CN108867441A - Cone cylinder based on small size platform lays recovery system automatically - Google Patents
Cone cylinder based on small size platform lays recovery system automatically Download PDFInfo
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- CN108867441A CN108867441A CN201810869356.7A CN201810869356A CN108867441A CN 108867441 A CN108867441 A CN 108867441A CN 201810869356 A CN201810869356 A CN 201810869356A CN 108867441 A CN108867441 A CN 108867441A
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- cone cylinder
- active joint
- small size
- recovery system
- connecting rod
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- 238000011084 recovery Methods 0.000 title claims abstract description 19
- 230000003993 interaction Effects 0.000 claims abstract description 20
- 238000012546 transfer Methods 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims description 40
- 210000000245 forearm Anatomy 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 238000005303 weighing Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 10
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 8
- 238000013461 design Methods 0.000 abstract description 3
- 238000004064 recycling Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000035622 drinking Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/70—Storing, transporting, placing or retrieving portable devices
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
The present invention provides a kind of cone cylinder based on small size platform and lays recovery system automatically, including：Cone cylinder transfer device, cone cylinder grabbing device, cone cylinder storage device, the system control cabinet, armful folder positioning device and the human-computer interaction device for being installed on vehicular platform cargo bed tail portion being installed on vehicular platform；It include controller in the system control cabinet；Controller is separately connected cone cylinder transfer device, cone cylinder grabbing device, cone cylinder storage device, embraces folder positioning device, human-computer interaction device, for controlling the activity of whole system and parsing the control instruction from human-computer interaction device.The present invention can be achieved that cone cylinder is laid and recycled in vehicle travel process, and cone cylinder positioning, crawl and transhipment design scheme meet quick, high-precision job requirements, and reliability is higher.
Description
Technical field
The present invention relates to traffic accident situ disposition and construction operation scene protective gear, especially a kind of based on small
The cone cylinder of type vehicular platform lays recovery system automatically, belongs to the technical field of traffic safety.
Background technique
For in the 21st century, with China's economic society sustained and rapid development, driver's quantity, vehicle population, highway are logical
Car kilometer rapid growth, road traffic flow increase sharply, hypervelocity, fatigue, after drinking, divert one's attention drive, overload etc. height hazardous act be in
Spreading trend, second accident or the accident for swarming into road maintenance operation field are high-incidence, the peace of traffic police, traffic road administration et al. member
Full hidden danger increases therewith.For this purpose, country has formulated industry security standards《Traffic accident situ security protection specification》,《It is public
Road conserves safety work regulation》, it is desirable that safety is carried out to accident handling scene, maintenance work scene using correlative protection facility and is prevented
Shield.Wherein, cone cylinder is using most extensive and effective safeguard, and disposition scene, which is isolated, using cone cylinder becomes national general and mark
Way as defined in standard.
Scene or maintenance work scene are disposed in road accident, manual method is generallyd use and lays and recycle cone cylinder, implement
Process is cumbersome, large labor intensity and there are security risk, and accident happens occasionally.To patent and market survey it is found that domestic research and development
Several moneys automatically or semi-automatically launch the vehicle of cone cylinder out, due to unresolved the problem of laying and recycle automation, using not
Extensively；Existing related patents are mostly based on large and medium-sized lorry as vehicular platform, and structure is complicated, driving demand is high, maneuverability
Property is inadequate, lower to the adaptability of practical application；It lays or recycling cone cylinder success rate is low, reliability, stability is not high, influences to push away
Wide application.
In conclusion automation, the quick cloth of high-precision for accident handling scene and road construction operation field cone cylinder
If proposing that the light practical, intelligent and high-efficiency of one kind, reliable and stable solution task are urgent, significant with recycling problem.
Summary of the invention
It is an object of the invention to overcome deficiency present in the prior art or method, provide a kind of flat based on small size
The cone cylinder of platform lays recovery system automatically, using compact car as carrying platform, it can be achieved that in vehicle travel process lay and recession cone
Tin, cone cylinder positioning, crawl and transhipment design scheme meet quick, high-precision job requirements, and reliability is higher.This system
Using the safety protection level that will greatly improve accident handling scene, road construction operation field, for improving site disposal effect
Rate ensures field personnel's life security, is of great significance.The technical solution adopted by the present invention is that：
A kind of cone cylinder based on small size platform lays recovery system automatically, including：The cone cylinder being installed on vehicular platform turns
Shipping unit, cone cylinder grabbing device, cone cylinder storage device, system control cabinet, be installed on vehicular platform cargo bed tail portion embrace clamp position
Device and human-computer interaction device；
It include controller in the system control cabinet；Controller is separately connected cone cylinder transfer device, cone cylinder grabbing device, cone cylinder and deposits
Storage device embraces folder positioning device, human-computer interaction device, for controlling the activity of whole system and parsing from human-computer interaction device
Control instruction.
Further, cone cylinder transfer device includes pedestal, the first active joint, the second active joint, large arm, third active
Joint, forearm, first connecting rod, second connecting rod, third connecting rod, fourth link；First active joint is rotary joint, is located at pedestal
Top, the first main diarthrodial motor output shaft and pedestal are connected, and the first active joint is rotated around pedestal；Second is main
Movable joint is rotary joint, and the second main diarthrodial motor output shaft and the first active joint are connected, so that the second active joint
It can be rotated around the first active joint；Second active joint and third active joint are located at the both ends of large arm, solid with large arm
Even；Third active joint is rotary joint, and one end of forearm and the diarthrodial motor output shaft of third master are connected, and enables forearm
It is enough to be rotated around the diarthrodial motor output shaft of third master；The end of forearm and cone cylinder grabbing device are flexibly connected, so that cone cylinder is grabbed
Take device that can rotate around front arm tip；First connecting rod and the first active joint are connected, first connecting rod end and second connecting rod one
End is flexibly connected, and in junction, first connecting rod and second connecting rod being capable of relative rotation；Third connecting rod at T-type, thirdly end respectively with
Second connecting rod, fourth link, forearm one end are flexibly connected, being capable of relative rotation in three end junctions；Fourth link end and cone
The shell of cylinder grabbing device is flexibly connected, being capable of relative rotation in junction.
Further, the end of forearm is equipped with the first camera, and the image of the first camera shooting returns to controller,
And it is further shown on human-computer interaction device.
Further, cone cylinder grabbing device includes shell, crawl driving motor, motor cabinet, the nut with gib block, cunning
Shell, calvus, spring, support chip；Motor cabinet and cage connection；Crawl driving motor is mounted on motor cabinet；Grab driving motor
Output shaft connect with the nut for being arranged in motor cabinet with gib block；Motor cabinet is equipped with the guide groove being adapted to gib block, spiral shell
In the guide groove on gib block insertion motor cabinet on mother, so that the nut with gib block is along motor when crawl driving motor rotation
Seat moves up and down；It is connected at the top of slip case with the nut with gib block, is moved together with the nut with gib block；
Support chip and motor cabinet bottom are connected；It is connect with motor cabinet lower end by spring at the top of calvus, passes through activity in the middle part of calvus
Axis is connect with support chip, is relatively rotatable to each other.
Further, the cone cylinder storage device includes bottom plate, taper sheath, support rod, weighing head；Taper sheath is installed on bottom
On plate, support rod bottom is fixed on bottom plate top, and support bar top and weighing head are connected；Overhead of weighing is equipped with pressure sensing
Device；The length of support rod contacts cone cylinder bottom not with bottom plate.
Further, weighing overhead sets that there are two the pressure sensors that are connected in series.
Further, controller, which detects, assert that measurement is accurate when two pressure sensor measurement data are consistent, control
Device, which detects, assert measuring error when two pressure sensor measurement data are inconsistent, and sends alarm signal to human-computer interaction device
Number.
Further, embracing folder positioning device includes translational drive mechanism, protective cover, lift drive mechanism, folding driving machine
Structure embraces folder driving mechanism, connecting plate, frame, two intermediate plates, contact sensors；
Translational drive mechanism is mounted on vehicular platform cargo bed tail portion, and the movement portion of translational drive mechanism connects protective cover；Lifting is driven
Motivation structure is mounted in protective cover, and the movement portion of lift drive mechanism and connecting plate are connected, and can be drivingly connected on plate and frame
Lower movement；Frame is hinged with connecting plate lower end, can rotate relative to connecting plate；Opening and closing driving mechanism is mounted in protective cover,
The movement portion connection framework of opening and closing driving mechanism is rotated with driver framework relative to connecting plate；
Back-end framework is equipped with the curved opening with cone cylinder external shape fits, and an intermediate plate is respectively arranged in curved opening two sides；Each intermediate plate
It is flexibly connected with frame；It is equipped in frame and embraces folder driving mechanism, embracing folder driving mechanism includes rotating electric machine, and rotating electric machine leads to respectively
It crosses driving member and connects each intermediate plate；Rotating electric machine drives intermediate plate open or close；
Contact sensor is mounted in the curved opening of frame.
Further, there are two contact sensor is set, it is located at the left and right sides in frame curved opening.
Further, protective cover is equipped with second camera, and the image of second camera shooting returns to controller, and
Further shown on human-computer interaction device.
The advantage of the invention is that：
1）The present invention realizes the automatic laying and recycling of cone cylinder, improves accident handling scene, road construction operation field operation effect
Rate and operation process safety.
2）The present invention realizes that cone cylinder is laid and recycling, working space using small size platform and multi-degree-of-freemechanical mechanical arm
Greatly, installation position can flexible setting, be conducive to that staff is more flexible according to field conditions, carries out operation more quickly.
3）The present invention can acquire much information（Image information, cone cylinder quantity）, grasped in real time comprehensively convenient for operator
Environmental aspect improves operational safety and operation controllability.
4）The present invention adapts to the different kinds of roads scene of a traffic accident and the cone cylinder at construction operation scene is laid and recycling automatically
Demand, it is simple and practical, it is with a wide range of applications and important economic benefit.
Detailed description of the invention
Fig. 1 is structural upright schematic diagram of the invention.
Fig. 2 is electrical principle block diagram of the invention.
Fig. 3 is cone cylinder transfer device structural schematic diagram of the invention.
Fig. 4 a is cone cylinder grabbing device structural schematic diagram of the invention.
Fig. 4 b is the structural schematic diagram that cone cylinder grabbing device of the invention removes slip case.
Fig. 5 is cone cylinder memory device structure schematic diagram of the invention.
Fig. 6 is that cone cylinder of the invention embraces clamp device structural schematic diagram.
Fig. 7 is recycling cone cylinder action flow chart of the invention.
Fig. 8 is laying cone cylinder action flow chart of the invention.
Specific embodiment
Below with reference to specific drawings and examples, the invention will be further described.
As shown in Figure 1 and Figure 2, a kind of cone cylinder based on small size platform proposed by the present invention lays recovery system automatically,
Including the cone cylinder transfer device 1, cone cylinder grabbing device 2, cone cylinder storage device 3, system control being installed in 6 cargo bed of vehicular platform
Cabinet 5 is installed on embracing folder positioning device 4 and being installed on vehicular platform 6 and drive indoor man-machine friendship for 6 cargo bed tail portion of vehicular platform
Mutual device；
It include controller and network communication module in the system control cabinet 5；Controller is separately connected cone cylinder transfer device 1, cone
Cylinder grabbing device 2, embraces folder positioning device 4, human-computer interaction device at cone cylinder storage device 3, for controlling the activity of whole system simultaneously
Parse the control instruction from human-computer interaction device；Controller, can by network communication module and background monitoring center to center communications
First camera 111 will be set on cone cylinder transfer device 1 and be set to and embrace second camera 410 in folder positioning device 4 and shoot
Image be sent to background monitoring center in real time；System control cabinet 5 is installed on the right side of the tail portion of 6 cargo bed of vehicular platform, system control
The power input of cabinet 5 processed is connect with the storage battery of vehicular platform 6, provides power supply for system；
As shown in figure 3, the cone cylinder transfer device 1 of main passive joint coupling is installed on the right side of 6 cargo bed tail portion of carrying platform, for boring
Cylinder is laid and transhipment cone cylinder in removal process to required position, including pedestal 101, the first active joint 102, the second active joint
103, large arm 104, third active joint 105, forearm 106, first connecting rod 107, second connecting rod 108, third connecting rod the 109, the 4th
Connecting rod 110；Pedestal 101 is located at the surface of system control cabinet 5, is connected with system control cabinet 5；Or pedestal 101 is also mountable
In 6 cargo bed of vehicular platform；First active joint 102 is rotary joint, is located at 101 top of pedestal, the first active joint 102
Motor output shaft and pedestal 101 are connected, and the first active joint 102 is rotated around pedestal 101；Second active joint 103
For rotary joint, motor output shaft and the first active joint 102 are connected, and enable the second active joint 103 main around first
Movable joint 102 rotates；Second active joint 103 is located at the both ends of large arm 104 with third active joint 105, with large arm 104
It is connected；Third active joint 105 is rotary joint, and one end of forearm 106 and the motor output shaft in third active joint 105 are solid
Even, motor output shaft of the forearm 106 around third active joint 105 is enabled to rotate；The end of forearm 106 and cone cylinder crawl dress
2 are set by being flexibly connected, cone cylinder grabbing device 2 is rotated around 106 end of forearm；First connecting rod 107 and first is actively
Joint 102 is connected, and 107 end of first connecting rod is flexibly connected with 108 one end of second connecting rod, and in junction, first connecting rod and second connects
Bar being capable of relative rotation；Third connecting rod 109 at T-type, thirdly end respectively with second connecting rod 108, fourth link 110, forearm one end
106 are flexibly connected, being capable of relative rotation in three end junctions；The shell 201 of 110 end of fourth link and cone cylinder grabbing device 2
Flexible connection connects, being capable of relative rotation in junction；Above structure constitutes a kind of cone cylinder transhipment dress of main passive joint coupling
It sets, can realize large range of working space and flexibility ratio merely with three driving joints 102,103,105, and guarantee movement
Process middle conical tube grabbing device 2 is always downward.
The end of forearm 106 is equipped with the first camera 111, and the image of the first camera 111 shooting returns to controller, and
It is further shown on human-computer interaction device, operator is facilitated to monitor cone cylinder laying, removal process.
As shown in Fig. 4 a, Fig. 4 b, cone cylinder grabbing device 2 is located at the end of cone cylinder transfer device 1, for transporting cone cylinder process
Middle crawl cone cylinder, including shell 201, crawl driving motor 202, motor cabinet 203, the nut 204 with gib block, slip case 205, pawl
Piece 206, spring 207, support chip 208；Nut 204 in this example with gib block uses cross gib block nut, other real
It applies in example, the nut of a word gib block can also be used；
Motor cabinet 203 is connect with shell 201；Crawl driving motor 202 is mounted on motor cabinet 203；Grab driving motor 202
Output shaft is connect with the nut 204 for being arranged in motor cabinet 203 with gib block；Motor cabinet 203 is equipped with and is adapted to gib block
Guide groove 2031, in the guide groove 2031 on gib block insertion motor cabinet 203 on nut 204, so that crawl driving motor 202 rotates
When, the nut 204 with gib block is moved up and down along motor cabinet 203；205 top of slip case is connected with the nut 204 with gib block, with
Nut 204 with gib block moves together；
Support chip 208 and 203 bottom of motor cabinet are connected；206 top of calvus is connect with 203 lower end of motor cabinet by spring 207, pawl
It is connect, is relatively rotatable to each other with support chip 208 by movable axis in the middle part of piece 206；When crawl driving motor 202 rotates in the forward direction, drive
Dynamic slip case 205 moves down, and compressing calvus 206 is shunk, and at this time can firmly grasp cone cylinder；When grabbing the reverse rotation of driving motor 202, driving
Slip case 205 moves up, and under the pulling force effect of spring, calvus 206 is unfolded, and can put down the cone cylinder of crawl.
As shown in figure 5, can measure the installation of cone cylinder storage device 3 and 6 cargo bed of the carrying platform middle part, including bottom of cone cylinder quantity
Plate 301, taper sheath 302, support rod 303, weighing head 304；Bottom plate 301 and 6 cargo bed of carrying platform are connected；Taper sheath 302 is installed
In on bottom plate 301, when recycling cone cylinder, after cone cylinder is transported to 3 top of cone cylinder storage device by cone cylinder transfer device 1 under move past
Cheng Zhong, taper sheath 302 can play the role of constraint cone cylinder activity space and avoid large-amplitude sloshing；303 bottom of support rod is fixed on bottom
301 top of plate, 303 top of support rod are connected with weighing head 304；Head 304 of weighing includes concatenated pressure in two mechanical structures
Sensor, pressure sensor are installed on 304 top of weighing head.When cone cylinder is stored on cone cylinder storage device 3, cone cylinder and top
Pressure sensor contacts, the length of support rod 303 contact cone cylinder bottom not with bottom plate 301.The design method can utilize pressure
The cone cylinder weight that sensor measures, divided by the weight of single cone cylinder, as cone cylinder quantity.Two pressure sensors use series connection side
Formula connects, and controller, which detects, in system control cabinet 5 assert that measurement is accurate when two pressure sensor measurement data are consistent, control
Device, which detects, assert measuring error when two pressure sensor measurement data are inconsistent, and sends alarm signal to human-computer interaction device
Number, which ensures the accuracy of measurement, guarantees the safety of movement in next step.Cone cylinder storage device 3 is in cargo bed
Position and quantity can be according to cargo bed bulk, required cone cylinder quantity flexible setting.
As shown in fig. 6, embracing folder positioning device 4 is installed on 6 cargo bed tail portion lower left quarter of vehicular platform, including translational drive mechanism
401, protective cover 402, lift drive mechanism 403, opening and closing driving mechanism 404, embrace folder driving mechanism, connecting plate 405, frame 406,
Intermediate plate 407,408, contact sensor 409, second camera 410；
Wherein, translational drive mechanism 401, lift drive mechanism 403, be all made of straight line in 404 the present embodiment of opening and closing driving mechanism
Motor, but it is not limited to linear motor, remaining mechanism for capableing of linear drives in the prior art can also be applied, such as gear
Rack drives mechanism, servo motor driving mechanism etc.；Linear motor is equipped with movable block, as movement portion；
Translational drive mechanism 401 is mounted on 6 cargo bed tail portion of vehicular platform, and the movement portion of translational drive mechanism 401 connects protective cover
402, protective cover 402 can be driven to translate together with its inner part；
Lift drive mechanism 403 is mounted in protective cover 402, and the movement portion of lift drive mechanism 403 and connecting plate 405 are connected,
Plate 405 can be drivingly connected and frame 406 moves up and down, adapt to ground upper conical-tube height；
Frame 406 and 405 lower end of connecting plate are hinged, can rotate relative to connecting plate 405, to open when in use, not use
When be accommodated in protective cover 402；Opening and closing driving mechanism 404 is mounted in protective cover 402, the movement portion of opening and closing driving mechanism 404
Connection framework 406 is rotated with driver framework 406 relative to connecting plate 405；
406 rear end of frame is equipped with curved opening with cone cylinder external shape fits, and curved opening two sides be respectively arranged an intermediate plate 407,
408；Each intermediate plate 407,408 is flexibly connected with frame 406；It is equipped in frame 406 and embraces folder driving mechanism, embracing folder driving mechanism includes
Rotating electric machine, rotating electric machine pass through driving member respectively and connect each intermediate plate 407,408；When rotating electric machine rotation, intermediate plate can be driven
407,408 open or close；
Contact sensor 409 is mounted in the curved opening of frame, can determine whether cone cylinder reaches designated position, i.e., completely into
In the curved opening of frame 406.There are two contact sensor 409 is set, it is located at the left and right two in 406 curved opening of frame
Side.
Protective cover 402 is equipped with second camera 410, and the image that second camera 410 is shot returns to controller, goes forward side by side
One step is shown on human-computer interaction device, and operator is facilitated to monitor cone cylinder laying, removal process.
As shown in fig. 7, the cone cylinder proposed by the present invention based on small size platform lays recovery system recycling cone cylinder automatically
Motion flow step be：
1. system motion is to the zero-bit that works；
2. the contact sensor 409 for embracing folder positioning device 4 detects cone cylinder and reaches designated position, driving intermediate plate 407,408 is held tightly
Cone cylinder, then lift drive mechanism 403 is drivingly connected plate 405 and moves up, and cone cylinder is made to be detached from ground；
3. cone cylinder transfer device 1 is moved to above cone cylinder, cone cylinder grabbing device 2 grabs cone cylinder；
4. the intermediate plate 407,408 for embracing folder positioning device 4 is opened；
5. cone cylinder is transported to 3 top of cone cylinder storage device by cone cylinder transfer device 1, the calvus 206 of cone cylinder grabbing device 2 is opened,
Put down cone cylinder；
Single cone cylinder recycling finishes.
As shown in figure 8, the cone cylinder proposed by the present invention based on small size platform lays recovery system automatically lays cone cylinder
Motion flow step be：
1. system motion is to the zero-bit that works；
2. cone cylinder transfer device 1 is moved to above the cone cylinder of the storage of cone cylinder storage device 3, cone cylinder grabbing device 2 grabs cone cylinder；
3. cone cylinder is transported to placement position by cone cylinder transfer device 1, the calvus 206 of cone cylinder grabbing device 2 is opened, and puts down cone cylinder；
Single cone cylinder laying finishes.
It should be noted last that the above specific embodiment is only used to illustrate the technical scheme of the present invention and not to limit it,
Although being described the invention in detail referring to example, those skilled in the art should understand that, it can be to the present invention
Technical solution be modified or replaced equivalently, without departing from the spirit and scope of the technical solution of the present invention, should all cover
In the scope of the claims of the present invention.
Claims (10)
1. a kind of cone cylinder based on small size platform lays recovery system automatically, which is characterized in that including：It is installed on vehicle-mounted flat
Cone cylinder transfer device (1), cone cylinder grabbing device (2) on platform (6), system control cabinet (5), are installed on cone cylinder storage device (3)
Embrace folder positioning device (4) and human-computer interaction device in vehicular platform (6) cargo bed tail portion；
It include controller in the system control cabinet (5)；Controller is separately connected cone cylinder transfer device (1), cone cylinder grabbing device
(2), cone cylinder storage device (3), armful folder positioning device (4), human-computer interaction device, for controlling activity and the parsing of whole system
Control instruction from human-computer interaction device.
2. the cone cylinder as described in claim 1 based on small size platform lays recovery system automatically, which is characterized in that
Cone cylinder transfer device (1) includes pedestal (101), the first active joint (102), the second active joint (103), large arm
(104), third active joint (105), forearm (106), first connecting rod (107), second connecting rod (108), third connecting rod (109),
Fourth link (110)；First active joint (102) is rotary joint, is located above pedestal (101), the first active joint (102)
Motor output shaft and pedestal (101) be connected so that the first active joint (102) can be rotated around pedestal (101)；Second actively
Joint (103) is rotary joint, and the motor output shaft in the second active joint (103) and the first active joint (102) are connected, so that
Second active joint (103) can be rotated around the first active joint (102)；Second active joint (103) and third active joint
(105) both ends of large arm (104) are located at, are connected with large arm (104)；Third active joint (105) is rotary joint, forearm
(106) motor output shaft of one end and third active joint (105) is connected, so that forearm (106) can actively be closed around third
Save the motor output shaft rotation of (105)；The end of forearm (106) and cone cylinder grabbing device (2) are flexibly connected, so that cone cylinder grabs
Device (2) can be rotated around forearm (106) end；First connecting rod (107) and the first active joint (102) are connected, first connecting rod
(107) end is flexibly connected with second connecting rod (108) one end, and in junction, first connecting rod and second connecting rod being capable of relative rotation；
Third connecting rod (109) is at T-type, thirdly end is movable with second connecting rod (108), fourth link (110), forearm one end (106) respectively
Connection, being capable of relative rotation in three end junctions；The shell (201) of fourth link (110) end and cone cylinder grabbing device (2) is living
Dynamic connection, being capable of relative rotation in junction.
3. the cone cylinder as claimed in claim 2 based on small size platform lays recovery system automatically, which is characterized in that
The end of forearm (106) is equipped with the first camera (111), and the image of the first camera (111) shooting returns to controller,
And it is further shown on human-computer interaction device.
4. the cone cylinder as described in claim 1 based on small size platform lays recovery system automatically, which is characterized in that
Cone cylinder grabbing device (2) includes shell (201), crawl driving motor (202), motor cabinet (203), the nut with gib block
(204), slip case (205), calvus (206), spring (207), support chip (208)；Motor cabinet (203) is connect with shell (201)；It grabs
Driving motor (202) is taken to be mounted on motor cabinet (203)；It grabs the output shaft of driving motor (202) and is arranged in motor cabinet
(203) nut (204) connection in gib block；Motor cabinet (203) is equipped with the guide groove (2031) being adapted to gib block, nut
(204) in the guide groove (2031) in gib block insertion motor cabinet (203) on, so that when crawl driving motor (202) rotation, band
The nut (204) of gib block is moved up and down along motor cabinet (203)；It is solid with the nut (204) with gib block at the top of slip case (205)
Even, it is moved together with the nut (204) with gib block；
Support chip (208) and motor cabinet (203) bottom are connected；Pass through spring with motor cabinet (203) lower end at the top of calvus (206)
(207) it connects, is connect, be relatively rotatable to each other with support chip (208) by movable axis in the middle part of calvus (206).
5. the cone cylinder as described in claim 1 based on small size platform lays recovery system automatically, which is characterized in that
The cone cylinder storage device (3) includes bottom plate (301), taper sheath (302), support rod (303), weighing head (304)；Taper
Set (302) is installed on bottom plate (301), and support rod (303) bottom is fixed on bottom plate (301) top, at the top of support rod (303) with
Weighing head (304) is connected；Head (304) top weigh equipped with pressure sensor；The length of support rod (303) makes cone cylinder bottom and bottom
Plate (301) does not contact.
6. the cone cylinder as claimed in claim 5 based on small size platform lays recovery system automatically, which is characterized in that
The pressure sensor being connected in series there are two being set at the top of weighing head (304).
7. the cone cylinder as claimed in claim 6 based on small size platform lays recovery system automatically, which is characterized in that
Controller, which detects, assert that measurement is accurate when two pressure sensor measurement data are consistent, controller detects two pressure
Measuring error is assert when sensor measurement data is inconsistent, and sends alarm signal to human-computer interaction device.
8. the cone cylinder as described in claim 1 based on small size platform lays recovery system automatically, which is characterized in that
Embracing folder positioning device (4) includes translational drive mechanism (401), protective cover (402), lift drive mechanism (403), folding drive
Motivation structure (404) embraces folder driving mechanism, connecting plate (405), frame (406), two intermediate plates (407,408), contact sensors
(409)；
Translational drive mechanism (401) is mounted on vehicular platform (6) cargo bed tail portion, the movement portion connection of translational drive mechanism (401)
Protective cover (402)；Lift drive mechanism (403) is mounted in protective cover (402), the movement portion of lift drive mechanism (403) with
Connecting plate (405) is connected, and can be drivingly connected plate (405) and frame (406) moves up and down；Frame (406) and connecting plate (405)
Lower end is hinged, can rotate relative to connecting plate (405)；Opening and closing driving mechanism (404) is mounted in protective cover (402), folding
The movement portion connection framework (406) of driving mechanism (404) is rotated with driver framework (406) relative to connecting plate (405)；
Frame (406) rear end is equipped with the curved opening with cone cylinder external shape fits, and an intermediate plate is respectively arranged in curved opening two sides
(407,408)；Each intermediate plate (407,408) is flexibly connected with frame (406)；It is equipped in frame (406) and embraces folder driving mechanism, embrace folder
Driving mechanism includes rotating electric machine, and rotating electric machine passes through driving member respectively and connects each intermediate plate (407,408)；Rotating electric machine driving folder
Piece (407,408) open or close；
Contact sensor (409) is mounted in the curved opening of frame.
9. the cone cylinder as claimed in claim 8 based on small size platform lays recovery system automatically, which is characterized in that
There are two contact sensor (409) is set, it is located at the left and right sides in frame (406) curved opening.
10. the cone cylinder as claimed in claim 8 based on small size platform lays recovery system automatically, which is characterized in that
Protective cover (402) is equipped with second camera (410), and the image of second camera (410) shooting returns to controller, and
Further shown on human-computer interaction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810869356.7A CN108867441A (en) | 2018-08-02 | 2018-08-02 | Cone cylinder based on small size platform lays recovery system automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810869356.7A CN108867441A (en) | 2018-08-02 | 2018-08-02 | Cone cylinder based on small size platform lays recovery system automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108867441A true CN108867441A (en) | 2018-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810869356.7A Pending CN108867441A (en) | 2018-08-02 | 2018-08-02 | Cone cylinder based on small size platform lays recovery system automatically |
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| Country | Link |
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| CN (1) | CN108867441A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110984023A (en) * | 2020-01-09 | 2020-04-10 | 南京英达公路养护车制造有限公司 | Full-automatic traffic cone winding and unwinding vehicle |
| CN111778891A (en) * | 2020-06-24 | 2020-10-16 | 湖州前锋机械配件厂 | Road cone batch stacking device convenient to operate and used for road machinery |
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| CN105696483A (en) * | 2016-04-07 | 2016-06-22 | 扬州江润科技有限公司 | Light road cone automatic collecting and placing robot |
| CN106041900A (en) * | 2016-06-23 | 2016-10-26 | 安庆联泰电子科技有限公司 | Box carrying and stacking machine |
| CN106976073A (en) * | 2017-03-28 | 2017-07-25 | 昆明理工大学 | A kind of fruits and vegetables sorting manipulator |
| CN206721721U (en) * | 2017-04-14 | 2017-12-08 | 无锡市汇捷科技有限公司 | The car-mounted device of automatic putting and recovery road cone |
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| CN105696483A (en) * | 2016-04-07 | 2016-06-22 | 扬州江润科技有限公司 | Light road cone automatic collecting and placing robot |
| CN106041900A (en) * | 2016-06-23 | 2016-10-26 | 安庆联泰电子科技有限公司 | Box carrying and stacking machine |
| CN106976073A (en) * | 2017-03-28 | 2017-07-25 | 昆明理工大学 | A kind of fruits and vegetables sorting manipulator |
| CN206721721U (en) * | 2017-04-14 | 2017-12-08 | 无锡市汇捷科技有限公司 | The car-mounted device of automatic putting and recovery road cone |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110984023A (en) * | 2020-01-09 | 2020-04-10 | 南京英达公路养护车制造有限公司 | Full-automatic traffic cone winding and unwinding vehicle |
| CN111778891A (en) * | 2020-06-24 | 2020-10-16 | 湖州前锋机械配件厂 | Road cone batch stacking device convenient to operate and used for road machinery |
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