CN111906803A

CN111906803A - Double-arm conical cylinder retracting and releasing manipulator

Info

Publication number: CN111906803A
Application number: CN202010876701.7A
Authority: CN
Inventors: 张新明; 张涛
Original assignee: Yangxian Guangda New Energy Machinery Co ltd
Current assignee: Yangxian Guangda New Energy Machinery Co ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2020-11-10

Abstract

The invention relates to a road construction traffic control auxiliary machine, in particular to a double-arm conical cylinder retracting manipulator; the device comprises a walking device, a mechanical main body carried on the walking device through a rack bearing device, a guide main body, a collection main body and a servo driving system; this manipulator simple structure, equipment cost is low, installs at the left surface or the right flank of vehicle, and it is convenient to dismantle, takes forward or the mode of driving of backing a car to accomplish the cloth of awl bucket and put and collect, pile up neatly work, does not receive the road restriction, and application range is wide, satisfies the awl section of thick bamboo of domestic different models and collects, lays the demand.

Description

Double-arm conical cylinder retracting and releasing manipulator

Technical Field

The invention relates to an auxiliary machine for traffic control in highway construction, in particular to a double-arm conical cylinder retracting and releasing manipulator.

Background

The cone is a hollow cone-shaped safety sign made of plastic or rubber, the bottom of the cone is open, and the bottom of the cone is provided with an outer brim, so that the cone is used for isolating part of roads in road sealing or emergency construction and traffic tide lane diversion work, and is usually required to be laid and collected after use. The existing distribution and recovery modes are mostly manual, the workload is large, the working efficiency is low, and the working environment is abnormally dangerous.

At present, a manipulator which is simple in operation, is driven by a servo motor, collects and arranges road safety cone cylinders by two arms and integrates and stacks the cone cylinders is urgently needed in the industry.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a double-arm conical cylinder retracting and releasing manipulator which finishes the clamping and stacking work of a conical cylinder through a set manipulator structure, and has the advantages of high efficiency, low equipment manufacturing cost and stable equipment operation.

The invention relates to a double-arm conical cylinder retracting manipulator which comprises a walking device, a mechanical main body, a guide main body, a collection main body and a servo driving system, wherein the mechanical main body is carried on the walking device through a rack bearing device, the guide main body and the collection main body are respectively connected with the mechanical main body through a movable frame, and the servo driving system is respectively connected with the guide main body and the collection main body.

Preferably, the guide main body comprises a lifting frame, a connecting frame, a guide fork and an electric push-pull rod I, the lifting frame is connected with the movable frame through a fixing bolt, the bottom of the lifting frame is connected with one end of the connecting frame through a bearing sleeve, the other end of the connecting frame is further connected with the guide fork, the lifting frame and the connecting frame are vertically arranged, and the lifting frame and the connecting frame are further provided with the electric push-pull rod I.

Preferably, the collecting main body comprises a turnover support, a motor shaft, a rotary mechanical arm, a rotary sensing piece and an inductive probe support, the turnover support is mounted on the movable frame through bolts, the motor is arranged on the turnover support, the motor shaft penetrates through the motor, a connecting sleeve is sleeved at one end of the motor shaft and connected with the rotary mechanical arm, the rotary sensing piece and the inductive probe support are arranged at the other end of the motor shaft, and the two ends of the rotary mechanical arm are respectively connected with the mechanical arm.

Preferably, the mechanical arms are a mechanical arm I and a mechanical arm II respectively, wherein the mechanical arm I and the mechanical arm II have the same structure; the mechanical arm I or the mechanical arm II comprises a mechanical arm support, an electric push-pull rod II and a mechanical arm clamp, one end of the mechanical arm support is fixedly connected with the rotary mechanical arm through a rotating screw I, the other end of the mechanical arm support is provided with the mechanical arm clamp, and the electric push-pull rod II is connected between the mechanical arm support and the rotary mechanical arm.

Preferably, the manipulator clamp comprises a mechanical clamp, a connecting rod and an electric push-pull rod III, the mechanical clamp is arranged in a pair, the mechanical clamp comprises a long arm and a short arm, the long arm and the short arm are connected through an included angle of 90 degrees, the joint of the long arm and the short arm is connected with the manipulator support through a rotating screw II, one end of the connecting rod is arranged in a crossed mode and is connected with the electric push-pull rod III, the other end of the connecting rod is connected with the short arm, the connecting rod is driven to move, so that the connected mechanical clamp is controlled to adjust an opening angle to clamp or release the conical cylinder, and the angle between the mechanical clamp is 45-60 degrees.

Preferably, the position of the guide fork is lower than the position of the mechanical gripper, wherein the central axis of the guide fork and the central axis of the mechanical gripper are located in the same vertical plane.

Preferably, the device also comprises an induction system, wherein the induction system comprises an induction probe I, an induction probe II, an induction probe III, an induction probe IV, an induction probe V and a correlation photoelectric sensor, the induction probe I, the induction probe II, the induction probe III and the induction probe IV are all arranged on an induction probe bracket, and the induction probe I, the induction probe II, the induction probe III and the induction probe IV are uniformly arranged around the motor shaft by taking the central axis of the motor shaft as the axis center; the inductive probe V is arranged on the mechanical gripper, and one end of the long arm far away from the short arm is provided with a correlation photoelectric sensor.

Preferably, the servo driving system comprises a controller and a power switch for providing power for the controller, the controller is further provided with a collecting button and a distributing button which are respectively used for collecting the cone cylinder and distributing the cone cylinder, and the controller is respectively connected with the induction system, the motor, the electric push-pull rod I, the electric push-pull rod II and the electric push-pull rod III.

Preferably, the machine main part is including collecting support and lifting screw, it sets up to the lift guide way to collect the support both ends, and wherein the central axis of lift guide way is located same vertical plane with the central axis of collecting the support, it links to each other through lifting screw with the adjustable shelf to collect the support, makes the adjustable shelf remove in the lift guide way through lifting screw.

Preferably, the rack bearing device comprises a collecting fixing frame of the mechanical main body, the collecting fixing frame is of an inverted U-shaped structure, and the collecting fixing frame is fixedly connected with the walking device through threads.

Compared with the prior art, the invention has the following technical effects:

1. the manipulator has a simple structure and low equipment cost, is arranged on the left side surface or the right side surface of a vehicle, is convenient to disassemble, can finish the distribution, collection and stacking work of the cone barrels by adopting a forward or reverse running mode, is not limited by roads, has a wide application range, and meets the requirements of the collection and distribution of cone barrels with different models in China;

2. the servo driving system is adopted to control the cone drums to be retracted, the control technology system is complete, the automation degree is high, the intervals of the arranged cone drums are uniform, the collection and stacking are completed synchronously, the speed is high, the efficiency is high, and the equipment runs stably;

3. after the use, the turnover support and the connecting rotary mechanical arm are turned to the carriage, the guide fork is turned to be close to the collecting main body, the occupied space is reduced, and the vehicle running safety is facilitated.

Drawings

FIG. 1 is a schematic view of the structure of the present invention

FIG. 2 is a left side view of the structure of FIG. 1;

FIG. 3 is a top view of the rotary robot and robot of FIG. 1;

FIG. 4 is a front view of the rotary robot arm and robot of FIG. 3;

FIG. 5 is a schematic top view of the guide fork of FIG. 1;

FIG. 6 is a schematic right sectional view of the rotary induction piece and the induction probe bracket of FIG. 2;

FIG. 7 is a schematic diagram of the servo drive system connection.

Reference numerals: 1-rotating the mechanical arm; 2-lifting screw; 3-collecting the scaffold; 4-lifting guide groove; 5-turning over the bracket; 6, a motor; 7-a guide fork; 8-a connecting frame; 9-an electric push-pull rod I; 10-a lifting frame; 11-motor shaft; 12-inductive probe i; 13-rotating the induction sheet; 14-inductive probe II; 15-collecting the fixing frame; 16-a robot arm support; 17-rotating the screw I; 18-an electric push-pull rod II; 19-connecting sleeves; 20-electric push-pull rod III; 21-a connecting rod; 22-rotating the screw II; 23-mechanical gripper; 24-a correlation photosensor; 39-a movable frame; 40-manipulator I; 41-fixing bolt; 42-inductive probe III; 43-inductive probe IV; 44-inductive probe holder; 45-inductive probe V; 46-a controller; 47-Collection button; 48-arranging buttons; 49-power switch; 50-a hinge bolt; 51-manipulator II.

Detailed Description

Examples

The invention discloses a double-arm conical cylinder retracting manipulator which comprises a walking device, a mechanical main body carried on the walking device through a rack bearing device, a guide main body, a collection main body and a servo driving system, wherein the guide main body and the collection main body are respectively connected with the mechanical main body through a movable frame 39, and the servo driving system is respectively connected with the guide main body and the collection main body.

The guide main body comprises a lifting rack 10, a connecting frame 8, a guide fork 7 and an electric push-pull rod I9, the lifting rack 10 is connected with a movable frame 39 through a fixing bolt 41, the bottom of the lifting rack 10 is connected with one end of the connecting frame 8 through a bearing sleeve, the other end of the connecting frame 8 is connected with the guide fork 7, the lifting rack 10 and the connecting frame 8 are vertically arranged, and the lifting rack 10 and the connecting frame 8 are also provided with the electric push-pull rod I9.

The collecting main body comprises a turnover support 5, a motor 6, a motor shaft 11, a rotary mechanical arm 1, a rotary sensing piece 13 and an inductive probe support 44, the turnover support 5 is installed on a movable frame 39 through a hinged bolt 50, the motor 6 is arranged on the turnover support 5, the motor shaft 11 penetrates through the motor 6, one end of the motor shaft 11 is sleeved with a connecting sleeve 19 and connected with the rotary mechanical arm 1, the other end of the motor shaft is provided with the rotary sensing piece 13 and the inductive probe support 44, and the two ends of the rotary mechanical arm 1 are respectively connected with the mechanical arm.

The mechanical arms are respectively a mechanical arm I40 and a mechanical arm II51, wherein the mechanical arm I40 and the mechanical arm II51 are the same in structure; the mechanical arm I40 or the mechanical arm II51 comprises a mechanical arm support 16, an electric push-pull rod II18 and a mechanical arm clamp, one end of the mechanical arm support 16 is fixedly connected with the rotary mechanical arm 1 through a rotating screw I17, the other end of the mechanical arm support is provided with the mechanical arm clamp, and the electric push-pull rod II is connected between the mechanical arm support 16 and the rotary mechanical arm 1.

The manipulator clamp comprises mechanical grippers 23, a connecting rod 21 and an electric push-pull rod III20, the mechanical grippers 23 are arranged in a pair, each mechanical gripper 23 comprises a long arm and a short arm, the long arm and the short arm are connected through an included angle of 90 degrees, the joint of the long arm and the short arm is connected with a manipulator support 16 through a rotating screw II22, one end of the connecting rod 21 is arranged in a crossed mode and is connected with the electric push-pull rod III20 through a piston rod, the other end of the connecting rod is connected with the short arm, the connecting rod 21 is driven to move, so that the connected mechanical grippers 23 are controlled to adjust the opening angle to clamp or release a conical cylinder, and the angle between the mechanical grippers 23 is 45-60 degrees.

The position of the guide fork 7 is lower than that of the mechanical gripper 23, wherein the central axis of the guide fork 7 and the central axis of the mechanical gripper 23 are in the same vertical plane.

The induction system comprises an induction probe I12, an induction probe II14, an induction probe III42, an induction probe IV43, an induction probe V45 and a correlation photoelectric sensor 24, wherein the induction probe I12, the induction probe II14, the induction probe III42 and the induction probe IV43 are all arranged on an induction probe bracket 44, and the induction probe I12, the induction probe II14, the induction probe III42 and the induction probe IV43 are uniformly arranged around the motor shaft 11 by taking the central axis of the motor shaft 11 as the axis center; the inductive probe V45 is arranged on the mechanical gripper 23, and the end of the long arm far away from the short arm is provided with the correlation photoelectric sensor 24.

The servo driving system comprises a controller 46 and a power switch 49 for providing power for the controller 46, a collecting button 47 and a distributing button 48 for collecting the cone cylinder and distributing the cone cylinder are further arranged on the controller 46, and the controller 46 is respectively connected with the induction system, the motor 6, the electric push-pull rod I9, the electric push-pull rod II18 and the electric push-pull rod III 20.

The mechanical body is including collecting support 3 and lifting screw 2, it sets up to lift guide way 4 to collect 3 both ends of support, and wherein the central axis of lift guide way 4 is located same vertical plane with the central axis of collecting support 3, it links to each other through lifting screw 2 with adjustable shelf 39 to collect support 3, makes adjustable shelf 39 remove in lift guide way 4 through lifting screw 2.

The frame bearing device comprises a collecting fixing frame 15 of a mechanical main body, wherein the collecting fixing frame 15 is of an inverted U-shaped structure, and the collecting fixing frame 15 is fixedly connected with the walking device through threads.

The present invention will be further explained with reference to the accompanying drawings:

as shown in fig. 2, the floor frame bearing device of the invention is an inverted U-shaped structure formed by fixing a collecting fixing frame 15, the inverted U-shaped structure is clamped on the edge of a carriage of a walking device such as a vehicle, and is fixedly installed with the edge of the carriage through bolts and threads.

As shown in fig. 1 and 2, the cuboid fixing structure of the collecting support 3 in the embodiment, the two ends of the collecting support 3 are lifting guide grooves 4, the lifting guide grooves 4 in the embodiment are U-shaped clamping groove structures, the lifting guide grooves 4 are adapted to be connected with movable frames 39, the lifting screws 2 are connected between the upper ends of the movable frames 39 and the collecting support 3, and the movable frames 39 can be vertically displaced along the lifting guide grooves 4 by controlling the lifting screws 2.

As shown in fig. 1, 2 and 5, the lifting frame 10 in this embodiment is a rectangular parallelepiped fixed structure, the lifting frame 10 is fixedly connected with the movable frame 39 through a fixing bolt 41, and the bottom of the lifting frame 10 is connected with a guide fork 7 through a connecting frame 8; the connecting frame 8 in the embodiment is Z-shaped, and the connecting frame 8 is connected with the lifting frame 10 through the bearing sleeve, so that friction can be effectively reduced; one end of an electric push-pull rod I9 is connected with the lifting rack 10, the other end of the electric push-pull rod I9 is connected with the side face of the connecting frame 8, the connecting frame 8 rotates 90 degrees through the expansion and contraction of the electric push-pull rod I9, and one end of the guide fork 7 is inserted into the connecting frame 8 and is fixedly connected with the connecting frame through a fixing pin. In the movement process of the embodiment, the connecting frame 8 rotates 90 degrees, the standby state is shown in fig. 1 and 5, when the collection or distribution work is finished, the electric push-pull rod I9 is started to contract, the side face of the connecting frame 8 is stressed, the connecting frame 8 and the connected guide fork 7 rotate 90 degrees clockwise, and therefore the guide fork 7 can be close to the collection main body when the guide fork 7 is turned over for 90 degrees in the operation state, the occupied space is reduced, and the vehicle driving safety is facilitated; when the cone cylinder needs to be collected or distributed, the cone cylinder rotates counterclockwise for 90 degrees and returns to the standby state.

As shown in fig. 1, 2, and 6, a rotary mechanical arm 1 in this embodiment is a propeller structure, the middle of the rotary mechanical arm 1 is connected to a motor shaft 11 through a connecting sleeve 19, the motor shaft 11 is connected to and disposed through a motor 6, the other end of the motor shaft 11 is further provided with a rotary induction sheet 13 and an induction probe support 44, the motor 6, the motor shaft 11, the rotary induction sheet 13, and the induction probe support 44 in this embodiment are all disposed on an overturning support 5, the induction probe support 44 in this embodiment is fixedly sleeved on the motor shaft 11, four induction probes, namely an induction probe i 12, an induction probe II14, an induction probe III42, and an induction probe IV43, are disposed on the induction probe support 44, and the four induction probes are uniformly mounted around the motor shaft 11 with the central axis of the; in this embodiment, the turning support 5 is a U-shaped structure, the top end of the U-shaped structure is connected with the movable frame 39 through the hinge bolt 50, and in the movement process of this embodiment, as shown in fig. 1, when the work of retracting the conical cylinder is finished, the lifting screw 2 is used to lift the lifting frame 10, and then the turning support 5 and the continuous rotary mechanical arm 1 are clockwise rotated and turned into the carriage by taking the hinge bolt 50 as an axis, so that the turning support 5 and the continuous rotary mechanical arm 1 are in the operation state in the carriage, the occupied space is reduced, and the vehicle driving safety is facilitated.

As shown in fig. 1, fig. 2, fig. 3, and fig. 4 are structural diagrams of a manipulator I40 or a manipulator II51 according to the present invention, wherein the manipulator support 16 is connected to the rotary manipulator 1 through a rotary screw I17, an electric push-pull rod II18 is further connected between the manipulator support 16 and the rotary manipulator 1, and the manipulator support 16 can rotate around the rotary screw I17 by using the expansion and contraction of the electric push-pull rod II 18; the manipulator support 16 is provided with an electric push-pull rod III20 and a manipulator clamp which are connected with each other, the manipulator clamp in the embodiment is composed of a pair of mechanical clamps 23 and a pair of connecting rods 21, the mechanical clamps 23 in the embodiment comprise a long arm and a short arm, the long arm and the short arm are connected through an included angle of 90 degrees, the joint of the long arm and the short arm is connected with the manipulator support 16 through a rotating screw II22, one end of each connecting rod 21 is arranged in a crossed mode and is connected with an electric push-pull rod III20, the other end of each connecting rod is connected with the short arm, and the electric push-pull rod III20 drives the connecting rods 21 to move so as to control the connected mechanical clamps 23 to adjust the opening angle to; the working principle in this embodiment is as follows: as shown in fig. 3, when the conical cylinder enters an included angle between a pair of mechanical grippers 23, the correlation photoelectric sensor 24 transmits a conical cylinder signal to the servo drive system, and the servo drive system starts the electric push-pull rod iii20 to move leftward to drive the mechanical grippers 23 to perform condensation to grip the conical cylinder; when the conical cylinder is manually grasped and grasped, the sensing probe V45 transmits an arm signal for manually grasping the conical cylinder to the servo driving system, and the servo driving system starts the electric push-pull rod III20 to move rightwards to drive the mechanical clamp 23 to open and release the conical cylinder; the central axis of the guide fork 7 and the central axis of the mechanical gripper 23 are arranged in the same vertical plane, which is beneficial for guiding the guide fork 7 into the cone cylinder to enter the mechanical gripper 23, and the electric push-pull rod I9, the electric push-pull rod II18 and the electric push-pull rod III20 in this embodiment are all piston rods.

The electric push-pull rod in this embodiment is of the type: model IJC-C2-24-50-80-200-11;

the type of the induction probe is as follows: PR18-8 DN;

correlation photoelectric sensor 24 model: HPJ-T21 (HPJ-E21+ HPJ-R21) NPN.

Example 1

Collecting cone for backing vehicle

The invention relates to a working method of a collecting cone, wherein a mechanical main body is carried on a walking device such as the edge of a carriage on the left side of a vehicle through a frame bearing device, and the standby installation state is as follows: as shown in fig. 1, the right end of the rotary mechanical arm 1 is low, the left end is high, the mechanical arm i 40 and the mechanical arm II51 stop at the two ends of the rotary mechanical arm 1 respectively, and the collecting cone runs according to the cone line originally distributed on the road when the vehicle runs in reverse.

(1.1) adjusting the height of the robot

As shown in fig. 1, the height of the lifter frame 10 is adjusted by the lifter screw 2 according to the height of the road surface and the vehicle so that the height of the manipulator and the guide fork 7 satisfies the working height.

The collection is ready and then the power switch 49 is switched on and the collection button 47 is clicked to enter the collection cone step.

(1.2) grabbing conical cylinder of manipulator I

The method comprises the steps that the vehicle runs according to the original cone cylinder line on the road after backing, along with the running of the vehicle, a guide fork 7 below a manipulator I40 guides a cone cylinder into a mechanical clamping hand 23, a correlation photoelectric sensor 24 transmits a cone cylinder signal to a controller 46, the controller 46 starts an electric push-pull rod III20, the electric push-pull rod III20 retracts to enable the mechanical clamping hand 23 to condense and clamp the cone cylinder, a current-controlled clamping cone cylinder identification signal is transmitted to the controller 46, and when the current reaches a set value, the clamping cone cylinder is stabilized;

(1.3) rotating mechanical arm anticlockwise rotating conveying conical cylinder

Transmitting a current-controlled stable clamping cone cylinder identification signal to the controller 46, and synchronously starting a motor 6, a counterclockwise rotation signal of a connected rotary mechanical arm 1 and starting signals of the mechanical arm I40 and the electric push-pull rod II18 by the controller 46 according to a program;

firstly, along with the rotation of the motor shaft 11, when the induction probe I12 transmits a signal of the rotation induction sheet 13 on the motor shaft 11 to the controller 46, the controller 46 controls the motor 6 and the connected rotary mechanical arm 1 to stop rotating according to a program; at this time, the manipulator I40 is stopped at the upper right end of the rotary manipulator 1 from the lower right end;

secondly, along with the extension of the electric push-pull rod II18, a piston rod extension identification signal controlled by current is transmitted to the controller 46, when the current reaches a set value, the piston rod is extended in place, and the mechanical arm I40 is rotated clockwise by 85-95 degrees by taking the rotating screw I17 as an axis through the electric push-pull rod II18, so that the mechanical clamp 23 of the mechanical arm I40 is parallel to the horizontal plane, and the manual collection of the cone cylinder is facilitated;

wherein the rotation time of the rotating mechanical arm 1 is longer than the extension time of the electric push-pull rod II 18.

(1.4) collecting and stacking conical cylinder

An operator stands in the carriage, when the operator collects and grips the conical cylinder of the manipulator I40 manually, the sensing probe V45 transmits an arm signal for manually grabbing the conical cylinder to the controller 46, the controller 46 starts the electric push-pull rod III20 to move rightwards, the pair of mechanical grippers 23 are driven to open and put down the conical cylinder, and the conical cylinder is collected into the carriage manually for stacking operation;

(1.5) the manipulator II grips the conical cylinder again

The correlation photoelectric sensor 24 transmits a cone evacuation signal to the controller 46, and the controller 46 synchronously starts the electric push-pull rod II18 to contract and the motor 6 and the connected rotary mechanical arm 1 to rotate anticlockwise according to a program;

firstly, the electric push-pull rod II18 rotates the mechanical arm I40 anticlockwise by 85-95 degrees by taking the rotating screw I17 as an axis, so that the mechanical arm I40 is reset and is close to the rotating mechanical arm 1;

secondly, as the rotary mechanical arm 1 rotates counterclockwise, as shown in fig. 6, when the sensing probe ii14 transmits the signal of the rotation sensing piece 13 on the motor shaft 11 to the controller 46, the controller 46 controls the motor 6 and the connected rotary mechanical arm 1 to stop according to the program; at this time, the manipulator I40 and the manipulator II51 on the rotary manipulator 1 exchange positions;

and (4) repeating the steps (1.2), (1.3) and (1.4) to circularly finish the work of the collecting cone cylinder.

Example 2

Step of collecting cone cylinder during forward running of vehicle

The invention relates to a working method of a collecting cone, wherein a mechanical main body is carried on the edge of a carriage on the right side of a running gear such as a vehicle through a frame bearing device, and the standby installation state is as follows: as shown in figure 1, a mechanical hand I40 and a mechanical hand II51 are respectively stopped at two ends of a rotary mechanical arm 1, and a collecting cone is operated according to a cone line originally distributed on a road when a vehicle runs in the forward direction.

The collection procedure was the same as in example 1.

Example 3

Step of distributing conical cylinders during forward running of vehicle

The invention relates to a working method for arranging a cone, wherein a mechanical main body is carried on a walking device such as the edge of a carriage on the left side of a vehicle through a frame bearing device, and the standby installation state is as follows: as shown in fig. 1, the right end of the rotary mechanical arm 1 is low, the left end is high, the mechanical arm i 40 and the mechanical arm II51 stop at the two ends of the rotary mechanical arm 1 respectively, and the conical cylinders are distributed according to the forward running of the vehicle.

(3.1) adjusting the height of the robot

The cloth is ready, then the power switch 49 is switched on, the cloth button 48 is clicked, and the step of arranging the cone is carried out.

(3.2) resetting of manipulator I and manipulator II

Firstly, the manipulator I40 and the manipulator II51 are reset, and the controller 46 synchronously sends a clockwise rotation signal and a starting signal of an electric push-pull rod II18 of the manipulator II51 to the motor 6 of the rotary manipulator 1;

firstly, the controller 46 controls the motor 6 and the connected rotary mechanical arm 1 to rotate clockwise according to a program, along with the rotation of the motor shaft 11, when the inductive probe iv43 transmits a signal of the rotary inductive sheet 13 on the motor shaft 11 to the controller 46, the controller 46 controls the motor 6 and the connected rotary mechanical arm 1 to stop according to the program, at this time, the mechanical arm i 40 and the mechanical arm II51 reset, that is, the right end of the rotary mechanical arm 1 is high and the left end is low.

Secondly, the controller 46 controls the electric push-pull rod II18 to extend according to a program, the electric push-pull rod II18 rotates the mechanical arm I40 clockwise by 85-95 degrees by taking the rotating screw I17 as an axis, a piston rod extension identification signal controlled by current is transmitted to the controller 46, and the current reaches a set value to indicate that the piston rod is extended in place;

(3.3) grabbing conical cylinder of manipulator I

Manually conveying the cone cylinder into a mechanical gripper 23 of a manipulator I40, transmitting a cone cylinder signal to a controller 46 by a correlation photoelectric sensor 24, starting an electric push-pull rod III20 by the controller 46, retracting the electric push-pull rod III to enable a scissors structure of the mechanical gripper 23 to be condensed to clamp the cone cylinder, transmitting a current-controlled clamping cone cylinder identification signal to the controller 46, and indicating that the clamping cone cylinder is reinforced and stable when the current reaches a set value;

(3.4) clockwise rotating conveying cone cylinder of rotating mechanical arm

When the current-controlled stable clamping cone cylinder identification signal is overlapped with a starting signal of an electric push-pull rod II18 of the manipulator I40 and a starting signal of clockwise rotation of the rotary mechanical arm 1, firstly, the controller 46 controls the electric push-pull rod II18 to shrink according to a program, the current-controlled piston rod shrinkage and extension identification signal is transmitted to the controller 46, the piston rod shrinkage is already in place when the current reaches a set value, and the electric push-pull rod II18 rotates the manipulator I40 counterclockwise by 85-95 degrees by taking the rotary screw rod I17 as an axis, so that the manipulator I40 is reset and rotates to be close to the mechanical arm; secondly, the controller 46 controls the motor 6 and the connected rotary mechanical arm 1 to rotate the conveying cone clockwise according to the program;

wherein the rotation time of the rotating mechanical arm 1 is longer than the contraction time of the electric push-pull rod II 18.

(3.5) distributing conical cylinder

Along with the rotation of the motor shaft 11, when the induction probe III42 transmits a signal of the rotation induction sheet 13 on the motor shaft 11 to the controller 46, the controller 46 controls the motor 6 and the connected rotary mechanical arm 1 to stop according to a program, and when the controller 46 controls the motor 6 and the connected rotary mechanical arm 1 to stop and overlap a starting signal of the electric push-pull rod III, the controller 46 controls the electric push-pull rod III20 to extend according to the program, a piston rod contraction and extension identification signal controlled by current is transmitted to the controller 46, and the current reaches a set value to indicate that the piston rod is extended in place; with the extension of the electric push-pull rod III20, the mechanical clamp 23 is driven to open and loosen the conical cylinder, the conical cylinder is righted through the guide fork 7, and then the end of the conical cylinder is made to stand on a road;

(3.6) circularly distributing conical cylinders

And (5) repeating the steps (3.2), (3.3), (3.4) and (3.5) by the manipulator II51 to continuously distribute the cone. The distance between the conical drums is comprehensively controlled by adjusting the rotating speed of the motor 6 and combining the running speed of the vehicle.

Example 4

Step of distributing conical cylinders during backward running of vehicle

The invention relates to a working method for arranging a cone, wherein a mechanical main body is carried on the edge of a carriage on the right side of a running gear such as a vehicle through a frame bearing device, and the standby installation state is as follows: as shown in fig. 1, the right end of the rotary arm 1 is low, the left end is high, the manipulator i 40 and the manipulator II51 stop at the two ends of the rotary arm 11, respectively, and the conical cylinders can be deployed by driving in the reverse direction of the vehicle.

The placement procedure was the same as in example 3.

Claims

1. The double-arm conical cylinder retracting and releasing manipulator comprises a walking device and a mechanical main body carried on the walking device through a rack bearing device, and is characterized by further comprising a guide main body, a collection main body and a servo driving system, wherein the guide main body and the collection main body are respectively connected with the mechanical main body through a movable frame (39), and the servo driving system is respectively connected with the guide main body and the collection main body.

2. A double-arm cone retracting and releasing manipulator as claimed in claim 1, wherein the guide body comprises a lifting frame (10), a connecting frame (8), a guide fork (7) and an electric push-pull rod I (9), the lifting frame (10) is connected with the movable frame (39) through a fixing bolt (41), the bottom of the lifting frame (10) is connected with one end of the connecting frame (8) through a bearing sleeve, the other end of the connecting frame (8) is further connected with the guide fork (7), the lifting frame and the connecting frame (8) are vertically arranged, and the electric push-pull rod I (9) is further arranged between the lifting frame (10) and the connecting frame (8).

3. The double-arm conical cylinder retracting and releasing manipulator as claimed in claim 2, wherein the collecting body comprises a turning support (5), a motor (6), a motor shaft (11), a rotary manipulator (1), a rotary sensing piece (13) and an induction probe support (44), the turning support (5) is mounted on a movable frame (39) through a hinged bolt (50), the motor (6) is arranged on the turning support (5), the motor shaft (11) penetrates through the motor (6) and is arranged, one end of the motor shaft (11) is sleeved with a connecting sleeve (19) to be connected with the rotary manipulator (1), the other end of the motor shaft (11) is provided with the rotary sensing piece (13) and the induction probe support (44), and the two ends of the rotary manipulator (1) are respectively connected with the manipulator.

4. A double-arm cone cylinder retracting and releasing manipulator as claimed in claim 3, wherein the manipulator is a manipulator I (40) and a manipulator II (51), wherein the manipulator I (40) and the manipulator II (51) have the same structure; the mechanical arm I (40) or the mechanical arm II (51) comprises a mechanical arm support (16), an electric push-pull rod II (18) and a mechanical arm clamp, one end of the mechanical arm support (16) is fixedly connected with the rotary mechanical arm (1) through a rotating screw I (17), the other end of the mechanical arm support is provided with the mechanical arm clamp, and the electric push-pull rod II (18) is connected between the mechanical arm support (16) and the rotary mechanical arm (1).

5. The double-arm cone cylinder retracting and releasing manipulator as claimed in claim 4, wherein the manipulator clamp comprises a pair of mechanical clamping hands (23), a connecting rod (21) and an electric push-pull rod III (20), the mechanical clamping hands (23) are arranged, the mechanical clamping hands (23) comprise a long arm and a short arm, the long arm and the short arm are connected through an included angle of 90 degrees, the connecting position of the long arm and the short arm is connected with the manipulator support (16) through a rotating screw II (22), one end of the connecting rod (21) is arranged in a crossed mode and connected with the electric push-pull rod III (20), the other end of the connecting rod is connected with the short arm, the connecting rod (21) is driven to move so as to control the connected mechanical clamping hands (23) to adjust the opening angle to clamp or release the cone cylinder, and the angle between the mechanical clamping hands (23) is 45-60 degrees.

6. A double-arm retracting cone manipulator according to claim 5, characterized in that the position of the guide fork (7) is lower than the position of the mechanical gripper (23), wherein the central axis of the guide fork (7) and the central axis of the mechanical gripper (23) are in the same vertical plane.

7. A double-arm retracting and releasing conical cylinder manipulator as claimed in any one of claims 1-7, further comprising a sensing system, wherein the sensing system comprises a sensing probe I (12), a sensing probe II (14), a sensing probe III (42), a sensing probe IV (43), a sensing probe V (45) and a correlation photoelectric sensor (24), the sensing probe I (12), the sensing probe II (14), the sensing probe III (42) and the sensing probe IV (43) are all arranged on a sensing probe bracket (44), and the sensing probe I (12), the sensing probe II (14), the sensing probe III (42) and the sensing probe IV (43) are uniformly arranged around the motor shaft (11) by taking the central axis of the motor shaft (11) as an axis; the inductive probe V (45) is arranged on the mechanical gripper (23), and one end of the long arm, which is far away from the short arm, is provided with a correlation photoelectric sensor (24).

8. A double-arm cone cylinder retracting and releasing manipulator as claimed in claim 7, wherein the servo driving system comprises a controller (46) and a power switch (49) for providing power for the controller (46), a collecting button (47) and a releasing button (48) for collecting the cone cylinder and releasing the cone cylinder are further arranged on the controller (46), and the controller (46) is connected with the sensing system, the motor (6), the electric push-pull rod I (9), the electric push-pull rod II (18) and the electric push-pull rod III (20) respectively.

9. A double-arm retracting and releasing cone manipulator as claimed in claim 8, wherein the machine body comprises a collecting bracket (3) and a lifting screw (2), the two ends of the collecting bracket (3) are provided with lifting guide grooves (4), the central axes of the lifting guide grooves (4) and the central axis of the collecting bracket (3) are located in the same vertical plane, the collecting bracket (3) is connected with the movable frame (39) through the lifting screw (2), and the movable frame (39) is moved in the lifting guide grooves (4) through the lifting screw (2).

10. A double-arm cone-retracting manipulator according to claim 9, wherein the frame carrying device comprises a collection fixing frame (15) connected with the machine body, the collection fixing frame (15) is in an inverted "U" shape, and the collection fixing frame (15) is in threaded connection with the traveling device.