CN106555381B - Automatic road cone retraction system - Google Patents
Automatic road cone retraction system Download PDFInfo
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- CN106555381B CN106555381B CN201510611749.4A CN201510611749A CN106555381B CN 106555381 B CN106555381 B CN 106555381B CN 201510611749 A CN201510611749 A CN 201510611749A CN 106555381 B CN106555381 B CN 106555381B
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Abstract
The invention discloses an automatic road cone retraction system which comprises a road cone position analysis module, a motion control module, a pickup mechanism, a stacking mechanism, a transfer mechanism and a vehicle-mounted power module, wherein the pickup mechanism is arranged on the road cone; the road cone position analysis module, the motion control module and the vehicle-mounted power supply are all arranged in the carriage body and are connected with each other through a data line; the motion control module is respectively connected with the picking mechanism, the stacking mechanism and the transfer mechanism through data lines. The invention adopts machine vision automatic identification analysis, and the picking clamping jaw and the stacking clamping jaw self-adaptively grasp and correct the road cone according to the accurate position and angle analyzed by the position analysis module, so that the problem that the similar systems at home and abroad can not recover the irregular inverted road cone is solved, the process is fully and automatically completed without any manual intervention, the function of automatically receiving and transmitting the road cone is realized, the manufacturing cost of the whole system is greatly reduced, the invention is suitable for expressway maintenance departments to quickly recover investment cost, and has good economic benefit.
Description
Technical Field
The invention relates to a road cone retraction system, in particular to an automatic road cone retraction system capable of automatically placing and recycling road cones.
Background
Along with the development of China social economy and the improvement of safety consciousness of people, the modernization and the intellectualization of traffic equipment are more urgent and important. In recent years, china has obtained a great deal of development in the fields of rail transit, urban buses, high-speed intelligent monitoring and the like, and has achieved a great deal of achievement. However, in some traffic maintenance and support systems, old systems such as warning road cone retraction systems of highways are still used for decades, and a manual operation mode is still adopted, so that people put and store warning road cones on the highways, and the traditional method has the defects that on one hand, a car running at a high speed causes potential danger to workers working on the roads, and the psychological pressure is high and the labor intensity is high when the workers operate; on the other hand, the vehicle carrying the road cone needs to stop and go to receive the road cone, can not continuously operate, and has low operation efficiency.
At present, special intelligent road cone receiving and sending vehicles exist abroad, the manufacturing cost reaches millions of primordial coins, and irregular inverted road cones on the road surface due to collision of the vehicles or strong wind blowing can not be recovered. In addition, there are also semi-automatic road cone retraction devices tried by manufacturers in China, a driver cab drives a vehicle by one worker, a carriage is placed on the road cone, and the other worker is responsible for receiving, placing and stacking the road cone. Because the carriage is not of a totally-enclosed design, the operation environment is bad, the labor intensity is high, and the road cone which is irregularly placed upside down on the road surface cannot be recovered, the road cone which is placed upside down is required to be picked up manually when the vehicle is frequently stopped, and the accident risk of machine blocking and manual intervention exists, so that the vehicle is difficult to popularize and apply in a large range. In view of the above, there is a need in the market at present for an intelligent system capable of automatically delivering road cones and recovering road cones, which is capable of recovering road cones which are irregularly placed upside down, has low cost, and is suitable for popularization and use in China.
Disclosure of Invention
In order to solve the defects of the technology, the invention provides an automatic road cone retraction system.
In order to solve the technical problems, the invention adopts the following technical scheme: an automatic road cone retraction system comprises a road cone position analysis module, a motion control module, a pickup mechanism, a stacking mechanism, a transfer mechanism and a vehicle-mounted power module;
the pick-up mechanism comprises a pick-up front-back movement slipway, a pick-up left-right movement slipway, a pick-up-down movement slipway and a rotating mechanism; the pickup front-back movement slipway is divided into a pickup front movement slipway and a pickup back movement slipway; the pre-pickup moving slipway and the post-pickup moving slipway are horizontally arranged at the same horizontal position on the left side and the right side of the carriage; the pickup left-right movement slipway is movably connected to the pickup front movement slipway and the pickup rear movement slipway; the pick-up and down moving sliding table is movably connected to the pick-up left and right moving sliding table; the rotating mechanism is arranged at the lower end of the pick-up-down movement sliding table, and the lower end of the rotating mechanism is connected with a pick-up clamping jaw; motors are arranged on the pick-up front-back movement sliding table, the pick-up left-right movement sliding table, the pick-up-down movement sliding table and the rotating mechanism;
the stacking mechanism comprises a stacking front-back movement slipway, a stacking left-right movement slipway, a stacking up-down movement slipway and a stacking clamping jaw, wherein the stacking front-back movement slipway is divided into a stacking front movement slipway and a stacking back movement slipway; the pre-stacking moving slipway and the post-stacking moving slipway are horizontally arranged at the same horizontal position on the left side and the right side of the carriage; the left-right movement slipway of the stack is movably connected to the front movement slipway and the rear movement slipway of the stack; the stacking up-and-down movement slipway is movably connected to the stacking left-and-right movement slipway; the stacking clamping jaw is arranged at the lower end of the stacking up-and-down movement sliding table; motors are arranged on the stacking front-back movement slipway, the stacking left-right movement slipway and the stacking up-down movement slipway;
the transfer mechanism is positioned between the pick-up mechanism and the stacking mechanism and comprises a driving device rotating shaft; the rotating shaft is provided with a road cone guide frame;
the road cone position analysis module, the motion control module and the vehicle-mounted power supply are all arranged in the carriage body and are connected with each other through a data line; the motion control module is respectively connected with the picking mechanism, the stacking mechanism and the transfer mechanism through data lines.
The road cone position analysis module comprises a plurality of cameras and an industrial personal computer; the industrial personal computer is connected with the video camera through a data line;
the motion control module comprises a motion controller, a display screen, a motor driver and a speed sensor; the motion controller is respectively connected with the display screen, the motor driver and the speed measuring sensor through data lines; the motor driver is respectively connected with the motors of the picking mechanism and the stacking mechanism and the driving device of the transfer mechanism through data wires;
the vehicle-mounted power supply module comprises a vehicle-mounted generator, a voltage stabilizer and a switch protector which are connected through data lines.
The two ends of the pick-up left-right moving slipway and the stacking left-right moving slipway are respectively provided with a slide guiding connecting piece, and the pick-up left-right moving slipway and the stacking left-right moving slipway are respectively and movably connected with the pick-up front-back moving slipway and the stacking front-back moving slipway through the slide guiding connecting pieces at the two ends.
A sliding block is arranged on the pick-up left-right moving sliding table and the stacking left-right moving sliding table; the pick-up and down moving sliding table and the stacking up and down moving sliding table are respectively and movably connected with the pick-up left and right moving sliding table and the stacking left and right moving sliding table through sliding blocks.
The lower end of the stacking clamping jaw is of an umbrella rib structure, and is in a vertical strip shape when closed and in a conical shape when opened.
The pick-up clamping jaw comprises a pick-up outer clamping jaw and a pick-up inner clamping jaw; the lower ends of the two grippers of the picking inner clamping jaw are outwards bent and are arranged between the two grippers of the picking outer clamping jaw.
According to the invention, the automatic recognition and analysis are adopted by machine vision, the road cone is adaptively grasped and corrected by the picking clamping jaw and the stacking clamping jaw according to the accurate positions and angles analyzed by the position analysis module, the problem that the irregular reverse road cone cannot be recovered by similar systems at home and abroad is solved, the process is fully and automatically completed, no manual intervention is required, and the personal safety of workers is ensured while the efficiency is improved.
Compared with a semi-automatic system in China, the carriage for storing the road cone is operated cooperatively by the stacking manipulator and the picking manipulator, any manual intervention and on-site monitoring are not needed, and the accident risk is reduced while the manpower is saved; compared with the similar system abroad, the technical scheme of the invention automatically reforms on the basis of the existing vehicle, and the road cone receiving and transmitting system is additionally arranged on the existing vehicle, so that the cost of the whole system is greatly reduced while the functions of similar products abroad are realized, the system is suitable for the expressway maintenance department to quickly recover the investment cost, and has good economic benefit.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
Fig. 1 is a schematic view showing the structural connection of the pick-up mechanism, the transfer mechanism and the stacking mechanism in the interior of a vehicle compartment.
Fig. 2 is a schematic view of the structure of the pick-up jaw of the present invention.
Fig. 3 is a side view of fig. 2.
Fig. 4 is an enlarged schematic view of the stacking jaw gripping cone of the present invention.
Fig. 5 is a schematic structural view of the road cone guide frame of the present invention.
Fig. 6 is a schematic structural diagram of a motion control module according to the present invention.
Fig. 7 is a schematic structural diagram of a position analysis module according to the present invention.
FIG. 8 is a schematic view showing another mounting structure of the moving slipway of the present invention
Fig. 9 is a functional block diagram of the retraction of the road cone of the present invention.
FIG. 10 is a block diagram of a process for cone retrieval in accordance with the present invention.
FIG. 11 is a block diagram of the present invention for road cone lowering.
In the figure: 1. picking up a sliding table which moves forwards and backwards; 2. picking up a left-right movement sliding table; 3. picking up an up-and-down moving sliding table; 4. a rotation mechanism; 5. pick up the clamping jaw; 6. a stacking front-back movement slipway; 7. a left-right movement slipway of the stack; 8. stacking up and down moving sliding table; 9. stacking jaws; 10. road cone guide frame; 11. a camera; 12. an industrial personal computer; 13. a motion controller; 14. a display screen; 15. a motor driver; 16. a speed sensor; 17. a motor; 18. a slide guiding connecting piece; 19. a slide block; 20. a support rod; 21. picking up the outer clamping jaw; 22. pick up the inner jaw.
Detailed Description
As shown in fig. 1 to 8, the invention comprises a road cone position analysis module, a motion control module, a picking mechanism, a stacking mechanism, a transfer mechanism and a vehicle-mounted power module;
the pick-up mechanism comprises a pick-up front-back movement sliding table 1, a pick-up left-right movement sliding table 2, a pick-up-down movement sliding table 3 and a rotating mechanism 4; the pickup front-rear movement slipway 1 is divided into a pickup front movement slipway and a pickup rear movement slipway; the pre-pickup moving slipway and the post-pickup moving slipway are horizontally arranged at the same horizontal position on the left side and the right side of the carriage; the pickup left-right movement slipway 2 is movably connected to the pickup front movement slipway and the pickup rear movement slipway; the pick-up and down movement sliding table 3 is movably connected to the pick-up left and right movement sliding table 2; the rotating mechanism 4 is arranged at the lower end of the pick-up-and-down movement sliding table 3; the lower end of the rotating mechanism 4 is connected with a pickup clamping jaw 5; motors 17 are arranged on the pick-up front-back movement sliding table 1, the pick-up left-right movement sliding table 2, the pick-up-down movement sliding table 3 and the rotating mechanism 4;
the motion control module can control the rotation speed, the direction and the duration of the motor on the front-back motion sliding table 1, the pickup left-right motion sliding table 2 and the pickup up-down motion sliding table 3 of the pickup mechanism through the motor driving device 16 so as to control the opening and closing of the pickup clamping jaw 5 to clamp the bottom edge of the road cone. The whole picking mechanism has five degrees of freedom of front and back, left and right, up and down, rotation of the clamping jaw and opening and closing of the clamping jaw, and can realize clamping, rotation and centering of the road cone and moving and transportation in a three-dimensional space.
The stacking mechanism comprises a stacking front-back movement slipway 6, a stacking left-right movement slipway 7, a stacking up-down movement slipway 8 and a stacking clamping jaw 9; the stacking front-back movement slipway 6 is divided into a stacking front movement slipway and a stacking back movement slipway; the pre-stacking moving slipway and the post-stacking moving slipway are horizontally arranged at the same horizontal position on the left side and the right side of the carriage; the left-right movement slipway 7 of the stack is movably connected to the front movement slipway and the rear movement slipway of the stack; the stacking up-and-down movement slipway 8 is movably connected to the stacking left-and-right movement slipway 7; the stacking clamping jaw 9 is arranged at the lower end of the stacking up-and-down movement sliding table; the motor 17 is arranged on the stacking front-back movement sliding table 6, the stacking left-right movement sliding table 7 and the stacking up-down movement sliding table 8; the whole stacking mechanism has four degrees of freedom of front and back, left and right, up and down and clamping jaw opening and closing, and can realize the clamping of road cones and the moving transportation in a three-dimensional space.
The connection mode and structure of the moving sliding table of the picking mechanism are the same as those of the stacking mechanism, and the difference is that the lower end of the up-and-down moving sliding table of the picking mechanism is provided with a rotating mechanism 4, so that the picking mechanism drives the picking clamping jaw 5 to move through the rotation of the rotating mechanism 4, and a road cone placed upside down on a road surface can be easily clamped.
The moving slipway of the picking up mechanism and the stacking mechanism is a U-shaped or M-shaped groove, and the belt or the screw rod is arranged in the U-shaped or M-shaped groove. The corresponding motor 17 is driven to run by the motor driving device of the motion control module, so that corresponding actions are realized.
The transfer mechanism is positioned between the pick-up mechanism and the stacking mechanism and comprises a driving device and a rotating shaft; the driving device of the transfer mechanism is driven by a cylinder at present, and can be directly driven by an oil cylinder or a motor, so long as the rotation of the driving rotation shaft can be realized, and the road cone can be horizontally or vertically turned over. The road cone guide frame 10 is arranged on the rotating shaft, the road cone guide frame 10 provides auxiliary support for road cones in a non-vertical state, when the road cones are placed, the transfer mechanism rotates to a state that the road cone guide frame 10 is vertical, the road cones sent by the stacking mechanism are placed on the road cone guide frame first, and then are placed at intervals along a road surface after being grasped by the picking mechanism; when the road cone recycling operation is carried out, the motion control module obtains the coordinate and angle information of the road cone according to the road cone position analysis module, the pick-up clamping jaw 5 is utilized to grab the lower edge of the road cone, the rotary mechanism is utilized to rotationally align the road cone to the position of being horizontally opposite to the road cone guide frame 10, the road cone is pushed into the road cone guide frame 10 and then is released from the pick-up clamping jaw 5, the road cone is horizontally placed on the transfer mechanism, then the pick-up mechanism is moved away, the transfer mechanism rotates about 90 degrees to the road cone vertical state, and then the stack clamping jaw 9 of the stacking mechanism grabs the road cone and places the road cone in the road cone stacking area according to the row and column placement rule. The road cone guide frame 10 is a cone with the same structure as the road cone, and the outer shape size of the cone is slightly smaller than that of the road cone, so that the road cone can stably stand on the road cone guide frame 10 in a horizontal state.
The road cone position analysis module, the motion control module and the vehicle-mounted power supply are all arranged in the carriage body and are connected with each other through a data line; no special requirements are placed on the mounting positions of the carriage bodies; the motion control module is respectively connected with the picking mechanism, the stacking mechanism and the transfer mechanism through data lines.
When the road surface is wider, a bracket can be movably arranged in the carriage, and can extend out of the carriage; the pickup forward and backward movement slipway 1 of the pickup mechanism is mounted on the bracket. The support can be designed into different forms, for example, the support can be designed into a cuboid frame, the lower surface of the support is installed at the bottom of a vehicle in a rail and pulley connection mode, so long as the support can be equivalent to the retraction of a carriage, when the pick-up front-back movement sliding table 1 of the pick-up mechanism is installed on the support, the support is equivalent to the extension of the carriage, and the support can be applicable to the pick-up and retraction of a road cone on a wider road surface.
The road cone position analysis module comprises a plurality of cameras 11 and an industrial personal computer 12; the industrial personal computer 12 is connected with the video camera 11 through a data line; the camera 11 is aligned to the road surface, the image of the road surface is shot and transmitted to the industrial personal computer 12 for image analysis processing, whether the road cone exists in the image, the coordinate position of the road cone, the inverted angle posture and other information are identified by the industrial personal computer 12, and then a control signal is sent to the motion control module. The mounting position of the camera 11 is not particularly required, as long as it can clearly photograph and display the road surface condition outside the carriage body, and in order to display the road surface condition in all directions, a plurality of cameras are generally provided and mounted in different directions outside the carriage body.
The motion control module comprises a motion controller 13, a display screen 14, a motor driver 15 and a speed sensor 16; the motion controller 13 is respectively connected with the display screen 14, the motor driver 15 and the speed measuring sensor 16 through data lines; the motor driver 15 is respectively connected with motors 17 of the picking mechanism, the stacking mechanism and the transferring mechanism through data wires; the display 14 may display system operating parameters and may perform functions such as parameter setting, status display, and camera video display.
The motion control module carries out logic operation on the received road cone coordinate data and angle posture information transmitted by the road cone position analysis module and input parameters such as parameters set by a speed measuring sensor and a user, and sends instructions such as rotation speed, direction, duration and the like to a motor 17 arranged on the picking mechanism, the stacking mechanism and the transfer mechanism respectively, so that the actions such as front and back, left and right, up and down sliding, clamping jaw rotation, clamping jaw opening and closing and the like of the picking clamping jaw 5 and the stacking clamping jaw 9 are controlled, and a series of actions such as road cone placement and recovery are completed.
The vehicle-mounted power supply module comprises a vehicle-mounted generator, a voltage stabilizer and a switch protector which are connected through data lines. The vehicle-mounted power supply provides a power supply for the road cone position analysis module and the motion control module; the switch protector can be added with a plurality of devices such as a leakage protector, an overload protector and the like according to actual needs.
The two ends of the pick-up left-right moving sliding table 2 and the stacking left-right moving sliding table 7 are respectively provided with a slide guiding connecting piece 18, and the pick-up left-right moving sliding table 2 and the stacking left-right moving sliding table 7 are respectively and movably connected with the pick-up front-back moving sliding table 1 and the stacking front-back moving sliding table 6 through the slide guiding connecting pieces 18 at the two ends.
A sliding block 19 is arranged on the pick-up left-right moving sliding table 2 and the stacking left-right moving sliding table 7; the pick-up and down moving sliding table 3 and the stacking up and down moving sliding table 8 are respectively and movably connected with the pick-up left and right moving sliding table 2 and the stacking left and right moving sliding table 7 through sliding blocks 19.
The lower end of the stacking clamping jaw is of an umbrella rib structure, is in a vertical strip shape when closed, has smaller volume and is in a conical shape when opened. The folding and the opening of the road cone can be controlled by the motion control module, when the stacking clamping jaw is required to grasp the road cone, the clamping jaw is folded first, extends into the road cone from a round hole at the top of the road cone, and then opens the clamping jaw in the road cone to clamp the road cone; when the road cone is to be put down when the position is reached, the clamping jaw is closed, and the road cone falls on the designated position under the action of gravity. Therefore, road cones can be stacked and stored in the carriage according to rows and columns, and the space in the carriage is effectively utilized.
The pick-up jaw 5 comprises a pick-up outer jaw 21 and a pick-up inner jaw 22; the pick-up inner jaw 22 is mounted between the two grippers of the pick-up outer jaw 21. When the road cone is put down, the pick-up clamping jaw 5 utilizes the pick-up inner clamping jaw 22 to realize the arrangement of the road cone by extending the pick-up inner clamping jaw 22 into a round hole in the middle of the road cone; the lower ends of the two grippers of the pick-up inner clamping jaw 22 are outwards bent and stretch into the round hole of the road cone and then open, so that the road cone can be tightly clamped on the pick-up inner clamping jaw 22 and cannot fall down; when the road cone is put down, the pick-up inner clamping jaw 22 is tightened, so that the pick-up inner clamping jaw 22 can be easily taken out of the road cone, the road cone is placed at a designated position, and the road cone is put down; when the road cone is to be recovered, the picking clamping jaw 5 adopts the picking outer clamping jaw 21, the picking outer clamping jaw 21 clamps the bottom edge of the inverted road cone through a gripper structure which is opened and closed up and down, and then the road cone is swung to a position horizontally opposite to the road cone guide frame 10 through the movement of the rotating mechanism 4, and the road cone is pushed into the road cone guide frame 10.
The picking claw 5 and the stacking claw 9 of the invention can be detached and replaced by other claw structures in the prior art, and can be suitable for road cones with different structures, such as road cones with closed tops and no round holes. The structure of the clamping jaw is only required to be adjusted along with road cones of different structures, so that the universal range of the invention is wide.
When the road cone is recovered, the road cones are recovered after being reversely placed in order to recover the road cones reversely placed on the road surface. In actual operation, for the road cone still in the vertical state during recycling, the road cone is pushed down by the cooperation of the pick-up and down movement sliding table 3 of the pick-up mechanism and the rotating mechanism 4 during recycling, and then recycling is performed.
In order to pick up the stability of the left-right moving slide table 2 and the pick up front-back moving slide table 1 after installation, a supporting rod 20 may be installed above or below the pick up left-right moving slide table 2, both ends of the supporting rod 20 are fixed on the slide guiding connecting member 18 like the pick up left-right moving slide table 2, and the sliding block 19 on the pick up left-right moving slide table 2 is also fixed on the supporting rod 20, so that the stability of the connection between the pick up left-right moving slide table 2 and the pick up-down moving slide table 3 may be increased. The structural design of the support bar 20 is equally applicable to the connection of the moving slipway of the stacking mechanism.
As shown in fig. 9, the working principle of the invention is as follows:
i, the vehicle-mounted power supply is a position analysis module and a motion control module improving power supply;
II, starting a position analysis module, carrying out data operation by an industrial personal computer according to data provided by a camera, and then sending the coordinate and angle posture information of the road cone to a motion control module as a basis for sending commands to executing mechanisms such as a pickup mechanism, a transfer mechanism, a stacking mechanism and the like;
III, the motion control module sends five-dimensional control commands of front and back, left and right, up and down, rotation, clamping jaw opening and closing and the like to the pickup mechanism so as to finish the pickup action of the road cone;
IV, the motion control module sends a rotating action command to the transfer mechanism to finish the posture adjustment of the road cone;
and V, the motion control module sends control of four dimensions of front and back, left and right, up and down, clamping jaw opening and closing and the like to the stacking mechanism to finish the position transfer of a road cone.
The recycling process of the road cone is shown in fig. 10, black arrows indicate the moving and changing process of the road cone,
starting: the road cone is positioned at a certain position on the road;
a. the pick-up mechanism finds and clamps the road cone according to the command sent by the motion control module;
b. the pick-up mechanism puts the found road cone to the appointed position of the transfer mechanism;
c. the transit mechanism adjusts the road cone posture, so that the stacking mechanism can find and grasp conveniently;
d. the stacking mechanism finds a road cone at a designated position on the transfer mechanism and places the road cone at a proper position on a carriage;
ending: the road cone is at a certain position on the carriage, and the steps finish the recovery of one road cone.
The process of lowering the road cone is opposite to the above process, as shown in fig. 11: the black arrow indicates the course of the movement of the road cone,
starting: the road cone is positioned at a certain position on the carriage;
a. the stacking mechanism finds a road cone at a proper position on the carriage and grabs the road cone;
b. the stacking mechanism places the grabbed road cone at a designated position on the transfer mechanism;
c. the transit mechanism adjusts the posture of the road cone, so that the pick-up mechanism can conveniently find and grasp;
d. the pick-up mechanism places the road cone at the designated position of the transit mechanism at a proper position on the road;
ending: the road cone is arranged at a certain position on the road, and the steps finish the lowering of the road cone.
The above embodiments are not intended to limit the present invention, and the present invention is not limited to the above examples, but is also intended to be limited to the following claims.
Claims (3)
1. An automatic change way awl receive and releases system which characterized in that: the device comprises a road cone position analysis module, a motion control module, a picking mechanism, a stacking mechanism, a transfer mechanism and a vehicle-mounted power module;
the picking mechanism comprises a picking front-back movement sliding table (1), a picking left-right movement sliding table (2), a picking up-down movement sliding table (3) and a rotating mechanism (4); the pick-up front-back moving sliding table (1) is divided into a pick-up front moving sliding table and a pick-up back moving sliding table; the front pick-up moving slipway and the rear pick-up moving slipway are horizontally arranged at the same horizontal position on the left side and the right side of the carriage; the left and right pick-up moving slipway (2) is movably connected to the front pick-up moving slipway and the rear pick-up moving slipway; the pick-up-down moving sliding table (3) is movably connected to the pick-up left-right moving sliding table (2); the rotating mechanism (4) is arranged at the lower end of the pick-up and down movement sliding table (3), and the lower end of the rotating mechanism (4) is connected with a pick-up clamping jaw (5); motors (17) are arranged on the pick-up front-back movement sliding table (1), the pick-up left-right movement sliding table (2), the pick-up-down movement sliding table (3) and the rotating mechanism (4);
the stacking mechanism comprises a stacking front-back moving sliding table (6), a stacking left-right moving sliding table (7), a stacking up-down moving sliding table (8) and a stacking clamping jaw (9), wherein the stacking front-back moving sliding table (6) is divided into a stacking front-moving sliding table and a stacking back-moving sliding table; the pre-stacking moving slipway and the post-stacking moving slipway are horizontally arranged at the same horizontal position on the left side and the right side of the carriage; the left-right movement slipway (7) of the stack is movably connected to the front movement slipway and the rear movement slipway of the stack; the stacking up-and-down movement slipway (8) is movably connected to the stacking left-and-right movement slipway (7); the stacking clamping jaw (9) is arranged at the lower end of the stacking up-and-down movement sliding table; motors (17) are arranged on the stacking front-back movement sliding table (6), the stacking left-right movement sliding table (7) and the stacking up-down movement sliding table (8);
the transfer mechanism is positioned between the pick-up mechanism and the stacking mechanism and comprises a driving device and a rotating shaft; a road cone guide frame (10) is arranged on the rotating shaft;
the road cone position analysis module, the motion control module and the vehicle-mounted power supply are all arranged in the carriage body and are connected with each other through a data line; the motion control module is respectively connected with the pick-up mechanism, the stacking mechanism and the transfer mechanism through data lines;
the road cone position analysis module comprises a plurality of cameras (11) and an industrial personal computer (12); the industrial personal computer (12) is connected with the video camera through a data line;
the motion control module comprises a motion controller (13), a display screen (14), a motor driver (15) and a speed measuring sensor (16); the motion controller (13) is respectively connected with the display screen (14), the motor driver (15) and the speed measuring sensor (16) through data lines; the motor driver (15) is respectively connected with the motor (17) of the picking mechanism and the stacking mechanism and the driving device of the transfer mechanism through data wires;
the vehicle-mounted power supply module comprises a vehicle-mounted generator, a voltage stabilizer and a switch protector which are connected through a data line;
the two ends of the pick-up left-right moving sliding table (2) and the stacking left-right moving sliding table (7) are respectively provided with a slide guiding connecting piece (18), and the pick-up left-right moving sliding table (2) and the stacking left-right moving sliding table (7) are respectively and movably connected with the pick-up front-back moving sliding table (1) and the stacking front-back moving sliding table (6) through the slide guiding connecting pieces (18) at the two ends;
a sliding block (19) is arranged on the pick-up left-right moving sliding table (2) and the stacking left-right moving sliding table (7); the pick-up and down moving sliding table (3) and the stacking up and down moving sliding table (8) are respectively and movably connected with the pick-up left and right moving sliding table (2) and the stacking left and right moving sliding table (7) through sliding blocks (19).
2. The automated road cone retraction system according to claim 1 wherein: the lower end of the stacking clamping jaw (9) is of an umbrella rib structure, and is in a vertical strip shape when closed and in a conical shape when opened.
3. The automated road cone retraction system according to claim 1 wherein: the pick-up jaw (5) comprises a pick-up outer jaw (21) and a pick-up inner jaw (22); the lower ends of the two grippers of the picking inner clamping jaw (22) are outwards bent and are arranged between the two grippers of the picking outer clamping jaw (21).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510611749.4A CN106555381B (en) | 2015-09-22 | 2015-09-22 | Automatic road cone retraction system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510611749.4A CN106555381B (en) | 2015-09-22 | 2015-09-22 | Automatic road cone retraction system |
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| CN106555381A CN106555381A (en) | 2017-04-05 |
| CN106555381B true CN106555381B (en) | 2023-07-18 |
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| CN107053125A (en) * | 2017-04-18 | 2017-08-18 | 江南大学 | A kind of novel traffic bores recycling machine people |
| CN107268483A (en) * | 2017-08-01 | 2017-10-20 | 广州市图之灵计算机技术有限公司 | Full-automatic cone receives and dispatches robot and control method |
| CN110804964B (en) * | 2019-10-22 | 2021-10-26 | 北京大友可为信息技术集团有限公司 | Automatic roadblock picking and placing method and system based on artificial intelligence |
| AU2020404443B2 (en) * | 2019-12-17 | 2022-08-18 | Arrowes Ip Holdings Pty Ltd | A vehicle mounted system for deploying and retrieving traffic barriers |
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| CN204324384U (en) * | 2014-11-21 | 2015-05-13 | 河北科技大学 | Based on object localization and the crawl platform of opto-electronic pickup |
| CN104652312A (en) * | 2015-01-08 | 2015-05-27 | 上海敏信科技有限公司 | Device and method for recovering and arranging road cone |
| CN204940157U (en) * | 2015-09-22 | 2016-01-06 | 武汉陆七智能交通设备有限公司 | A kind of automation road cone extension and retraction system |
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