CN105696483A - Light road cone automatic collecting and placing robot - Google Patents
Light road cone automatic collecting and placing robot Download PDFInfo
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- CN105696483A CN105696483A CN201610209481.6A CN201610209481A CN105696483A CN 105696483 A CN105696483 A CN 105696483A CN 201610209481 A CN201610209481 A CN 201610209481A CN 105696483 A CN105696483 A CN 105696483A
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- storage platform
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Abstract
The invention relates to a light road cone automatic collecting and placing robot, and relates to the field of intelligent traffic mechanical equipment. The light road cone automatic collecting and placing robot comprises a storing platform which is arranged on a vehicle body and is used for storing road cones, wherein an image recognition system used for recognizing the position of road cones and a mechanical hand used for collecting and placing road cones are mounted on the storing platform. According to the light road cone automatic collecting and placing robot, the structure design is scientific and reasonable, the automatic collecting and placing of road cones are achieved, and the effect that road cones are not required to be manually taken is achieved.
Description
Technical field
The present invention relates to intelligent transportation technical field of mechanical equipment, be specially a kind of light-duty road cone automatic deploying and retracting robot。
Background technology
It is known that, increase along with highway in China mileage and Road Transportation Volume, road maintenance workload is in quickly increasing the impetus, the road maintenance not only labor intensity that works is big, and there is many unsafe factors, in operation HIGHWAY MAINTENANCE process, the block on road surface and opening are one of important events in operation, and one of its job content is to lay and reclaim road cone；Particularly on a highway, owing to totally-enclosed, vehicle travel the features such as high speed, the cone that satisfies the need lays and reclaims significantly high requirement, should ensure the safety that vehicle travels, also to ensure the safety of maintenance construction personnel。
Current China is substantially and lays and reclaim road cone operation by being accomplished manually, exist lay low with organic efficiency, lay after linearly undesirable and lay the problems such as poor with operator safety when reclaiming。
Summary of the invention
It is an object of the invention to provide a kind of light-duty road cone automatic deploying and retracting robot, to realize the automatic deploying and retracting of road cone, reduce operation danger and labor intensity, save human resources, improve work efficiency。
The technical scheme realizing above-mentioned purpose is: light-duty road cone automatic deploying and retracting robot, it is characterized in that: include being arranged on car body, for deposit road cone storage platform, described storage platform is provided with the image identification system for identifying cone position, road and for folding and unfolding road cone mechanical hand；Described mechanical hand includes cantilever group, rotating clip claw mechanism and the slew gear being arranged in storage platform, one end of cantilever group is hinged on the upper end of slew gear, described slew gear is provided with the cantilever group driving mechanism driving cantilever group pin joint on slew gear to rotate, clip claw mechanism is hinged on the other end of cantilever group, and described cantilever group is provided with the mechanical arm drive mechanism driving the clip claw mechanism pin joint around cantilever group end to rotate。
Described cantilever group includes the large arm being hinged, middle arm and forearm, and the middle arm driving mechanism that the end of large arm is connected in driving arm and rotates around large arm terminal hinge point, the end of middle arm is connected to the forearm driving mechanism driving forearm to rotate around middle arm terminal hinge point。
Described clip claw mechanism includes connecting seat, one end of described connection seat is hinged with forearm, the other end is connected to drive motor, the outfan of drive motor is connected to moving block, moving block is connected to left jaw and right jaw, one end of left jaw and right jaw is connected on moving block respectively through rotating shaft, and one end that left jaw and right jaw are connected on moving block is arranged to intermeshing sprocket wheel, described moving block is also associated with drive the motor that wherein side sprocket wheel rotates。
Described storage platform is provided with two rows for placing the taper positioning sleeve of road cone。
The angle adjustable of described image identification system, and it is arranged in storage platform by transverse sliding mechanism, described horizontal sliding mechanism includes the 3rd slide rail being transversely mounted in storage platform, 3rd slide rail is slidably fitted with mounting seat, described mounting seat is slidably fitted with the 4th slide rail, being slidably fitted with connection seat on described 4th slide rail, described image identification system is arranged on connection seat。
Being also equipped with casing in storage platform, mechanical hand, image identification system and taper positioning sleeve may be contained within casing；Casing includes being arranged at the first side plate of the storage platform left and right sides, the second side plate of both sides, front and back and top board, first side plate is movably arranged in storage platform, and the both sides of storage platform are separately installed with the elevating mechanism driving the lifting of respective side the first side plate, second side plate is fixed in storage platform, described top board is switchable rolling screen door, and described rolling screen door is using the upper surface of the first side plate of the left and right sides as switch track。
Elevating mechanism includes laterial translation mechanism, vertical translation mechanism and is vertically provided at the first slide rail of the first side plate interior sides end face both sides respectively and is slidably arranged in the first slide block on corresponding first slide rail, connected as one by connecting plate between first slide block, the both sides of connecting plate are connected to the second slide rail, and described second slide rail is arranged in storage platform by the second slide block；The 3rd motor, the 3rd slide block of horizontally set that described laterial translation mechanism includes being arranged in storage platform and be slidably arranged in the first tooth bar on the 3rd slide block, the outfan of the 3rd motor is connected to the first gear engaged with the first tooth bar, and described first tooth bar is connected with connecting plate；Vertical translation mechanism includes the 4th motor being arranged on connecting plate and the second tooth bar being vertically connected on the first side plate, and the outfan of described 4th motor is connected to the second gear engaged with the second tooth bar。
When the present invention receives road cone, by mechanical hand, the road on road surface is bored on the folding and unfolding taper positioning sleeve to storage platform, when putting road cone, by mechanical hand, the road cone on taper positioning sleeve is sequentially arranged on road surface。
Beneficial effects of the present invention:
1, present configuration design science is reasonable, it is achieved that the automatic deploying and retracting of road cone, it is achieved without the effect of road cone of manually taking。
2, the whole work process of the present invention is without artificial participation, reduces operation danger, reduces labor intensity, saves human resources, improves work efficiency height。
3, all mechanisms may be contained within casing, it is possible to dust-proof, improves the service life of each mechanism, and also improves visual effect。
4, when the present invention does not use, casing can hang vehicle, does not affect other uses of vehicle。
5, the angle adjustable of image identification system of the present invention, and can transversely horizontally slip by slide mechanism, it is ensured that without dead angle, the road cone identifying optional position and form exhaustive。
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of transverse sliding mechanism；
Fig. 3 is the structural representation of mechanical hand；
Fig. 4 is the structural representation of slew gear；
Fig. 5 is the structural representation of clip claw mechanism；
Fig. 6 is the structural representation of elevating mechanism。
Detailed description of the invention
One, below in conjunction with accompanying drawing, the structure of the present invention is illustrated:
As shown in Fig. 16, the present invention includes being arranged on car body, for depositing the storage platform 1 of road cone, being provided with image identification system 43, two row in storage platform 1 for the taper positioning sleeve 25 placing road cone and the mechanical hand 2 bored for folding and unfolding road, two rows are arranged between image identification system 43 and mechanical hand 2 for the taper positioning sleeve 25 placing road cone。
The angle adjustable of image identification system 43, and it is arranged in storage platform 1 by transverse sliding mechanism 44, horizontal sliding mechanism 44 includes the 3rd slide rail 45 being transversely mounted in storage platform 1,3rd slide rail 45 is slidably fitted with mounting seat 46, mounting seat 46 is driven horizontally slipped along the 3rd slide rail 45 by intermeshing 3rd gear, the 3rd tooth bar 47, and mounting seat 46 is provided with the 5th motor 48 driving the 3rd pinion rotation；Described mounting seat 46 is also slidably fitted with the 4th slide rail 49,4th slide rail 49 is driven horizontally slipped along mounting seat 46 by intermeshing 4th gear, the 4th tooth bar 50, described mounting seat 46 is provided with the 6th motor 51 driving the 4th pinion rotation, four slide rails 49 are slidably fitted with connection seat 52, image identification system 43 is arranged on connection seat 52, connecting seat 52 and be connected to the 7th motor 53, the outfan of the 7th motor 53 is connected to the 5th gear 54 engaged with the 4th tooth bar 50。
Mechanical hand 2 includes cantilever group 3, rotating clip claw mechanism 4 and the slew gear 5 being arranged in storage platform 1, one end of cantilever group 3 is connected on slew gear 5, driving cantilever group 3 to rotate by slew gear 5, clip claw mechanism 4 is connected to the other end of cantilever group 3。
Bearing block 6 that slew gear 5 includes being arranged in storage platform 1 and be arranged on the first motor 9 and the first decelerator 10 bottom storage platform, vertically arranged rotation axle 7 is installed in bearing block 6, the upper end rotating axle 7 is connected to rotating disk 8, the outfan connection reducer 10 of the first motor 9, the outfan of decelerator 10 connects rotation axle 7, motor
Cantilever group 3 includes the large arm 11 being hinged, middle arm 12 and forearm 13, one end of large arm is hinged on rotating disk 8, rotating disk 8 is provided with the large arm driving mechanism 14 driving the large arm 11 pin joint on rotating disk 8 to rotate, the middle arm driving mechanism 15 that the end of large arm 11 is connected in driving arm 12 and rotates around large arm 13 terminal hinge point, the end of middle arm 12 is connected to the forearm driving mechanism 16 driving forearm 13 to rotate around middle arm 12 terminal hinge point, clip claw mechanism 4 is hinged on the end of forearm 13, the end of forearm 13 is also equipped with the mechanical arm drive mechanism 17 driving clip claw mechanism 4 to rotate around the pin joint of forearm 13 end。
It is capable of the flexible flexibly of large arm 11, middle arm 12, forearm 13 and clip claw mechanism 4, it is achieved the road cone of optional position and angle of arbitrarily putting upside down is captured accurately and fast by large arm driving mechanism 14, middle arm driving mechanism 15, forearm driving mechanism 16 and mechanical arm drive mechanism 17；Large arm driving mechanism 14, middle arm driving mechanism 15, forearm driving mechanism 16 and mechanical arm drive mechanism 17 all can adopt motor to drive。
Clip claw mechanism 4 includes connecting seat 18, the one end connecting seat 18 is hinged with forearm 13, and the other end is connected to drive motor 19, and the outfan of drive motor 19 is connected to moving block 20, moving block 20 is connected to left jaw 21 and right jaw 22, is realized the spinfunction of jaw by drive motor 19；One end of left jaw 21 and right jaw 22 is connected on moving block 20 respectively through rotating shaft, and one end that left jaw 21 and right jaw 22 are connected on moving block 20 is arranged to intermeshing sprocket wheel 23, being also associated with on moving block 20 driving the second motor 24 that wherein side sprocket wheel 23 rotates, the second motor 24 rotates the opening and closing driving left jaw 21 and right jaw 22。
Storage platform 1 is also equipped with casing 25, mechanical hand 2, image identification system 43 and taper positioning sleeve 25 may be contained within casing 26, casing 26 includes being arranged at the first side plate 27 of storage platform 1 left and right sides, the second side plate 28 of both sides, front and back and top board 29, when the present invention does not work, all mechanisms may be contained within casing 26, can be dust-proof, improve service life and the visual effect of each mechanism。And also vehicle can be hung, do not affect other uses of vehicle,
But motion space when mechanical hand 2 and image identification system 43 work is relatively big, and therefore casing 26 also needs to very according to work on the spot situation in the course of the work, it is necessary to open the first side plate 27 and the top board 29 of the left and right sides。Therefore the first side plate 27 is movably arranged in storage platform 1, and the both sides of storage platform 1 are separately installed with the translation lifting mechanism 30 driving respective side the first side plate 27 to translate, lift, second side plate 28 is fixed in storage platform 1, top board 29 is switchable rolling screen door, and rolling screen door is using the upper surface of the first side plate 27 of the left and right sides as switch track。
Translation lifting mechanism 30 includes laterial translation mechanism, vertical translation mechanism and is vertically provided at the first slide rail 31 of the first side plate 27 inner side end both sides respectively and is slidably arranged in the first slide block 32 on corresponding first slide rail 31, connected as one by connecting plate 33 between first slide block 32, the both sides of connecting plate 33 are connected to the second slide rail 34, and described second slide rail 34 is arranged in storage platform 1 by the second slide block 35；The 3rd motor 37 that described laterial translation mechanism includes being arranged in storage platform 1, the 3rd slide block 36 of horizontally set and the first tooth bar 38 being slidably arranged on the 3rd slide block 36, the outfan of the 3rd motor 37 is connected to the first gear 41 engaged with the first tooth bar 38, and described first tooth bar 38 is connected with connecting plate 33；Vertical translation mechanism includes the 4th motor 39 being arranged on connecting plate 33 and the second tooth bar 40 being vertically connected on the first side plate 27, and the outfan of described 4th motor 39 is connected to the second gear 42 engaged with the second tooth bar 40。
The operation principle of translation lifting mechanism 30: when opening, the first tooth bar 38 need to be driven to slide along the 3rd slide block 36 by the 3rd motor 37, make the first side plate 27 protruding, restart the 4th motor 39 and drive the second tooth bar 40 to move down, drive the first side plate 27 to open downwards；During closedown, process is contrary。
Two, the work process of the present invention:
Receiving vehicle during cone is reverse travel state, first open rolling screen door, then first side plate 27 on left side or right side is opened according to receipts cone position, slew gear 5 starts, image identification system 43 and all protruding casing 26 of mechanical hand 2, image identification system 43 is according to the information provided, clip claw mechanism 4 clamps the road cone on road surface, and one by one the road cone of gripping is arranged on the taper positioning sleeve 25 of storage platform 1, the discharge principle of the road cone collected is: never receiving cone flank and discharge successively to receiving cone flank, on each taper positioning sleeve 25, set puts presetting quantity。
When putting cone, vehicle is normal transport condition, first opens rolling screen door, then opens left side or first side plate 27 on right side according to putting cone position, from putting cone flank to not putting the road cone that cone flank grips taper positioning sleeve 25 by clip claw mechanism 4 successively, and it is emitted on successively on road surface。
Claims (7)
1. light-duty road cone automatic deploying and retracting robot, it is characterised in that: include being arranged on car body, for deposit road cone storage platform, described storage platform is provided with the image identification system for identifying cone position, road and for folding and unfolding road cone mechanical hand；Described mechanical hand includes cantilever group, rotating clip claw mechanism and the slew gear being arranged in storage platform, one end of cantilever group is hinged on the upper end of slew gear, described slew gear is provided with the cantilever group driving mechanism driving cantilever group pin joint on slew gear to rotate, clip claw mechanism is hinged on the other end of cantilever group, and described cantilever group is provided with the mechanical arm drive mechanism driving the clip claw mechanism pin joint around cantilever group end to rotate。
2. light-duty road according to claim 1 cone automatic deploying and retracting robot, it is characterized in that: described cantilever group includes the large arm being hinged, middle arm and forearm, the middle arm driving mechanism that the end of large arm is connected in driving arm and rotates around large arm terminal hinge point, the end of middle arm is connected to the forearm driving mechanism driving forearm to rotate around middle arm terminal hinge point。
3. light-duty road according to claim 1 and 2 cone automatic deploying and retracting robot, it is characterized in that: described clip claw mechanism includes connecting seat, one end of described connection seat is hinged with forearm, the other end is connected to drive motor, the outfan of drive motor is connected to moving block, moving block is connected to left jaw and right jaw, one end of left jaw and right jaw is connected on moving block respectively through rotating shaft, and one end that left jaw and right jaw are connected on moving block is arranged to intermeshing sprocket wheel, described moving block is also associated with drive the motor that wherein side sprocket wheel rotates。
4. light-duty road according to claim 1 cone automatic deploying and retracting robot, it is characterised in that: described storage platform is provided with two rows for placing the taper positioning sleeve of road cone。
5. the light-duty road cone automatic deploying and retracting robot according to claim 1 or 4, it is characterized in that: the angle adjustable of described image identification system, and it is arranged in storage platform by transverse sliding mechanism, described horizontal sliding mechanism includes the 3rd slide rail being transversely mounted in storage platform, 3rd slide rail is slidably fitted with mounting seat, being slidably fitted with the 4th slide rail in described mounting seat, described 4th slide rail is slidably fitted with connection seat, described image identification system is arranged on connection seat。
6. light-duty road according to claim 5 cone automatic deploying and retracting robot, it is characterised in that: being also equipped with casing in storage platform, mechanical hand, image identification system and taper positioning sleeve may be contained within casing；Casing includes being arranged at the first side plate of the storage platform left and right sides, the second side plate of both sides, front and back and top board, first side plate is movably arranged in storage platform, and the both sides of storage platform are separately installed with the elevating mechanism driving the lifting of respective side the first side plate, second side plate is fixed in storage platform, described top board is switchable rolling screen door, and described rolling screen door is using the upper surface of the first side plate of the left and right sides as switch track。
7. light-duty road according to claim 6 cone automatic deploying and retracting robot, it is characterized in that: elevating mechanism includes laterial translation mechanism, vertical translation mechanism and is vertically provided at the first slide rail of the first side plate interior sides end face both sides respectively and is slidably arranged in the first slide block on corresponding first slide rail, connected as one by connecting plate between first slide block, the both sides of connecting plate are connected to the second slide rail, and described second slide rail is arranged in storage platform by the second slide block；The 3rd motor, the 3rd slide block of horizontally set that described laterial translation mechanism includes being arranged in storage platform and be slidably arranged in the first tooth bar on the 3rd slide block, the outfan of the 3rd motor is connected to the first gear engaged with the first tooth bar, and described first tooth bar is connected with connecting plate；Vertical translation mechanism includes the 4th motor being arranged on connecting plate and the second tooth bar being vertically connected on the first side plate, and the outfan of described 4th motor is connected to the second gear engaged with the second tooth bar。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610209481.6A CN105696483A (en) | 2016-04-07 | 2016-04-07 | Light road cone automatic collecting and placing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610209481.6A CN105696483A (en) | 2016-04-07 | 2016-04-07 | Light road cone automatic collecting and placing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105696483A true CN105696483A (en) | 2016-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610209481.6A Pending CN105696483A (en) | 2016-04-07 | 2016-04-07 | Light road cone automatic collecting and placing robot |
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| CN (1) | CN105696483A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106368140A (en) * | 2016-09-06 | 2017-02-01 | 武汉理工大学 | Road cone automatic recovery device and recovery method thereof |
| CN108867441A (en) * | 2018-08-02 | 2018-11-23 | 公安部交通管理科学研究所 | Cone cylinder based on small size platform lays recovery system automatically |
| CN110820624A (en) * | 2019-11-20 | 2020-02-21 | 北京工商大学 | Automatic traffic cone recycling and placing device for dangerous road sections |
| CN112301903A (en) * | 2020-10-30 | 2021-02-02 | 徐州徐工随车起重机有限公司 | A speed reduction strip winding and unwinding devices for road seals way temporarily |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106368140A (en) * | 2016-09-06 | 2017-02-01 | 武汉理工大学 | Road cone automatic recovery device and recovery method thereof |
| CN108867441A (en) * | 2018-08-02 | 2018-11-23 | 公安部交通管理科学研究所 | Cone cylinder based on small size platform lays recovery system automatically |
| CN110820624A (en) * | 2019-11-20 | 2020-02-21 | 北京工商大学 | Automatic traffic cone recycling and placing device for dangerous road sections |
| CN112301903A (en) * | 2020-10-30 | 2021-02-02 | 徐州徐工随车起重机有限公司 | A speed reduction strip winding and unwinding devices for road seals way temporarily |
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Application publication date: 20160622 |
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