CN107538502B - Municipal sharing bicycle automatic collecting and sorting device and collecting and sorting method - Google Patents
Municipal sharing bicycle automatic collecting and sorting device and collecting and sorting method Download PDFInfo
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- CN107538502B CN107538502B CN201710773718.8A CN201710773718A CN107538502B CN 107538502 B CN107538502 B CN 107538502B CN 201710773718 A CN201710773718 A CN 201710773718A CN 107538502 B CN107538502 B CN 107538502B
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Abstract
The invention relates to an automatic collecting and arranging device for municipal sharing bicycles, which comprises a fixed seat, a rotary lifting device, a horizontal length adjusting device, a vertical height adjusting device, a positioning grabbing and arranging device and a control unit, wherein the fixed seat is arranged on the fixed seat; the fixed seat is arranged on one side of the collecting platform; the rotary lifting device comprises a first lifting oil cylinder and a first rotary head arranged at the end part of a piston rod of the first lifting oil cylinder; the horizontal length adjusting device comprises a first horizontal telescopic oil cylinder fixedly connected with the first rotating head and a first fixed head arranged at the end part of a piston rod of the first horizontal telescopic oil cylinder; the vertical height adjusting device comprises a second lifting oil cylinder fixedly connected with the first fixed head and a second rotating head arranged at the end part of a piston rod of the second lifting oil cylinder; the positioning, grabbing and sorting device comprises a positioning, photographing and comparing detection device, a grabbing device and a sorting device. The invention has the characteristics of high working reliability and low cost.
Description
Technical Field
The invention relates to the technical field of municipal bicycle management, in particular to collection and arrangement equipment for municipal sharing bicycles.
Background
Municipal sharing bicycle is a new form of sharing economy that has appeared in cities for the last two years. The public road resources are occupied and the urban appearance is affected due to the fact that the messy parking of the shared bicycle at present, such as occupying blind roads, fire-fighting channels and the like, which all cause inconvenience of municipal administration, when the citizens reflect, the related departments of municipal administration need to sort and even clear the messy parked shared bicycle or private bicycle, but the limitation of equipment can only be purely manual operation, a driver stops a truck at the roadside of a bicycle parking point, then a worker lifts the bicycle needing to be scheduled to be placed on the truck, obvious efficiency is low, manpower is needed to be large, and the large truck is stopped at the roadside for a long time, so that new traffic pressure is easy to cause.
Disclosure of Invention
Aiming at the problem that the municipal sharing bicycle is inconvenient to collect and arrange in order in the prior art, the applicant researches and designs the device and provides an automatic collecting and arranging device for the municipal sharing bicycle.
In order to solve the problems, the invention adopts the following scheme:
a municipal sharing bicycle automatic collecting and arranging device comprises a fixed seat, a rotary lifting device, a horizontal length adjusting device, a vertical height adjusting device, a positioning grabbing and arranging device and a control unit;
the fixed seat is arranged on one side of the collecting platform, and a plurality of fixed plates are arranged on the fixed seat;
the rotary lifting device comprises a first lifting oil cylinder and a first rotary head arranged at the end part of a piston rod of the first lifting oil cylinder;
the horizontal length adjusting device comprises a first horizontal telescopic oil cylinder fixedly connected with the first rotating head and a first fixed head arranged at the end part of a piston rod of the first horizontal telescopic oil cylinder;
the vertical height adjusting device comprises a second lifting oil cylinder fixedly connected with the first fixed head and a second rotating head arranged at the end part of a piston rod of the second lifting oil cylinder;
the positioning, grabbing and sorting device comprises a positioning, photographing, comparing and detecting device, a grabbing device and a sorting device; the positioning photographing contrast detection device comprises a probe and a probe controller which are arranged in a probe cover, and the probe cover is fixedly connected to the lower end of the second rotating head; the grabbing device comprises a third lifting oil cylinder fixedly connected with the second rotating head, a horizontal swinging head arranged at the end part of a piston rod of the third lifting oil cylinder, a second horizontal telescopic oil cylinder hinged with the horizontal swinging head, and a gripper fixedly connected with the end part of the piston rod of the second horizontal telescopic oil cylinder, and the second horizontal telescopic oil cylinder is driven by a swinging driving device on the horizontal swinging head; the arrangement device comprises a third horizontal telescopic cylinder fixedly connected with the end part of a piston rod of the second horizontal telescopic cylinder through a bracket and an arrangement plate arranged at the end part of the third horizontal telescopic cylinder;
the stroke controllers of the first lifting oil cylinder, the first horizontal telescopic oil cylinder, the second lifting oil cylinder, the second horizontal telescopic oil cylinder, the third lifting oil cylinder and the third horizontal telescopic oil cylinder are connected with the control unit; the rotation angle controllers of the first rotating head and the second rotating head are connected with the control unit; the probe is connected with the control unit.
As a further improvement of the above technical scheme:
the first rotating head and the second rotating head comprise a gear motor and a rotary fixed block arranged on an output shaft of the gear motor, and the gear motor is connected with the corner controller.
And one sides of the first lifting oil cylinder, the first horizontal telescopic oil cylinder, the second lifting oil cylinder, the second horizontal telescopic oil cylinder, the third lifting oil cylinder and the third horizontal telescopic oil cylinder are respectively provided with a first lifting guide rod, a first horizontal guide rod, a second lifting guide rod, a second horizontal guide rod, a third lifting guide rod and a third horizontal guide rod.
The horizontal swinging head is in a transverse U shape, and a hinge shaft is arranged in the U-shaped groove; the swing driving device comprises a roller, a winding and unwinding motor and a pull rope, wherein the roller is arranged on the upper surface of the horizontal swing head through a hinge seat, the winding and unwinding motor is used for driving the roller to rotate, one end of the pull rope is wound on the roller, and the other end of the pull rope is connected with the cylinder body of the second horizontal telescopic cylinder.
The gripper comprises two clamping jaws which are hinged with each other, and a spring is arranged between the clamping jaws and the bracket; the inner side of the clamping jaw is provided with an inclined grabbing cambered surface, and a grabbing port between the two clamping jaws is of an inclined necking structure from top to bottom.
The support is of a downward bent L shape and comprises a horizontal fixing rod and a folded plate extending downwards, the horizontal fixing rod is fixedly connected with the end part of a piston rod of the second horizontal telescopic cylinder, and the lower end of the folded plate is fixedly provided with the third horizontal telescopic cylinder.
The flap is greater than 30cm in height.
The arrangement plate is vertically long, and the upper end of the arrangement plate is hinged with a hook buckle, and the hook buckle is driven by a locking motor at one side of the arrangement plate.
The invention also provides a collecting and sorting method of the municipal shared bicycle automatic collecting and sorting device, wherein the initial state is that all oil cylinders are in a contracted state, the sorting plate and the grippers are positioned on the collecting platform, the collecting platform is close to the bicycle, and the collecting and sorting method comprises the following steps:
the method comprises the following steps that after a first lifting oil cylinder is started, a piston rod of the first lifting oil cylinder ascends for a certain distance, and a first rotating head and a first horizontal telescopic oil cylinder are ascended;
the second step, the first rotating head drives the first horizontal telescopic oil cylinder to rotate 180 degrees;
thirdly, starting a first horizontal telescopic oil cylinder to extend a second lifting oil cylinder out of the collecting platform;
fourthly, starting the second lifting oil cylinder, and descending the second rotating head at the lower end by a certain distance to enable the probe and the third lifting oil cylinder to descend;
fifthly, the control unit controls the second rotating head to rotate at a small angle and controls the second lifting oil cylinder to lift in a small range, the probe scans the triangular saddle of the bicycle and transmits the scanned image to the built-in probe controller to be compared with the triangle of the standard saddle, and when the scanned image is matched with the image of the standard saddle, the probe controller sends a grabbing signal to the control unit;
a sixth step, the control unit starts the third lifting oil cylinder according to the grabbing signal, after a piston rod of the third lifting oil cylinder stretches out a distance, the second horizontal telescopic oil cylinder is started, and a gripper stretches to a seat rod below the triangle saddle of the bicycle and grabs the seat rod;
seventh, the swing driving device drives the second horizontal telescopic oil cylinder to swing upwards;
eighth, the third horizontal telescopic oil cylinder is started while the second horizontal telescopic oil cylinder is started, and pushes out the finishing plate, and the finishing plate pushes the front wheel of the bicycle to rotate for a certain angle;
a ninth step, the second horizontal telescopic oil cylinder, the third lifting oil cylinder, the second lifting oil cylinder and the first horizontal telescopic oil cylinder are retracted sequentially or simultaneously, the first rotating head rotates 180 degrees, so that the grabbed bicycle is placed above the collecting platform, the first lifting oil cylinder descends, and the bicycle is placed on the collecting platform and is detached from the bicycle after being manually taken down;
repeating the first to ninth steps until all the bicycles are collected and finished.
The invention has the technical effects that:
the collecting and sorting device is used for collecting and sorting municipal sharing bicycles, replaces personnel for carrying, and reduces labor intensity and labor cost; by adopting the collecting and arranging method, the fixed postures of the bicycle can be collected, and the arrangement is convenient; the collecting and sorting device can also correct the placing posture of the bicycle, and has the characteristic of multifunction.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is another directional view of fig. 1.
Fig. 3 is a front view of the present invention.
Fig. 4 is a partial enlarged view at a of fig. 2.
Fig. 5 is a partial enlarged view at B of fig. 3.
Fig. 6 is a partial construction diagram of the positioning, grabbing and sorting device of the present invention.
Fig. 7 is a front view of fig. 6.
Fig. 8 is a diagram showing a swing state of the second telescopic cylinder.
In the figure: 1. a fixing seat; 100. a collection platform; 11. a fixing plate; 12. a magnetic block; 2. a rotary lifting device; 200. a bicycle; 201. a triangular saddle; 202. a seat rod; 203. a front wheel; 21. a first lift cylinder; 22. a first rotary head; 23. a first lifting guide rod; 3. a horizontal length adjusting device; 31. a first horizontal telescopic cylinder; 32. a first fixed head; 33. a first horizontal guide bar; 4. a vertical height adjustment device; 41. a second lifting cylinder; 42. a second rotary head; 43. a second lifting guide rod; 5. positioning, grabbing and arranging the device; 51. positioning, photographing and comparing the detection device; 511. a probe cover; 512. a probe; 513. a probe controller; 52. a gripping device; 521. a third lifting cylinder; 522. the second horizontal telescopic oil cylinder; 523. a grip; 5231. a clamping jaw; 52311. grabbing a cambered surface; 52312. flaring an introduction surface; 5232. a spring; 524. a second horizontal guide bar; 525. a third lifting guide rod; 526. a horizontal swinging head; 5261. a hinge shaft; 527. a swing driving device; 5271. a hinge base; 5272. a roller; 52721. defining a slot; 5273. a winding and unwinding machine; 5274. a pull rope; 53. a finishing device; 531. a bracket; 5311. a horizontal fixing rod; 5312. a folded plate; 532. the second horizontal telescopic oil cylinder; 532. a third horizontal telescopic cylinder; 533. finishing the plates; 534. a third horizontal guide bar; 535. hooking and buckling; 536. locking the motor; 6. and a control unit.
Detailed Description
The following description of the embodiments of the present invention will further explain the technical means of the present invention by referring to the figures, and can fully understand and implement the implementation process for achieving the technical effects. It should be noted that, as long as no conflict is formed, each embodiment of the present invention and each feature of each embodiment may be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.
Example 1: as shown in fig. 1, the municipal sharing bicycle automatic collecting and sorting device of the embodiment comprises a fixing seat 1, a rotary lifting device 2, a horizontal length adjusting device 3, a vertical height adjusting device 4, a positioning grabbing and sorting device 5 and a control unit 6. The control unit 6 controls the rotary lifting device 2, the horizontal length adjusting device 3, the vertical height adjusting device 4 and the positioning, grabbing and sorting device 5.
As shown in fig. 2 and 3, the fixing base 1 is mounted on one side of the collecting platform 100, and a plurality of fixing plates 11 are provided on the fixing base 1. The collection platform 100 may be a cabin of an automobile, and the collection finishing device of the present invention collects the bicycles 200 on the collection platform 100 of the cabin.
As shown in fig. 2 and 3, the rotary lift device 2 includes a first lift cylinder 21 and a first rotary head 22 attached to a piston rod end of the first lift cylinder 21.
As shown in fig. 2 and 3, the horizontal length adjustment device 3 includes a first horizontal telescopic cylinder 31 fixedly connected to the first rotary head 22, and a first fixed head 32 attached to an end of a piston rod of the first horizontal telescopic cylinder 31.
As shown in fig. 2 and 3, the vertical height adjusting device 4 includes a second lift cylinder 41 fixedly connected to the first fixed head 32, and a second rotary head 42 attached to an end of a piston rod of the second lift cylinder 41.
As shown in fig. 2 and 3, the positioning, grabbing and sorting device 5 includes a positioning, photographing, contrast and detecting device 51, a grabbing device 52 and a sorting device 53; the positioning photographing contrast detection device 51 comprises a probe 512 and a probe controller 513 which are arranged in a probe cover 511, and the probe cover 511 is fixedly connected to the lower end of the second rotary head 42; the gripping device 52 comprises a third lifting oil cylinder 521 fixedly connected with the second rotating head 42, a horizontal swinging head 526 mounted on the end part of a piston rod of the third lifting oil cylinder 521, a second horizontal telescopic oil cylinder 522 hinged with the horizontal swinging head 526, and a gripper 523 fixedly connected with the end part of the piston rod of the second horizontal telescopic oil cylinder 522, wherein the second horizontal telescopic oil cylinder 522 is driven by a swinging driving device 527 on the horizontal swinging head 526; the finishing device 53 includes a third horizontal telescopic cylinder 532 fixedly connected to the end of the piston rod of the second horizontal telescopic cylinder 522 through a bracket 531, and a finishing plate 533 mounted to the end of the third horizontal telescopic cylinder 532.
As shown in fig. 2 and 3, the stroke controllers of the first lift cylinder 21, the first horizontal telescopic cylinder 31, the second lift cylinder 41, the second horizontal telescopic cylinder 522, the third lift cylinder 521, and the third horizontal telescopic cylinder 532 are connected to the control unit 6; the rotation angle controllers of the first rotating head 22 and the second rotating head 42 are connected with the control unit 6; the probe 512 is connected to the control unit 6. In the present invention, the stroke of the oil cylinder and the rotation angle of the rotating head controlled by the control unit 6 are both in the prior art, and the principle thereof is not described herein.
Example 2: the collecting method of the automatic collecting and sorting device for municipal sharing bicycle of this embodiment, the initial state is that all the cylinders are in the contracted state, the sorting plate 533 and the grip 523 are located on the collecting platform 100, the collecting platform 100 is close to the bicycle 200, the collecting method comprises the following steps:
the first step, after the first lifting oil cylinder 21 is started, a piston rod of the first lifting oil cylinder 21 ascends for a certain distance to lift the first rotating head 22 and the first horizontal telescopic oil cylinder 31;
the second step, the first rotating head 22 drives the first horizontal telescopic cylinder 31 to rotate 180 degrees;
third, the first horizontal telescopic cylinder 31 is started to extend the second lifting cylinder 41 out of the collecting platform 100;
fourth, the second lifting cylinder 41 is started, the second rotary head 42 at the lower end is lowered by a certain distance, so that the probe 512 and the third lifting cylinder 521 are lowered;
fifth, the control unit 6 controls the second rotary head 42 to rotate at a small angle and controls the second lifting cylinder 41 to lift in a small range, the probe 512 scans the triangle saddle 201 of the bicycle 200 and transmits the scanned image to the built-in probe controller to be compared with the triangle of the standard saddle, and when the scanned image is matched with the image of the standard saddle, the probe controller sends a grabbing signal to the control unit 6;
a sixth step, the control unit 6 starts the third lifting oil cylinder 521 according to the grabbing signal, after the piston rod of the third lifting oil cylinder 521 extends out a distance, the second horizontal telescopic oil cylinder 522 is started, and the grip 523 extends to the seat bar 202 below the triangle saddle of the bicycle and grabs the seat bar 202;
seventh, the swing driving device 527 drives the second horizontal telescopic cylinder 522 to swing upwards, so that the bicycle 200 is in an inclined state after grabbing and lifting;
eighth, while the second horizontal telescopic cylinder 522 is started, the third horizontal telescopic cylinder 532 pushes out the finishing plate 533, and the finishing plate 533 pushes the front wheel 203 of the bicycle 200 to rotate by a certain angle;
a ninth step, the second horizontal telescopic cylinder 522, the third lifting cylinder 521, the second lifting cylinder 41 and the first horizontal telescopic cylinder 31 are retracted sequentially or simultaneously, the first rotating head 22 rotates 180 degrees, so that the grabbed bicycle 200 is placed above the collection platform 100, the first lifting cylinder 21 descends, and after the bicycle 200 is placed on the collection platform 100 and manually taken down, the grab hand 523 is separated from the bicycle 200;
the first to ninth steps are repeated until all the bicycles 200 are collected and finished.
In the seventh step, when the front wheel 203 is offset rightward due to the abnormal arrangement of the bicycle head, the bicycle 200 is tilted leftward to keep the front wheel 203 offset leftward against the finishing plate 533, and the front wheel 203 is naturally offset leftward against the finishing plate 533 by gravity after the bicycle 200 is lifted.
Preferably, as shown in fig. 3, the fixing base 1 is L-shaped, a plurality of fixing plates 11 are disposed at the inner sides of the corners of the fixing base 1, and when the collecting platform 100 is made of steel, the side surfaces and the bottom surface of the fixing base 1 are provided with magnetic blocks 12 for convenient fixing.
In the present invention, the first rotary head 22 and the second rotary head 42 are of the prior art, and each of them includes a gear motor and a rotary fixed block mounted on an output shaft of the gear motor, the gear motor is connected to a corresponding rotation angle controller, and the rotation angle controller controls an output angle of the gear motor according to a signal of the control unit 6.
As shown in fig. 2 and 3, the first lift cylinder 21, the first horizontal telescopic cylinder 31, the second lift cylinder 41, the second horizontal telescopic cylinder 522, the third lift cylinder 521, and the third horizontal telescopic cylinder 532 are preferably provided with a first lift guide 23, a first horizontal guide 33, a second lift guide 43, a second horizontal guide 524, a third lift guide 525, and a third horizontal guide 534, respectively. The guide rod is arranged, so that the piston rod of the oil cylinder can be prevented from rotating when extending or retracting, and the linear motion of the piston rod is ensured.
Preferably, as shown in fig. 6 to 8, the horizontal swinging head 526 is in a transverse U shape, and a hinge shaft 5261 is arranged in the U-shaped groove; the swing driving device 527 comprises a roller 5272 mounted on the upper surface of the horizontal swing head 526 through a hinge base 5271, a winding and discharging machine 5273 for driving the roller 5272 to rotate, and a pull rope 5274 with one end wound on the roller 5272, wherein the other end of the pull rope 5274 is connected with a cylinder body of the second horizontal telescopic cylinder 522. When the roll discharger 5273 drives the roller 5272 forward, the roller 5272 winds the pull cord 5274, and the pull cord 5274 pulls the second horizontal telescopic cylinder 522 to rotate about the hinge shaft 5261, thereby achieving the swinging-up (as shown in fig. 8). To define the axial position of the pull cord 5274, an axially-defining groove is provided on the roller 5272 in which the pull cord 5274 is disposed.
Further, as shown in fig. 6, the grip 523 of the present invention includes two hinged jaws 5231, and a spring 5232 is installed between the jaws 5231 and the bracket 531; the inner side of each clamping jaw 5231 is provided with an inclined grabbing cambered surface 52311, the grabbing port between the two clamping jaws 5231 is of an inclined necking structure from top to bottom, and the inclined grabbing cambered surfaces 52311 are adopted to facilitate inclined grabbing of the seat rod 202 of the bicycle 200. The front ends of the two clamping jaws 5231 are provided with flaring leading-in surfaces 52312, so that the clamping jaws are convenient to grasp, and the elastic force of the springs 5232 is utilized to prevent the clamping jaws from loosening after grasping. The grip 523 of the present invention is not limited to the above-described structure, and may have other structures as long as it can grip the bicycle 200.
As shown in fig. 3 and 5, the bracket 531 is L-shaped and comprises a horizontal fixing rod 5311 and a folded plate 5312 extending downwards, the horizontal fixing rod 5311 is fixedly connected with the end of the piston rod of the second horizontal telescopic cylinder 522, and the lower end of the folded plate 5312 is fixedly provided with a third horizontal telescopic cylinder 532. To prevent the finishing plate 533 from interfering with the tap of the bicycle 200, the flap 5312 is greater than 30cm in height, i.e., the flap 5312 extends downwardly at least 30cm.
As shown in fig. 4, the tidying plate 533 is vertically elongated, and the hook 535 is hinged to the upper end of the tidying plate 533, and the hook 535 is driven by the locking motor 536 at one side of the tidying plate 533. When the tidying plate 533 contacts with the front wheel 203, and the upper end of the tidying plate 533 exceeds the wheel edge of the front wheel 203, the locking motor 536 drives the hook 535 to turn over, so as to prevent the front wheel 203 from separating from the tidying plate 533, ensure that the bicycle 200 is kept in a specific posture in the process of being grabbed and transferred, and facilitate the tidying on the collecting platform 100. In order to realize reliable operation of the locking motor 536, a pressure sensor for detecting the contact pressure with the front wheel 203 may be provided at the upper end of the finishing plate 533, and a pressure signal is detected by the pressure sensor and sent to the control unit 6, so that automatic start of the locking motor 536 is realized. When the bicycle 200 is placed on the collection platform 100, the locking motor 536 drives the hook 535 in reverse, so that the finishing plate 533 is disengaged from the front wheel 203.
The collecting and arranging device can be independently used for arranging shared bicycles, and when the arrangement posture of the bicycles at a certain position is unreasonable, the bicycles can be arranged after grabbing and lifting, so that the arrangement posture of the bicycles is arranged. For the dumped bicycle, the bicycle is required to be manually lifted, a gyroscope is arranged on the bicycle for conveniently finding the bicycle, and after the gyroscope detects that the bicycle is dumped, a dumping signal is sent out, and the dumped bicycle position can be found through the APP.
In order to facilitate grabbing a bicycle and improve grabbing accuracy of the seat bar 202, a special mark can be printed on a bicycle seat, only the probe 512 is required to be aligned with the mark, or a special mark is directly attached to the seat bar 202, the direction of the probe 512 is parallel to the extending direction of the gripper, and after the probe 512 scans the special mark, the gripper 523 directly extends out of the seat bar 202.
The above embodiments are provided for convenience of description of the present invention, and are not intended to limit the present invention in any way, and any person skilled in the art will make local changes or modifications to the present invention without departing from the technical scope of the present invention.
Claims (7)
1. Automatic collection finishing device of municipal administration sharing bicycle, its characterized in that: comprises a fixed seat (1), a rotary lifting device (2), a horizontal length adjusting device (3), a vertical height adjusting device (4), a positioning, grabbing and arranging device (5) and a control unit (6);
the fixed seat (1) is arranged on one side of the collecting platform (100), and a plurality of fixed plates (11) are arranged on the fixed seat (1);
the rotary lifting device (2) comprises a first lifting oil cylinder (21) and a first rotary head (22) arranged at the end part of a piston rod of the first lifting oil cylinder (21);
the horizontal length adjusting device (3) comprises a first horizontal telescopic oil cylinder (31) fixedly connected with the first rotating head (22) and a first fixed head (32) arranged at the end part of a piston rod of the first horizontal telescopic oil cylinder (31);
the vertical height adjusting device (4) comprises a second lifting oil cylinder (41) fixedly connected with the first fixed head (32) and a second rotating head (42) arranged at the end part of a piston rod of the second lifting oil cylinder (41);
the positioning, grabbing and arranging device (5) comprises a positioning, photographing and comparing detection device (51), a grabbing device (52) and an arranging device (53); the positioning photographing contrast detection device (51) comprises a probe (512) and a probe controller (513) which are arranged in a probe cover (511), and the probe cover (511) is fixedly connected to the lower end of the second rotary head (42); the grabbing device (52) comprises a third lifting oil cylinder (521) fixedly connected with the second rotating head (42), a horizontal swinging head (526) arranged at the end part of a piston rod of the third lifting oil cylinder (521), a second horizontal telescopic oil cylinder (522) hinged with the horizontal swinging head (526), and a gripper (523) fixedly connected with the end part of the piston rod of the second horizontal telescopic oil cylinder (522), wherein the second horizontal telescopic oil cylinder (522) is driven by a swinging driving device (527) on the horizontal swinging head (526); the arrangement device (53) comprises a third horizontal telescopic cylinder (532) fixedly connected with the end part of a piston rod of the second horizontal telescopic cylinder (522) through a bracket (531) and an arrangement plate (533) arranged at the end part of the third horizontal telescopic cylinder (532);
the stroke controllers of the first lifting oil cylinder (21), the first horizontal telescopic oil cylinder (31), the second lifting oil cylinder (41), the second horizontal telescopic oil cylinder (522), the third lifting oil cylinder (521) and the third horizontal telescopic oil cylinder (532) are connected with the control unit (6); the rotation angle controllers of the first rotating head (22) and the second rotating head (42) are connected with the control unit (6); the probe (512) is connected with the control unit (6);
the probe (512) scans the triangle saddle (201) of the bicycle (200) and transmits the scanned image to the built-in probe controller to be compared with the triangle of the standard saddle, and when the scanned image is matched with the standard saddle image, the probe controller sends a grabbing signal to the control unit (6);
the arrangement plate (533) is vertically long, a hook buckle (535) is hinged to the upper end of the arrangement plate (533), and the hook buckle (535) is driven by a locking motor (536) at one side of the arrangement plate (533); the upper end of the finishing plate (533) is provided with a pressure sensor for detecting the contact pressure with the front wheel (203) of the bicycle, and the pressure sensor is used for detecting a pressure signal and sending the pressure signal to the control unit (6) so as to realize automatic starting of the locking motor (536);
the horizontal swinging head (526) is in a transverse U shape, and a hinge shaft (5261) is arranged in the U-shaped groove; the swing driving device (527) comprises a roller (5272) arranged on the upper surface of the horizontal swing head (526) through a hinge seat (5271), a winding and unwinding motor (5273) for driving the roller (5272) to rotate, and a pull rope (5274) with one end being wound on the roller (5272), wherein the other end of the pull rope (5274) is connected with a cylinder body of the second horizontal telescopic cylinder (522).
2. The municipal shared bicycle automatic collection and arrangement device according to claim 1, wherein: the first rotating head (22) and the second rotating head (42) comprise a gear motor and a rotating fixed block arranged on an output shaft of the gear motor, and the gear motor is connected with the corner controller.
3. The municipal shared bicycle automatic collection and arrangement device according to claim 1, wherein: one side of the first lifting oil cylinder (21), the first horizontal telescopic oil cylinder (31), the second lifting oil cylinder (41), the second horizontal telescopic oil cylinder (522), the third lifting oil cylinder (521) and the third horizontal telescopic oil cylinder (532) is respectively provided with a first lifting guide rod (23), a first horizontal guide rod (33), a second lifting guide rod (43), a second horizontal guide rod (524), a third lifting guide rod (525) and a third horizontal guide rod (534).
4. The municipal shared bicycle automatic collection and arrangement device according to claim 1, wherein: the gripper (523) comprises two clamping jaws (5231) which are hinged, and a spring (5232) is arranged between the clamping jaws (5231) and the bracket (531); the inner side of the clamping jaw (5231) is provided with an inclined grabbing cambered surface (52311), and a grabbing port between the two clamping jaws (5231) is of an inclined necking structure from top to bottom.
5. The municipal shared bicycle automatic collection and arrangement device according to claim 1, wherein: the support (531) is the L type of buckling downwards, including horizontal dead lever (5311) and downwardly extending folded plate (5312), horizontal dead lever (5311) link firmly with the piston rod tip of second horizontal telescopic cylinder (522), the lower extreme fixed mounting of folded plate (5312) third horizontal telescopic cylinder (532).
6. The municipal shared bicycle automatic collection and arrangement device according to claim 5, wherein: the flap (5312) is greater than 30cm in height.
7. A collecting and sorting method of the municipal shared bicycle automatic collecting and sorting device according to claim 1, wherein the initial state is that all cylinders are in a contracted state, the sorting plate (533), the grip (523) are located on the collecting platform (100), the collecting platform (100) is close to the bicycle (200), the collecting and sorting method comprises the following steps:
the method comprises the following steps that after the first lifting oil cylinder (21) is started, a piston rod of the first lifting oil cylinder (21) ascends for a certain distance, and a first rotating head (22) and a first horizontal telescopic oil cylinder (31) are ascended;
the second step, the first rotating head (22) drives the first horizontal telescopic oil cylinder (31) to rotate 180 degrees;
thirdly, starting the first horizontal telescopic oil cylinder (31) to extend the second lifting oil cylinder (41) out of the collecting platform (100);
fourth, the second lifting oil cylinder (41) is started, the second rotating head (42) at the lower end is lowered for a certain distance, and the probe (512) and the third lifting oil cylinder (521) are lowered;
fifthly, the control unit (6) controls the second rotating head (42) to rotate at a small angle and controls the second lifting oil cylinder (41) to lift in a small range, the probe (512) scans the triangular saddle (201) of the bicycle (200) and transmits the scanned image to the built-in probe controller to be compared with the triangle of the standard saddle, and when the scanned image is matched with the standard saddle image, the probe controller sends a grabbing signal to the control unit (6);
a sixth step, a control unit (6) starts the third lifting oil cylinder (521) according to the grabbing signal, after a piston rod of the third lifting oil cylinder (521) stretches out a certain distance, the second horizontal telescopic oil cylinder (522) starts, and a gripper (523) stretches to a seat rod (202) below the triangle saddle of the bicycle and grabs the seat rod (202);
seventh, the swing driving device (527) drives the second horizontal telescopic oil cylinder (522) to swing upwards;
eighth step, the third horizontal telescopic cylinder (532) is started while the second horizontal telescopic cylinder (522) is started, the third horizontal telescopic cylinder (532) pushes out the tidying plate (533), and the tidying plate (533) pushes the front wheel (203) of the bicycle (200) to rotate for a certain angle;
ninth, the second horizontal telescopic oil cylinder (522), the third lifting oil cylinder (521), the second lifting oil cylinder (41) and the first horizontal telescopic oil cylinder (31) are retracted sequentially or simultaneously, the first rotating head (22) rotates 180 degrees, so that the grabbed bicycle (200) is placed above the collecting platform (100), the first lifting oil cylinder (21) descends, the bicycle (200) is placed on the collecting platform (100), and after being manually taken down, the grippers (523) are separated from the bicycle (200);
repeating the first to ninth steps until all the bicycles (200) are collected and finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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