CN110127363B - Full-automatic device and method for stacking and recycling safety cone - Google Patents
Full-automatic device and method for stacking and recycling safety cone Download PDFInfo
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- CN110127363B CN110127363B CN201910505114.4A CN201910505114A CN110127363B CN 110127363 B CN110127363 B CN 110127363B CN 201910505114 A CN201910505114 A CN 201910505114A CN 110127363 B CN110127363 B CN 110127363B
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- 238000004064 recycling Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 17
- 210000000078 claw Anatomy 0.000 claims description 45
- 238000011084 recovery Methods 0.000 claims description 13
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 7
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 7
- 241001330002 Bambuseae Species 0.000 claims description 7
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 7
- 239000011425 bamboo Substances 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention discloses full-automatic stacking and recycling equipment for safe conical barrels, which comprises a base and a U-shaped conveying unit arranged at the top of the base, wherein a connecting rod is arranged at one end of the base, connecting pieces are respectively arranged at the tops of the connecting rods, double lug plates are respectively connected to the connecting pieces in a rotating manner, a transverse moving linear guide rail is arranged on the double lug plates, a transverse moving module sliding block is arranged on the transverse moving linear guide rail, a transverse moving driving motor is arranged at one end of the transverse moving linear guide rail, a connecting plate is arranged at the bottom of the connecting rod, a bottom sliding rail is horizontally arranged on the connecting plate, and a bottom sliding block is arranged on the bottom sliding rail; the lifting module is connected to the sliding block of the transverse moving module, a lifting sliding rail is arranged on the lifting sliding rail, a lifting sliding block is arranged on the lifting sliding rail, a rotary mechanical arm is arranged on the lifting sliding block, and a holding clamp is arranged at the tail end of the rotary mechanical arm; the invention also discloses a full-automatic stacking and recycling method of the safety cone, and the stacking or recycling efficiency of the safety cone can be remarkably improved.
Description
Technical Field
The invention relates to full-automatic equipment and method for stacking and recycling safe conical barrels, and belongs to the technical field of conical barrel stacking and recycling equipment.
Background
The existing cone processing equipment on the expressway is provided with two types of semi-automatic equipment and full-automatic equipment, wherein one side of an engineering vehicle is provided with one equipment, an operator stands in a carriage, the cone is placed on a rotating arm of the equipment by hand, after the rotating arm rotates 180 degrees, the cone falls on the ground, and when the vehicle runs forwards, the equipment is provided with a centralizing rod for centralizing the cone, so that the cone is stacked. The operator places the second cone according to the speed of the vehicle and the approximate distance traveled and circulates in turn. When retrieving the awl section of thick bamboo, need to reverse a car, navigating mate observes the position of awl section of thick bamboo through the rear-view mirror, hits the awl section of thick bamboo with the horizontal pole on the equipment behind the sighting awl section of thick bamboo, and then enters into on the inside swinging boom of equipment, lifts the awl section of thick bamboo after the swinging boom is rotatory, and operating personnel takes down the awl section of thick bamboo and puts in the carriage inside. Because the equipment is hung on the side of the vehicle, straight line placement can be realized, oblique lines cannot be placed, manual oblique lines are needed, if the equipment is needed to be placed on the other side of the vehicle, a plurality of people need to park to lift the equipment to the other side of the vehicle by using tools, and the equipment can continue to work after being installed. Because vehicles are more at a high speed and the speed is higher, the work needs several persons to cooperate, and the time is longer, so the potential safety hazard is larger.
Existing fully automatic equipment conditions: the device and the large-sized vehicle are integrated, the carriage is refitted, the cone barrels customized for the device are placed in the carriage, the cone barrels are laid down and arranged into 2 to 3 layers, the bottom of each layer of cone barrel is driven by a chain, a special bending steel plate is hung on the chain to be used for dividing each cone barrel, four rows of cone barrels are arranged on each layer, when the cone barrels are stacked, the chain wheels rotate for a certain distance, the four cone barrels are sent out, meanwhile, four hooks are arranged on the outer side to hang the cone barrels, then the cone barrels are placed on a conveyor belt at the bottom, the conveyor belt rotates to convey the cone barrels to the outlet, and because the cone barrels are still in a laid down state, another rod is needed to erect the cone barrels, after the cone barrels are conveyed to the ground by a slide type conveyor belt capable of moving left and right, and accordingly, the cone barrels are placed on the ground, and the mechanism and the process are complex. When the cone is recovered, the driver needs to reverse, the driver searches the position of the cone through the camera at the rear part of the vehicle, meanwhile, the assistant driving operation can align the slide type conveying belt which moves transversely, the inclined conveying belt at the top of the cone is received at the entrance after touching the cone, the cone is then put down by the rod, after four cones are fully recovered, the cone is hung by the hook, and the cone is conveyed to the chain after advancing for a certain distance, so that the cone is recovered. Because the transverse moving distance of the conveyor belt for stacking the cone barrels is limited, the conveyor belt can only go from one side to the other side of the vehicle and cannot exceed the width range of the vehicle, the conveyor belt always occupies a traffic lane at the rear side or is not in the protection range of the cone barrels during working, and because the number of vehicles at the rear side is high at a high speed and the speed is high, hidden danger of scratch exists, and particularly during night working, the cone barrels are recovered for reversing, and the potential safety hazard is increased. Because the recovery equipment has higher requirement on the shape consistency of the cone base, when the edge of the cone base is not parallel to the conveying belt, the cone is difficult to retract, the position needs to be adjusted in a reversing way for many times, the cone can be retracted, and because the cone is easy to be blown askew due to the limitation of natural conditions such as high-speed upwind in the process of placement or use, the edge of the cone base can be often askew, and the difficulty is great when the equipment is retracted.
Drawbacks of the prior art solutions: 1. the semiautomatic operation requires more labor and cannot complete the whole process by means of equipment; 2. the semi-automatic equipment needs to be manually and continuously changed in position to work, so that time is wasted, and potential safety hazards are high in high speed; 3. the semi-automatic equipment works in reverse, and risks exist in finding the position by using the rearview mirror; 4. the reversing operation of the full-automatic equipment is troublesome and has potential safety hazards; 5. the full-automatic equipment cannot be always positioned in the protection range of the inner side of a safe traffic lane or a cone in the working process, and hidden danger of being scratched by a rear high-speed vehicle exists; 6. the customized cone cannot well meet the needs of various conditions, and has no universal applicability; 7. when the cone is retracted, the cone is limited by the direction of the cone base, so that the cone is difficult to recover; 8. the modularization cannot be realized, special vehicles are required to be customized by using equipment, the cost is high, and the vehicle specificity is too strong; 9. the use of the equipment is matched with a large-sized vehicle, which is unfavorable for energy utilization and environmental protection.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a full-automatic device and a method for stacking and recycling a safety cone.
The technical scheme adopted by the invention is as follows:
the full-automatic stacking and recycling equipment for the safety cone comprises a base and a U-shaped conveying unit arranged at the top of the base, wherein a connecting rod is arranged at one end of the base close to the opening end of the U-shaped conveying unit, the length of the connecting rod is larger than the width of the opening end of the U-shaped conveying unit, connecting pieces are respectively arranged at the tops of the connecting rods positioned at two sides of the U-shaped conveying unit, double lug plates are respectively connected to the connecting pieces in a rotating mode, a bayonet is formed in one side, facing the opening end of the U-shaped conveying unit, of each double lug plate, a transverse moving linear guide rail is arranged in the bayonet, a transverse moving module sliding block is arranged on one side, far away from the opening end of the U-shaped conveying unit, of each transverse moving linear guide rail, a transverse moving driving motor is arranged at one end of each transverse moving linear guide rail, rotating rods are arranged on top plate bodies of the two double lug plates, and a righting rod is sleeved on each rotating rod; the bottom of the connecting rod is provided with a connecting plate, the connecting plate is horizontally provided with a bottom sliding rail, and one side of the bottom sliding rail, which is far away from the opening end of the U-shaped conveying unit, is provided with a bottom sliding block; the lifting module comprises a lifting sliding rail, a lifting module sliding block arranged on the lifting sliding rail and a lifting module driving motor arranged on one side of the bottom of the lifting sliding rail, wherein the lifting module sliding block is arranged towards the opening end of the U-shaped conveying unit, the lifting module sliding block is fixedly connected with the traversing module sliding block, a lifting sliding rail is arranged on one side of the lifting sliding rail far away from the opening end of the U-shaped conveying unit, a lifting sliding block is arranged on one side of the lifting sliding rail far away from the lifting sliding rail, a lifting driving motor is arranged on one side of the bottom of the lifting sliding rail, a rotary mechanical arm is horizontally rotated on the lifting sliding block, and the tail end of the rotary mechanical arm is provided with a holding clamp for clamping a safety cone; the righting rod is of an inverted L shape, the bottom of the righting rod is fixedly connected with the rotating rod, the top end of the righting rod is abutted against the lifting sliding rail, and a hydraulic push rod connected with the rod body at the bottom of the righting rod is further arranged in the notch of the U-shaped conveying unit.
Preferably, the rotary mechanical arm comprises a large arm and a small arm, one end of the large arm is rotationally connected with the lifting sliding block, the other end of the large arm is rotationally connected with one end of the small arm, rotary bearings are respectively arranged at the two joints, driving motors are respectively arranged at the bottoms of the rotary bearings, and the other end of the small arm is connected with the holding clamp.
Further preferably, the holding clamp comprises two clamp assemblies which are symmetrically arranged, each clamp assembly comprises a claw, a support plate and a telescopic device, the tail ends of the claws are rotationally connected with the end parts of the other ends of the small arms, the support plates are arranged at the bottoms of the other ends of the small arms, the telescopic devices are arranged on the support plates, the executing ends of the telescopic devices are rotationally connected with the claws, and the tail ends of the telescopic devices are rotationally connected with the support plates.
Further preferably, a photoelectric sensor is arranged at the opening of the claw.
Further preferably, a shield is provided over the base and the U-shaped conveying unit.
Further preferably, the U-shaped conveying unit is further provided with an electric control cabinet, a controller is arranged in the electric control cabinet and connected with a display operator arranged in the vehicle, and the U-shaped conveying unit, the hydraulic push rod, the transverse moving linear guide rail, the rotary mechanical arm, the holding clamp, the lifting driving motor and the lifting module driving motor are controlled by the controller.
Further preferably, the U-shaped conveying unit is further provided with a lithium battery pack for supplying power to the U-shaped conveying unit, the hydraulic push rod, the transverse linear guide rail, the rotary mechanical arm, the holding clamp, the lifting driving motor and the lifting module driving motor.
Further preferably, the bottom slider is further provided with a fixed permanent magnet, the lower side of the lifting slide rail is provided with a magnetic attraction plate corresponding to the fixed permanent magnet, and the fixed permanent magnet is fixedly connected with the magnetic attraction plate.
Further preferably, the rotary mechanical arm is further provided with a video monitor, and the video monitor is in communication connection with a display operator installed on the vehicle.
A method for fully automatically stacking and recycling a safety cone comprises the following steps:
s1, when stacking, conveying a cone stack placed on a U-shaped conveying unit to one side of the opening end of the U-shaped conveying unit, where the cone is to be placed, by using a conveying belt, starting a lifting driving motor to drive a lifting sliding block to drive a rotary mechanical arm to move upwards, stopping lifting the driving motor when the height of the rotary mechanical arm is higher than the placing height of the cone stack, starting two driving motors, and driving a large arm and a small arm of the rotary mechanical arm to move to the position right above the cone stack by using the driving motors;
s2, starting the telescopic device to open the clamping claw, then starting the lifting driving motor to drive the lifting sliding block to drive the rotary mechanical arm to move downwards, and triggering symmetrical clamping claws to close to grab the conical cylinder by the photoelectric sensor arranged at the opening of the clamping claw after the neck of the uppermost conical cylinder enters the closing range of the clamping claw;
s3, after the conical barrels are grabbed by the clamping jaws, controlling the lifting driving motor to drive the lifting sliding block to drive the rotary mechanical arms to move upwards, when the uppermost conical barrels are completely separated from the conical barrel pile, starting the transverse moving driving motor to drive the transverse moving module sliding block to drive the lifting module, the lifting sliding rail, the lifting sliding block and the rotary mechanical arms to move towards the conical barrel placing side, simultaneously starting the driving motor to extend the large arms and the small arms of the rotary mechanical arms towards the conical barrel placing side, and simultaneously controlling the lifting driving motor to drive the sliding block to drive the rotary mechanical arms to move downwards for a certain distance, and controlling the telescopic device to drive the clamping jaws to open, so that the conical barrels are placed;
s4, after the conical cylinders on the conical cylinder stack are piled up, the U-shaped conveying unit continuously conveys the conical cylinder stack forwards for piling up;
s5, when the cone drum is recovered, a transverse moving driving motor is started to drive a transverse moving module sliding block to drive a lifting module, a lifting sliding rail, a lifting sliding block and a rotary mechanical arm to move towards the cone drum placing side, then the lifting driving motor is controlled to drive the lifting sliding block to drive the rotary mechanical arm to move downwards, a driving motor is started to extend a large arm and a small arm of the rotary mechanical arm towards the cone drum placing side, a telescopic device is started to open a clamping jaw, and after the neck of the cone drum enters a falling jaw closing range, a sensor arranged at the opening of the clamping jaw triggers symmetrical clamping jaws to close so as to grasp the cone drum;
s6, after the conical cylinder is grabbed by the clamping jaw, controlling the lifting driving motor to drive the lifting sliding block to drive the rotary mechanical arm to move upwards, stopping the lifting driving motor when the bottom of the conical cylinder is higher than the set height of the conveying belt of the U-shaped conveying unit, then starting the traversing driving motor to drive the traversing module sliding block to drive the lifting module, the lifting sliding rail, the lifting sliding block and the rotary mechanical arm to move towards the inner side of the U-shaped conveying unit, and stopping the traversing driving motor when the conical cylinder moves to be right above the conveying belt of the U-shaped conveying unit;
s7, starting the telescopic device to open the clamping claw of the holding clamp, and enabling the cone barrel to fall onto the conveying belt to be recovered;
s8, when the second cone is recovered, controlling a lifting driving motor to drive a lifting sliding block to drive a rotary mechanical arm to move upwards, after the holding clamp is separated from the cone, starting a transverse moving driving motor to drive a transverse moving module sliding block to drive a lifting module, a lifting sliding rail, the lifting sliding block and the rotary mechanical arm to move towards the outer cone placing side of the U-shaped conveying unit, after the holding clamp is positioned right above the cone, stopping the transverse moving driving motor, starting the lifting driving motor to drive the lifting sliding block to drive the rotary mechanical arm to move downwards, starting a telescopic device to open a clamping jaw of the holding clamp, and after the neck of the cone enters a falling jaw closing range, triggering symmetrical clamping jaws to be closed by a sensor arranged at an opening of the clamping jaw to grasp the cone;
s9, after the conical cylinder is grabbed by the claw, controlling the lifting driving motor to drive the lifting sliding block to drive the rotary mechanical arm to move upwards, stopping lifting the driving motor when the bottom of the conical cylinder is higher than the conical cylinder placed on the conveying belt of the U-shaped conveying unit, then starting the traversing driving motor to drive the traversing module sliding block to drive the lifting module, the lifting sliding rail, the lifting sliding block and the rotary mechanical arm to move towards the inner side of the U-shaped conveying unit, stopping the traversing driving motor when the conical cylinder moves to the position right above the conical cylinder on the conveying belt of the U-shaped conveying unit, and then starting the telescopic device to open the claw of the holding clamp, so that the conical cylinder falls onto the conical cylinder recovered on the conveying belt for the first time to finish recovery;
s10, repeating the operations in S8 and S9 to continue cone recovery, and controlling the U-shaped conveying unit to reversely convey the cone stacks to move after the recovery cones collect a certain amount.
The invention has the beneficial effects that:
1. the cone can be recovered along the running direction of the engineering vehicle, so that the trouble and potential safety hazard of reversing and recovering the cone are avoided;
the holding clamp is arranged on the rotary mechanical arm structure capable of rotating, and the large arm and the small arm can rotate, so that the holding clamp direction can work along the driving positive direction, and after the conical cylinder is clamped, the lifting part can be directly placed on the U-shaped conveying unit;
2. the engineering vehicle can be ensured to be always positioned at the inner side of a safe traffic lane in the working process, the side traffic lane is not occupied, and the hidden trouble of being scratched by a rear or front high-speed vehicle is avoided;
the rotary mechanical arm can be driven by the transverse linear guide rail to carry out linear displacement, when the transverse moving module sliding block drives the rotary mechanical arm to move to one side of the vehicle, the rotary large arm and the small arm form a 90-degree angle, at the moment, the small arm and the holding clamp extend to the outer side of the vehicle for a certain distance, namely the placing position of the cone drum is located on the outer side of the vehicle for a certain distance, and after the cone drum forms a line, the rear vehicle can run on the outer side of the cone drum, so that the working vehicle is always in the protection range of the cone drum, and not only the working vehicle, but also the rear travelling vehicle are protected;
3. the cone cylinder which is specially retracted and released can be not needed to be customized for the equipment;
the mode of holding the cone by the holding clamp to vertically grasp the cone can allow the cone base to deform in the using process;
4. the cone is not limited by the direction of the cone base when the cone is folded, each edge of the octagonal cone base can face any direction of the horizontal plane, and the cone folding is not affected;
because the mode of holding the clamp to vertically grasp the cone is adopted, the cone is not limited by the shape of the cone base when the cone is stacked and recovered;
5. the structure is simple, the actions are fewer, and the reliability is stronger;
when the rotary mechanical arm stacks the cone, the cone is directly grabbed on the U-shaped conveying unit, then the clamping device can be loosened to finish the work of stacking the cone by moving a certain distance in the vertical direction, and the process is opposite during the recovery, so that excessive recovery and stacking actions, such as the action of separating the cone, the action of righting and standing the cone, the action of pushing the cone upside down and the like, are omitted;
6. the modularization can be realized, the special customization of engineering vehicles is not needed, and the engineering vehicles can be placed on different small-sized engineering vehicles according to the needs;
an independent power source is adopted to be separated from the vehicle, so that the vehicle does not need to be integrated with a special vehicle;
7. energy saving and environmental protection, and does not need to use a high-power diesel or gasoline engine as a power source;
the energy-saving lithium battery pack which is more environment-friendly is adopted, and a diesel or gasoline engine is avoided.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the right end structure of FIG. 1;
FIG. 3 is an enlarged view of FIG. 1 at A;
FIG. 4 is an enlarged view of FIG. 1 at B;
the main reference numerals in the figures have the following meanings:
1. lifting slide rail, 2, lifting slide rail, 3, shield, 4, U-shaped conveying unit, 5, hydraulic push rod, 6, base, 7, traversing linear guide rail, 8, bottom slide rail, 9, rotary mechanical arm, 10, holding clamp, 11, driving motor, 12, lifting driving motor, 13, lifting module driving motor, 14, traversing driving motor, 15, centering rod, 16, fixed permanent magnet, 17, traversing module sliding block, 18, lifting module sliding block, 19, lifting sliding block, 20, rotating rod, 21, double-lug plate, 23, magnetic attraction plate, 24, bottom sliding block, 25, electric control cabinet, 26, lithium battery pack, 27, air compressor, 61, connecting rod, 62, connecting piece, 63, connecting plate, 91, big arm, 92, small arm, 93, rotary bearing, 101, claw, 102, support plate, 103 and telescopic device.
Detailed Description
The invention is described in detail below with reference to the drawings and examples.
As shown in fig. 1-4: the embodiment is a full-automatic stacking and recycling device for safety cone barrels, which comprises a base 6 and a U-shaped conveying unit 4 arranged at the top of the base 6, wherein a connecting rod 61 is arranged at one end of the base 6 close to the opening end of the U-shaped conveying unit 4, the length of the connecting rod 61 is larger than the width of the opening end of the U-shaped conveying unit 4, connecting pieces 62 are respectively arranged at the tops of the connecting rods 61 positioned at two sides of the U-shaped conveying unit 4, double-lug plates 21 are respectively connected onto the connecting pieces 62 in a rotating way, bayonets are formed at one side of the double-lug plates 21, facing the opening end of the U-shaped conveying unit 4, a transverse moving linear guide rail 7 is arranged in each bayonet, a transverse moving module sliding block 17 is arranged at one side of the transverse moving linear guide rail 7, a transverse moving driving motor 14 is arranged at one end of the transverse moving linear guide rail 7, rotating rods 20 are arranged on top plate bodies of the two double-lug plates 21, and righting rods 15 are sleeved and fixed on the rotating rods 20; a connecting plate 63 is arranged at the bottom of the connecting rod 61, a bottom sliding rail 8 is horizontally arranged on the connecting plate 63, and a bottom sliding block 24 is arranged on one side of the bottom sliding rail 8 away from the opening end of the U-shaped conveying unit 4; the lifting module is connected to the transverse moving module sliding block 17 and comprises a lifting sliding rail 2, a lifting module sliding block 18 arranged on the lifting sliding rail 2 and a lifting module driving motor 13 arranged on one side of the bottom of the lifting sliding rail 2, wherein the lifting module sliding block 18 is arranged towards the opening end of the U-shaped conveying unit 4, the lifting module sliding block 18 is fixedly connected with the transverse moving module sliding block 17, a lifting sliding rail 1 is arranged on one side, far away from the opening end of the U-shaped conveying unit 4, of the lifting sliding rail 2, a lifting sliding block 19 is arranged on one side, far away from the lifting sliding rail 2, of the lifting sliding rail 1, a lifting driving motor 12 is arranged on one side of the bottom of the lifting sliding rail 1, a rotary mechanical arm 9 is horizontally rotated on the lifting sliding block 19, and a holding clamp 10 for clamping a safety cone is arranged at the tail end of the rotary mechanical arm 9; the righting rod 15 is of an inverted L shape, the bottom of the righting rod 15 is fixedly connected with the rotating rod 20, the top end of the righting rod 15 is abutted against the lifting slide rail 1, and a hydraulic push rod 5 connected with the rod body at the bottom of the righting rod 15 is further arranged in the notch of the U-shaped conveying unit 4.
Referring to fig. 1, an electric control cabinet 25 is further arranged on the U-shaped conveying unit 4, a controller is arranged in the electric control cabinet 25, the controller is connected with a display operator arranged in a vehicle, and the U-shaped conveying unit 4, the hydraulic push rod 5, the transverse moving linear guide rail 7, the rotary mechanical arm 9, the holding clamp 10, the lifting driving motor 12 and the lifting module driving motor 13 are controlled by the controller; the U-shaped conveying unit 4 is also provided with a lithium battery pack 26 for supplying power to the U-shaped conveying unit 4, the hydraulic push rod 5, the transverse linear guide rail 7, the rotary mechanical arm 9, the holding clamp 10, the lifting driving motor 12 and the lifting module driving motor 13.
Referring to fig. 2, the swing mechanical arm 9 includes a large arm 91 and a small arm 92, one end of the large arm 91 is rotationally connected with the lifting slider 19, the other end of the large arm 91 is rotationally connected with one end of the small arm 92, swing bearings 93 are respectively arranged at the two joints, driving motors 11 are respectively arranged at the bottoms of the swing bearings 93, and the other end of the small arm 92 is connected with the holding clamp 10.
Referring to fig. 2 and 3, the holding clamp 10 includes two symmetrical clamp assemblies, each clamp assembly includes a claw 101, a support plate 102 and a telescopic device 103, in this embodiment, the telescopic device 103 is an air cylinder, so the air compressor 27 for supplying air to the air cylinder is further disposed at the U-shaped conveying unit 4, the tail end of the claw 101 is rotationally connected with the other end of the small arm 92, the support plate 102 is disposed at the bottom of the other end of the small arm 92, the telescopic device 103 is disposed on the support plate 102, the execution end of the telescopic device 103 is rotationally connected with the claw 101, the tail end of the telescopic device 103 is rotationally connected with the support plate 102, and a photoelectric sensor is disposed at the opening of the claw 101.
In this embodiment, a cover 3 is provided over the base 6 and the U-shaped conveying unit 4.
Referring to fig. 1 and 2, the bottom slider 24 is further provided with a fixed permanent magnet 16, a magnetic attraction plate 23 corresponding to the fixed permanent magnet 16 is disposed at the lower side of the lifting slide rail 2, and the fixed permanent magnet 16 is fixedly connected with the magnetic attraction plate 23.
In this embodiment, the rotary mechanical arm 9 is further provided with a video monitor, and the video monitor is in communication connection with a display operator mounted on the vehicle.
A method for fully automatically stacking and recycling a safety cone comprises the following steps:
s1, when stacking is carried out, as shown in FIG. 1, a cone stack placed on a U-shaped conveying unit 4 is conveyed to one side of an opening end of the U-shaped conveying unit 4 where a cone is to be placed through a conveying belt, a lifting driving motor 12 is started to drive a lifting sliding block 19 to drive a rotary mechanical arm 9 to move upwards, when the height of the rotary mechanical arm 9 is higher than the placing height of the cone stack, the lifting driving motor 12 is stopped, then two driving motors 11 are started, a large arm 91 of the rotary mechanical arm 9 rotates anticlockwise by 180 degrees under the driving of the driving motor 11 at the joint of the large arm 91 and the lifting sliding block 19, and the driving motor 11 at the joint of the large arm 91 and the small arm 92 drives the small arm to rotate so as to move the holding clamp 10 to the position right above the cone stack;
s2, an air compressor 27 provides an air source for a telescopic device 103 and then drives the telescopic device 103 to open a clamping jaw 101 of the clamp 10, a lifting driving motor 12 is started to drive a lifting sliding block 19 to drive a rotary mechanical arm 9 to integrally move downwards, and when the neck of the uppermost cone enters the closing range of the clamping jaw 101, a photoelectric sensor arranged at the opening of the clamping jaw 101 triggers the symmetrical clamping jaw 101 to close so as to grasp the cone;
s3, after the conical barrels are grabbed by the claw 101, the lifting driving motor 12 is controlled by the controller to drive the lifting sliding block 19 to drive the rotary mechanical arm 9 to integrally move upwards, after the uppermost conical barrels are completely separated from the conical barrel pile, the transverse moving driving motor 14 is started to drive the transverse moving module sliding block 17 to drive the lifting module, the lifting sliding rail 1, the lifting sliding block 19 and the rotary mechanical arm 9 to move towards the conical barrel placing side, and meanwhile, the driving motor 11 at the joint of the large arm 91 and the small arm 92 is started to drive the small arm 92 to rotate towards the conical barrel placing side, and meanwhile, the lifting driving motor 12 is controlled to drive the sliding block 19 to drive the rotary mechanical arm 9 to integrally move downwards for a certain distance, the telescopic device 103 is controlled to drive the claw 101 to open, and the conical barrels are placed;
s4, after the conical cylinders on the conical cylinder stack are piled up, the U-shaped conveying unit 4 continuously conveys the conical cylinder stack forwards for piling up;
s5, in the recovery process, as shown in the figure 1, a traversing driving motor 14 is started to drive a traversing module sliding block 17 to drive a lifting module, a lifting sliding rail 1, a lifting sliding block 19 and a rotary mechanical arm 9 to move towards the cone placement side, then a lifting driving motor 12 is controlled to drive the lifting sliding block 19 to drive the rotary mechanical arm 9 to move downwards and start a large arm 91 of the rotary mechanical arm 9 to rotate anticlockwise by 180 degrees under the driving of a driving motor 11 at the joint of the large arm 91 and the lifting sliding block 19, a driving motor 11 at the joint of the large arm 91 and a small arm 92 drives the small arm to rotate so as to move a holding clamp 10 to the position right above the cone placement side, a telescopic device 103 is started to open a claw 101 of the holding clamp 10, and after the neck of the cone enters a falling claw 101 closing range, a sensor arranged at the opening of the claw 101 is triggered to close the symmetrical claw 101 so as to grasp the cone;
s6, after the conical barrel is grabbed by the clamping jaw 101, controlling the lifting driving motor 12 to drive the lifting sliding block 19 to drive the rotary mechanical arm 9 to move upwards, stopping lifting the driving motor 12 when the bottom of the conical barrel is higher than the set height of the conveying belt of the U-shaped conveying unit 4, then starting the traversing driving motor 14 to drive the traversing module sliding block 17 to drive the lifting module, the lifting sliding rail 1, the lifting sliding block 19 and the rotary mechanical arm 9 to move towards the inner side of the U-shaped conveying unit 4, and stopping the traversing driving motor 14 when the conical barrel moves to be right above the conveying belt of the U-shaped conveying unit 4;
s7, starting the telescopic device 103 to open the claw 101 of the holding clamp 10, and enabling the cone to fall onto the conveying belt to be recovered;
s8, when the second cone is recovered, a lifting driving motor 12 is controlled to drive a lifting sliding block 19 to drive a rotary mechanical arm 9 to move upwards, after the holding clamp 10 is separated from the cone, a transverse moving driving motor 14 is started to drive a transverse moving module sliding block 17 to drive a lifting module, a lifting sliding rail 1, the lifting sliding block 19 and the rotary mechanical arm 9 to move towards the outer cone placement side of the U-shaped conveying unit 4, when the holding clamp 10 is positioned right above the cone, the transverse moving driving motor 14 is stopped, the lifting driving motor 12 is started to drive the lifting sliding block 19 to drive the rotary mechanical arm 9 to move downwards, a telescopic device 103 is started to open a claw 101 of the holding clamp 10, and after the neck of the cone enters a falling claw 101 closing range, a sensor arranged at the opening of the claw 101 triggers symmetrical claws 101 to close so as to grasp the cone;
s9, after the conical barrel is grabbed by the claw 101, controlling the lifting driving motor 12 to drive the lifting sliding block 19 to drive the rotary mechanical arm 9 to move upwards, stopping lifting the driving motor 12 when the bottom of the conical barrel is higher than the height of the conical barrel placed on the conveying belt of the U-shaped conveying unit 4, then starting the traversing driving motor 14 to drive the traversing module sliding block 17 to drive the lifting module, the lifting sliding rail 1, the lifting sliding block 19 and the rotary mechanical arm 9 to move towards the inner side of the U-shaped conveying unit 4, stopping the traversing driving motor 14 when the conical barrel moves to the position right above the conical barrel on the conveying belt of the U-shaped conveying unit 4, and then starting the telescopic device 103 to open the claw 101 of the clamp 10, wherein the conical barrel falls onto the conical barrel recovered on the conveying belt for the first time to complete recovery;
s10, repeating the operations in S8 and S9 to continue cone recovery, and controlling the U-shaped conveying unit 4 to reversely convey the cone stacks to move after the recovery cones collect a certain amount.
In addition, the full-automatic stacking and recycling safety cone device provided by the invention is characterized in that the connecting piece 62 is rotationally connected with the double lug plates 21, the top plate bodies of the two double lug plates 21 are provided with the rotating rods 20, the rotating rods 20 are fixedly sleeved with the centralizing rods 15, the hydraulic push rods 5 connected with the bottom rod bodies of the centralizing rods 15 are also arranged in the notches of the U-shaped conveying units 4, when the centralizing rods 15 are pushed or pulled back by the hydraulic push rods 5, the transversely moving linear guide rails 7 drive parts fixedly connected with the transversely moving linear guide rails to integrally perform rotary motion, therefore, when the full-automatic stacking and recycling safety cone device is not used, the rotary mechanical arms 9 are rotated to the side far away from the U-shaped conveying units 4, then the hydraulic push rods 5 are started to pull the centralizing rods 15, the double lug plates 21 are driven to rotate towards the directions close to the notches of the U-shaped conveying units 4, and after the centralizing rods 15 are brought to the horizontal by the hydraulic push rods 5, the transversely moving linear guide rails 7 are driven to be in the horizontal state integrally, and the fixedly connected parts of the transversely moving linear guide rails 7 are also horizontally positioned in the notches of the transversely moving conveying units 4, so that the space is saved; when the equipment needs to be used, the hydraulic push rod 5 pushes the righting rod 15 to be in a vertical state.
In summary, the full-automatic device and method for stacking and recycling the safety cone realize recycling of the cone along the running direction of the engineering vehicle, thereby avoiding trouble and potential safety hazard of backing up and recycling the cone, ensuring that the engineering vehicle is always positioned at the inner side of a safety traffic lane in the working process, not occupying a side traffic lane, and avoiding hidden danger of being scratched by a rear or front high-speed vehicle; the cone cylinder which is specially retracted and released does not need to be customized for the equipment; when the cone is folded, the cone is not limited by the direction of the cone base, each side of the octagonal cone base can face any direction of the horizontal plane, and the folding is not affected; the modularization can be realized, the engineering vehicle does not need to be specially customized, and the engineering vehicle can be placed on different small-sized engineering vehicles according to the needs; energy saving and environment protection, no need of using high power diesel or gasoline engine as power source, simple structure, less actions and stronger reliability.
The foregoing is merely illustrative of the preferred embodiments of this invention, and it will be appreciated by those skilled in the art that variations and modifications may be made without departing from the principles of this invention, and such variations and modifications are to be regarded as being within the scope of this invention.
Claims (10)
1. The utility model provides a full-automatic equipment of stacking and retrieving safe awl section of thick bamboo which characterized in that: the automatic transverse moving type double-lug plate conveying device comprises a base (6) and a U-shaped conveying unit (4) arranged at the top of the base (6), wherein a connecting rod (61) is arranged at one end of the base (6) close to the opening end of the U-shaped conveying unit (4), the length of the connecting rod (61) is larger than the width of the opening end of the U-shaped conveying unit (4), connecting pieces (62) are respectively arranged at the tops of the connecting rods (61) positioned at two sides of the U-shaped conveying unit (4), double-lug plates (21) are respectively connected onto the connecting pieces (62) in a rotating mode, a bayonet is formed in one side, facing the opening end of the U-shaped conveying unit (4), of the double-lug plates (21), a transverse moving linear guide rail (7) is arranged in one side, far away from the opening end of the U-shaped conveying unit (4), of the transverse moving linear guide rail (7) is provided with a transverse moving driving motor (14), rotating rods (20) are arranged on top plate bodies of the two double-lug plates (21), and a righting rod (15) is fixed onto the rotating rods (20). A connecting plate (63) is arranged at the bottom of the connecting rod (61), a bottom sliding rail (8) is horizontally arranged on the connecting plate (63), and a bottom sliding block (24) is arranged on one side, far away from the opening end of the U-shaped conveying unit (4), of the bottom sliding rail (8); the lifting device comprises a transverse moving module sliding block (17), wherein the transverse moving module sliding block (17) is connected with a lifting module, the lifting module comprises a lifting sliding rail (2), a lifting module sliding block (18) arranged on the lifting sliding rail (2) and a lifting module driving motor (13) arranged on one side of the bottom of the lifting sliding rail (2), the lifting module sliding block (18) is arranged towards the opening end of a U-shaped conveying unit (4), the lifting module sliding block (18) is fixedly connected with the transverse moving module sliding block (17), one side, far away from the opening end of the U-shaped conveying unit (4), of the lifting sliding rail (2) is provided with a lifting sliding rail (1), one side, far away from the lifting sliding rail (2), of the lifting sliding rail (1) is provided with a lifting driving motor (12), the lifting sliding block (19) horizontally rotates to be provided with a rotary mechanical arm (9), and the tail end of the rotary mechanical arm (9) is provided with a holding clamp (10) for clamping a safety cone; the right pole (15) is of an inverted L shape, the bottom of the right pole (15) is fixedly connected with the rotating rod (20), the top end of the right pole (15) is abutted with the lifting sliding rail (1), and a hydraulic push rod (5) connected with the bottom rod body of the right pole (15) is further arranged in the notch of the U-shaped conveying unit (4).
2. The full-automatic stacking and recycling equipment for safety cones according to claim 1, characterized in that the rotary mechanical arm (9) comprises a large arm (91) and a small arm (92), one end of the large arm (91) is rotationally connected with the lifting sliding block (19), the other end of the large arm (91) is rotationally connected with one end of the small arm (92), rotary bearings (93) are respectively arranged at two joints, driving motors (11) are respectively arranged at the bottoms of the rotary bearings (93), and the other end of the small arm (92) is connected with the holding clamp (10).
3. The full-automatic stacking and recycling equipment for safety cone according to claim 2, wherein the holding clamp (10) comprises two clamp assemblies which are symmetrically arranged, each clamp assembly comprises a claw (101), a support plate (102) and a telescopic device (103), the tail end of each claw (101) is rotationally connected with the end part of the other end of each small arm (92), each support plate (102) is arranged at the bottom of the other end of each small arm (92), each telescopic device (103) is arranged on each support plate (102), the executing end of each telescopic device (103) is rotationally connected with each claw (101), and the tail end of each telescopic device (103) is rotationally connected with each support plate (102).
4. A fully automatic stacking and retrieving safety cone device according to claim 3, characterized in that the opening of the jaws (101) is provided with a photoelectric sensor.
5. The fully automatic safety cone stacking and recovering device according to claim 1, characterized in that a shield (3) is covered above the base (6) and the U-shaped conveying unit (4).
6. The full-automatic stacking and recycling equipment for safety cones according to claim 4, wherein an electric control cabinet (25) is further arranged on the U-shaped conveying unit (4), a controller is arranged in the electric control cabinet (25), the controller is connected with a display operator arranged in a vehicle, and the U-shaped conveying unit (4), the hydraulic push rod (5), the transverse moving linear guide rail (7), the rotary mechanical arm (9), the holding clamp (10), the lifting driving motor (12) and the lifting module driving motor (13) are controlled to act by the controller.
7. The full-automatic stacking and recycling equipment for safety cones according to claim 6, wherein the U-shaped conveying unit (4) is further provided with a lithium battery pack (26) for supplying power to the U-shaped conveying unit (4), the hydraulic push rod (5), the transverse moving linear guide rail (7), the rotary mechanical arm (9), the holding clamp (10), the lifting driving motor (12) and the lifting module driving motor (13).
8. The full-automatic stacking and recycling equipment for safety cones according to claim 1, characterized in that a fixed permanent magnet (16) is further arranged on the bottom sliding block (24), a magnetic attraction plate (23) corresponding to the fixed permanent magnet (16) is arranged on the lower side of the lifting sliding rail (2), and the fixed permanent magnet (16) is fixedly connected with the magnetic attraction plate (23).
9. The full-automatic safety cone stacking and recycling equipment according to claim 1, wherein a video monitor is further arranged on the rotary mechanical arm (9), and the video monitor is in communication connection with a display operator arranged on a vehicle.
10. A method for fully automatically stacking and retrieving a safety cone based on the apparatus of claim 7, comprising the steps of:
s1, when stacking, a cone stack placed on a U-shaped conveying unit (4) is conveyed to one side of the opening end of the U-shaped conveying unit (4) where the cone is to be placed, a lifting driving motor (12) is started to drive a lifting sliding block (19) to drive a rotary mechanical arm (9) to move upwards, when the height of the rotary mechanical arm (9) is higher than the placing height of the cone stack, the lifting driving motor (12) is stopped, then two driving motors (11) are started, and a large arm (91) and a small arm (92) of the rotary mechanical arm (9) move a holding clamp (10) to the position right above the cone stack under the driving of the driving motors (11);
s2, starting a telescopic device (103) to open a claw (101) of the holding clamp (10), then starting a lifting driving motor (12) to drive a lifting sliding block (19) to drive a rotary mechanical arm (9) to move downwards, and triggering symmetrical claws (101) to close to grab a cone when the neck of the uppermost cone enters the closing range of the claw (101);
s3, after the conical barrels are grabbed by the clamping jaws (101), controlling the lifting driving motor (12) to drive the lifting sliding block (19) to drive the rotary mechanical arm (9) to move upwards, after the uppermost conical barrels are completely separated from the conical barrel pile, starting the traversing driving motor (14) to drive the traversing module sliding block (17) to drive the lifting module, the lifting sliding rail (1), the lifting sliding block (19) and the rotary mechanical arm (9) to move towards the conical barrel placing side, simultaneously starting the driving motor (11) to stretch the large arm (91) and the small arm (92) of the rotary mechanical arm (9) towards the conical barrel placing side, and simultaneously controlling the lifting driving motor (12) to drive the sliding block (19) to drive the rotary mechanical arm (9) to move downwards for a certain distance, and controlling the telescopic device (103) to drive the clamping jaws (101) to open, so that the conical barrels are placed;
s4, after the conical cylinders on the conical cylinder stack are piled up, the U-shaped conveying unit (4) continuously conveys the conical cylinder stack forwards for piling up;
s5, when the cone is recovered, a transverse moving driving motor (14) is started to drive a transverse moving module sliding block (17) to drive a lifting module, a lifting sliding rail (1), a lifting sliding block (19) and a rotary mechanical arm (9) to move towards the cone placement side, then a lifting driving motor (12) is controlled to drive the lifting sliding block (19) to drive the rotary mechanical arm (9) to move downwards and start a driving motor (11) to extend a large arm (91) and a small arm (92) of the rotary mechanical arm (9) towards the cone placement side, a telescopic device (103) is started to open a claw (101) of a holding clamp (10), and after the neck of the cone enters a falling claw (101) closing range, a photoelectric sensor arranged at an opening of the claw (101) is triggered to close the symmetrical claw (101) to grasp the cone;
s6, after the conical barrel is grabbed by the clamping jaw (101), controlling the lifting driving motor (12) to drive the lifting sliding block (19) to drive the rotary mechanical arm (9) to move upwards, stopping the lifting driving motor (12) when the bottom of the conical barrel is higher than the set height of the conveying belt of the U-shaped conveying unit (4), then starting the transverse moving driving motor (14) to drive the transverse moving module sliding block (17) to drive the lifting module, the lifting sliding rail (1), the lifting sliding block (19) and the rotary mechanical arm (9) to move towards the inner side of the U-shaped conveying unit (4), and stopping the transverse moving driving motor (14) when the conical barrel moves to the position right above the conveying belt of the U-shaped conveying unit (4);
s7, starting the telescopic device (103) to open the clamping jaw (101) of the holding clamp (10), and enabling the cone to fall onto the conveying belt to be recovered;
s8, when the second cone is recovered, a lifting driving motor (12) is controlled to drive a lifting sliding block (19) to drive a rotary mechanical arm (9) to move upwards, after the holding clamp (10) is separated from the cone, a transverse moving driving motor (14) is started to drive a transverse moving module sliding block (17) to drive a lifting module, a lifting sliding rail (1), the lifting sliding block (19) and the rotary mechanical arm (9) to move towards the outer cone placing side of the U-shaped conveying unit (4), when the holding clamp (10) is positioned right above the cone, the transverse moving driving motor (14) is stopped, the lifting driving motor (12) is started to drive the lifting sliding block (19) to drive the rotary mechanical arm (9) to move downwards, and a telescopic device (103) is started to open a claw (101) holding clamp (10), and after the neck of the cone enters the closing range of the falling claw (101), a sensor arranged at the opening of the claw (101) is used for triggering symmetrical claws (101) to close and grasp the cone;
s9, after the conical barrel is grabbed by the claw (101), the lifting driving motor (12) is controlled to drive the lifting sliding block (19) to drive the rotary mechanical arm (9) to move upwards, when the bottom of the conical barrel is higher than the height of the conical barrel placed on the conveying belt of the U-shaped conveying unit (4), the lifting driving motor (12) is stopped, then the transverse moving driving motor (14) is started to drive the transverse moving module sliding block (17) to drive the lifting module, the lifting sliding rail (1), the lifting sliding block (19) and the rotary mechanical arm (9) to move towards the inner side of the U-shaped conveying unit (4), when the conical barrel moves to the position right above the conical barrel on the conveying belt of the U-shaped conveying unit (4), the transverse moving driving motor (14) is stopped, then the telescopic device (103) is started to open the claw (101) of the clamping clamp (10), and the conical barrel falls onto the conical barrel recovered for the first time on the conveying belt to complete recovery;
s10, repeating the operations in S8 and S9 to continue cone recovery, and controlling the U-shaped conveying unit (4) to reversely convey after the recovery cones collect a certain amount, so as to move the cone pile.
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110626760A (en) * | 2019-08-29 | 2019-12-31 | 上海景铭建设发展有限公司 | Automatic device of putting of road construction safety section of thick bamboo |
| CN111689239A (en) * | 2020-07-17 | 2020-09-22 | 洋县光达新能源机械有限公司 | Double-arm cone-retracting robot |
| CN115299276A (en) * | 2022-06-30 | 2022-11-08 | 陈士学 | Full-automatic agricultural planting film laying device and method |
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