 on the lock rod support 30 can penetrate into the lock hole 2900 on the lock hole seat 290, and the bent male component 293 and the straight female component 31 are accurately butted by utilizing coaxial alignment of the lock rod 32 and the lock hole 2900. Specifically, when the charging carriage approaches the patrol warning robot 2, the locking bar 32 is aligned with the charging carriage and inserted into the locking hole 2900, so that the relative position of the locking hole seat 290 and the locking bar support 30 is determined. Preferably, after the locking rod 32 is aligned with the locking hole 2900, an adjusting washer 33 is further disposed between the locking rod support 30 and the straight female assembly 31 in order to adjust the position of the straight female assembly 31 on the locking rod support 30 so that it can be aligned with the bent male assembly 293 when the locking rod 32 is inserted into the locking hole 2900.

In some embodiments, a locking device is further disposed between the locking bar support 30 and the keyhole seat 290, and the locking device can lock the positions of the locking bar support 30 and the keyhole seat 290 after the bent male component 293 and the straight female component 31 are correctly butted, so that the charging device 3 can move along with the patrol early-warning robot 2 and charge the patrol early-warning robot 2 during moving. Particularly, when the patrol early-warning robot 2 is in butt joint with the charging trolley during moving, the patrol early-warning robot 2 can work continuously.

In one embodiment, the locking lever 32 has a guiding cone 320, a suction ring groove 321, a sensing post 322, and a mounting limiting post 323, wherein: the mounting limit column 323 is fixed with the lock rod support 30 and used for limiting the integral position of the lock rod 32; the guide taper part 320 forms a taper at the free end of the locking bar 32 to guide the process of the locking bar 32 penetrating into the locking hole 2900; the induction post 322 is located on the small end face of the guide cone part 320 and is used for matching with the first induction device 291, when the induction post 322 extends into a detectable range of the first induction device 291, the first induction device 291 sends out a signal to indicate that the lock rod 32 is inserted in place; the attraction ring groove 321 is matched with the electromagnet 294, when the lock rod 32 penetrates in place, the electromagnet 294 moves in the magnet through hole 2901 and attracts the attraction ring groove 321 on the lock rod 32, at the moment, the second sensing device 292 detects that the electromagnet 294 attracts in place, and the charging system charges the patrol early-warning robot 2.

Before the charging device 3 charges the patrol early-warning robot 2, the insertion relationship between the lock rod 32 and the lock hole 2900 ensures that the straight female component 31 is aligned with the bent male component 293. Thereafter, the first sensing device 291 detects whether the lock lever 32 is inserted in place, so as to ensure that the straight female component 31 and the bent male component 293 are butted in place. The electromagnet 294 acts in response to the first sensing device 291, and when the locking bar 32 is detected to be inserted in place, the electromagnet 294 is attracted into the attraction annular groove 321 on the locking bar 32, so as to fix the insertion position of the locking bar 32, and thus the butt-joint relationship between the straight female component 31 and the bent male component 293 is maintained. When the second sensing device 292 detects that the electromagnet 294 is in place, the charging process is started. Therefore, not only can the charging fault caused by poor contact of charging be avoided, but also more importantly, after the electromagnet 294 is attracted to the attraction ring groove 321, the butt-joint relation between the charging device 3 and the charging butt-joint device 29 is firm, and at the moment, the charging trolley where the charging device 3 is located can move together with the patrol early-warning robot, so that the patrol early-warning robot can run in the tunnel without interruption.

It should be understood that the above-mentioned attraction of the electromagnet 294 to the locking lever 32 is only one specific implementation form of locking the charging device 3 and the charging docking device on the patrol warning robot 2, and any other locking device capable of locking the charging device 3 and the patrol warning robot 2 after the locking lever 32 is docked with the locking hole 2900 should be regarded as a simple modification of the attraction form of the electromagnet in the present invention.

As shown in fig. 12, the telescopic head 295 is arranged on the lock hole seat 290 and/or the lock rod support 30, and the telescopic head 295 is arranged on the end face, which can be attached to the lock rod support 30, of the lock hole seat 290, and when the lock rod support 30 is attached to the telescopic head 295 in the process that the charging device 3 moves towards the charging and docking device 29 of the patrol early-warning robot 2, the telescopic head 295 can limit the further insertion of the bent male component 293 and the straight female component 31, so that the damage of the bent male component 293 or the straight female component 31 caused by excessive insertion of the two is avoided, and meanwhile, the telescopic head 295 can also buffer the impact when the lock rod support 30 is in contact with the lock hole seat 29.

With such an arrangement, during the automatic docking process of the charging device 3 and the charging docking device 29, the bent male component 293 and the straight female component 31 are neither excessively inserted nor incompletely engaged, which would affect the charging efficiency.

Referring to fig. 3, 5 and 6, in order to avoid the influence of dust, moisture and the like in the tunnel on the charging docking device 29, a door opening mechanism 28 is further disposed on the bottom plate 21, the door opening mechanism 28 includes a pair of door plates 280 capable of pivoting on the bottom plate 21 around the axis of the door shaft 281, when the patrol early-warning robot 2 is not charged, the two door plates 280 are closed, together with the housing 20, to close the charging docking device 29 inside the patrol early-warning robot 2, and are opened before the locking lever 32 is docked with the charging docking device 29.

The door opening mechanism 28 further includes a lower support plate 283 fixed to the base plate 21, an upper support plate 282 supported above the lower support plate 283 by posts 284, and a motor mount 2830 fixedly provided on the lower support plate 283. The motor support 2830 is provided with a door opening motor 285, an output shaft of the door opening motor 285 is provided with a driving gear 286, the lower support plate 283 is also provided with a gear support 2831, and the gear support 2831 is rotatably supported with a pair of driven gears 287 which are meshed with each other. Thus, the door opening motor 285 outputs a rotational motion to the outside, and the driving gear 286 rotates, and the driving gear 286 engages with any one of the driven gears 287, thereby driving the pair of driven gears 287 to be rotationally engaged. The transmission ratio between the driving gear 286 and the driven gear 287 can be set as required, and in order to avoid the shock of the patrol warning robot 2 caused by the too fast rotation speed when the door plate 280 is opened and closed, the transmission ratio (or the gear ratio) between the driving gear 286 and the driven gear 287 is less than 1. The two driven gears 287 have the same number of teeth so that the pair of door panels 280 are opened at the same rotational speed. A connecting rod 289 is connected to a rotating shaft of each driven gear 287, and the connecting rod 289 swings in a horizontal plane along with the rotation of the driven gear 287. The door 280 is further provided with a rotation connecting seat 2800, and the connecting rod 289 is rotatably connected to the rotation connecting seat 2800, so that when the connecting rod 289 is rotated by the driven gear 287, the door 280 is pushed to rotate.

The door shaft 281 is rotatably provided to the upper support plate 282, and the door panel 280 is coupled to the door shaft 281 to be rotated with the door shaft 281, and in addition, a limit switch 288 for limiting a rotation angle of the coupling rod 289 is further provided to the lower support plate 283 to limit a rotation opening angle of the door panel 280.

When the patrol early-warning robot 2 normally operates in the guide rail system 1, the pair of door panels 280 is closed. When the electronic control box 204 sends out an electricity shortage signal, the door opening mechanism 28 operates, the door opening motor 285 outputs a rotation motion, so that the driving gear 286 and the pair of driven gears 287 rotate, and the connecting rod 289 is driven to push open the pair of door panels 280, and the charging docking device 29 on the bottom plate 21 is exposed, so that the charging device 3 on the charging trolley is docked with the charging docking device. When the door opening motor 285 does not work, the driving gear 286 is static, and the driven gear 287 meshed with the driving gear 286 cannot rotate, so that the door plate 280 can be kept in a reliable closed state in the state, and the door plate 280 is prevented from being opened accidentally due to jolting, vibration and the like in the moving process of the patrol early-warning robot 2. This kind of form can be better protection charge interfacing apparatus 29, avoids dust, water smoke etc. in the tunnel to get into inside shell 20 from the afterbody of patrol early warning robot 2 simultaneously to other components and parts on the better protection bottom plate 21.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.