CN111945610A - Put car convenient to receive and release traffic awl automatically - Google Patents
Put car convenient to receive and release traffic awl automatically Download PDFInfo
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- CN111945610A CN111945610A CN202010759461.2A CN202010759461A CN111945610A CN 111945610 A CN111945610 A CN 111945610A CN 202010759461 A CN202010759461 A CN 202010759461A CN 111945610 A CN111945610 A CN 111945610A
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- traffic
- traffic cone
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- conveying device
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/70—Storing, transporting, placing or retrieving portable devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
Abstract
The invention discloses a placing vehicle convenient for automatically retracting and releasing a traffic cone, which comprises a truck body and a carriage arranged at the rear part of the truck body, wherein a traffic cone storage device used for storing the traffic cone is arranged at the front side of the carriage, the traffic cone storage device is adjacent to a traffic cone conveying device used for conveying the traffic cone, a traffic cone placing unit is arranged at the rear side of the carriage, the traffic cone placing unit comprises a base fixedly connected with the carriage, a six-axis robot is arranged on the base, the six-axis robot is used for placing the traffic cone conveyed by the traffic cone conveying device to a specified position on a road surface, a traffic cone clamp used for grabbing the traffic cone is further arranged on the six-axis robot, and the traffic cone storage device, the traffic cone conveying device, the six-axis robot and the traffic cone clamp are all electrically connected with a control device. The placing vehicle provided by the invention has the technical characteristics of simple structure, safety, high efficiency and intellectualization.
Description
Technical Field
The invention belongs to the technical field of road traffic equipment, and particularly relates to a placing vehicle convenient for automatically retracting and releasing traffic cones.
Background
Roadblocks, which are barriers arranged on roads, are a road traffic isolation and warning facility, are generally used for temporary isolation and division of road maintenance construction, and with the rapid development of the traffic cause of China, new trends have higher and tighter requirements on the arrangement of roadblocks In line with the above, there is a great need for a device for conveniently placing roadblocks in road repair and high speed.
With the rapid development of the national automobile industry and the rapid promotion of urbanization construction, the highway as a modern traffic sign also obtains rapid development, the total mileage of the highway in China reaches 14 kilometers, and the highway is the first place to live in the world. However, for traditional highway maintenance operation, the main dependence on manual operation or semi-automatic man-machine hybrid operation has the outstanding problems of high danger, low construction efficiency and the like.
Application number 201820230841.5 discloses an automatic car of putting of traffic awl, its can be automatic put the traffic awl bucket on the road surface, simple structure, convenient operation has improved the efficiency of putting of traffic awl greatly, but this automatic car of putting of traffic awl structure is complicated, and the process of putting of traffic awl is continuous and stable inadequately, emptys easily when contacting with ground, and its traffic awl that can not automatic recovery has been put, automatic inadequately.
Application number 201910070095.7 discloses car is put with roadblock to town road construction convenient to automatic recovery, it can put and retrieve the traffic awl, has the technical characterstic that work efficiency is high, but this structure of putting the car is complicated, and the process of putting of traffic awl is continuous and stable inadequately, and emptys easily when contacting with ground, needs the staff to operate the traffic awl at the rear simultaneously, and operating personnel's working strength is big, and safety and convenience inadequately.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention mainly aims to provide the placing vehicle which is simple in structure, safe, efficient and intelligent and is convenient for automatically placing and releasing the traffic cones.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a put car convenient to automatic traffic awl of receiving and releasing, includes the freight train body, and sets up the carriage at freight train body rear portion, the front side in carriage is provided with the traffic awl storage device who is used for saving the traffic awl, traffic awl storage device borders on the traffic awl conveyor who is used for carrying the traffic awl, the rear side in carriage is provided with the traffic awl and puts the unit, the traffic awl put the unit include with carriage fixed connection's base, be provided with six robots on the base, six robots be used for with the traffic awl conveyor carries the traffic awl of assigned position to put on the road surface, still be provided with the traffic awl anchor clamps that are used for snatching the traffic awl on the six robots, traffic awl storage device, traffic awl conveyor, six robots and traffic awl anchor clamps all are connected with controlling means electricity.
Preferably, the six-axis robot includes a first axis arm, a second axis arm, a third axis arm, a fourth axis arm, a fifth axis arm and a sixth axis arm, the bottom end of the first axis arm is rotatably connected with the top of the base, the bottom end of the second axis arm is welded to the top end of the first axis arm, pin shafts are mounted at the top end and the bottom end of the third axis arm, the bottom end of the third axis arm is connected with the side surface of the second axis arm through the pin shafts, the top end of the third axis arm is connected with the bottom of the fourth axis arm through the pin shafts, one end of the fifth axis arm is embedded in the fourth axis arm and is in clearance fit with the inner wall of the fourth axis arm, a U-shaped opening is arranged at the other end of the fifth axis arm, a swinging sixth axis arm is arranged at the U-shaped opening, a traffic cone clamp is arranged at the other end of the sixth axis arm, and the first axis arm, the second axis arm, the third axis arm, the fourth axis arm and the, The fourth shaft arm, the fifth shaft arm and the sixth shaft arm are all electrically connected with the control device.
Preferably, a visual detection device is arranged on the traffic cone clamp, the visual detection device comprises a support frame fixedly mounted on the traffic cone clamp, a first camera arranged at the top of the support frame, and an infrared sensor arranged in the middle of the support frame, and the six-axis robot, the traffic cone clamp, the first camera and the infrared sensor are all electrically connected with the control device.
Preferably, wherein the traffic cone fixture comprises a base fixedly connected with the six-axis robot, the front end of the base is movably connected with a chuck, the two ends of the base are both fixed with cylinder fixing blocks, a fixture cylinder is arranged on the cylinder fixing blocks, the movable end of the fixture cylinder is fixedly connected with a first push plate, connecting rods are fixedly connected to the two sides of the first push plate, and one end of each connecting rod, far away from the first push plate, is fixedly connected with the chuck.
Preferably, the transportation cone conveying device comprises a supporting frame, a conveying chain track and a pushing track are sequentially arranged on the left side and the right side of the supporting frame, the conveying chain track comprises a conveying chain and a third driving motor for driving the conveying chain to operate, the height of the conveying chain track is consistent with that of the pushing track, a plurality of first clamping cylinders and a first material sensor are symmetrically arranged at the tail end of the conveying chain track from top to bottom, a first pushing device capable of reciprocating along the conveying track is arranged on the right side of the first clamping cylinders, the first pushing device comprises a pushing plate matched with the supporting frame in shape, the first pushing cylinders are symmetrically arranged on the left side of the pushing plate, and a plurality of second clamping cylinders are symmetrically arranged on the front side and the back side of the left side of the pushing plate; still be provided with the second pusher that can follow slip track reciprocating motion on the propelling movement track, the second pusher is including setting up in the mounting bracket on right side, be provided with second propelling movement cylinder on the mounting bracket, the output fixed connection slider of second propelling movement cylinder, on slider slip assembly and the track pole, the track pole is fixed in the below of the orbital bottom surface of propelling movement, be provided with a plurality of extensions on the slider the planar reference column of propelling movement track.
Preferably, the traffic cone storage device comprises an elevating type longitudinal conveying device for receiving the traffic cones, and a horizontal transverse conveying device for horizontally transferring the traffic cones, wherein the horizontal transverse conveying device comprises a rack fixed on the carriage and a conveying roller, the conveying roller is driven by a first driving motor to rotate, and the conveying roller is installed on the rack; the lifting type longitudinal conveying device comprises a lifting frame, a plurality of conveying chains are arranged on the lifting frame and positioned between conveying rollers, the conveying chains are connected with a same driving shaft, the input end of the driving shaft is connected with a second driving motor, a lifting cylinder is connected below the lifting frame, a base of the lifting cylinder is installed on a carriage, and an ejector rod is connected to the lifting frame; the conveying direction of the lifting type longitudinal conveying device is perpendicular to the conveying direction of the horizontal transverse conveying device, the lowest descending height of the lifting type longitudinal conveying device is lower than that of the horizontal transverse conveying device, and the highest ascending height of the lifting type longitudinal conveying device is higher than that of the horizontal transverse conveying device.
Preferably, the lifting type longitudinal conveying device is provided with a first travel switch and a second travel switch, and the horizontal transverse conveying device is provided with a third travel switch and a fourth travel switch.
Preferably, the transportation cone conveying device comprises a supporting frame, a conveying chain track and a pushing track are sequentially arranged on the left side and the right side of the supporting frame, the conveying chain track comprises a conveying chain and a third driving motor for driving the conveying chain to operate, the heights of the conveying chain track and the pushing track are consistent, a plurality of first clamping cylinders are symmetrically arranged at the tail end of the conveying chain track from top to bottom, a first pushing device capable of reciprocating along the conveying track is arranged on the right side of each first clamping cylinder, the first pushing device comprises a pushing plate, the shape of the pushing plate is matched with that of the supporting frame, a plurality of first pushing cylinders are symmetrically arranged on the left side of the pushing plate, and a plurality of second clamping cylinders are symmetrically arranged on the front side and the back side of the left side of the pushing plate; be provided with the slip track on the propelling movement track, just still be provided with the second pusher that can follow slip track reciprocating motion on the propelling movement track, second pusher is including setting up in the mounting bracket on right side, be provided with second propelling movement cylinder on the mounting bracket, the output fixed connection slider of second propelling movement cylinder, on slider slip assembly and the track pole, the track pole is fixed in the below of the orbital bottom surface of propelling movement, be provided with a plurality of extensions on the slider the orbital planar reference column of propelling movement.
Preferably, a fifth travel switch and a sixth travel switch are further arranged on the pushing track, the fifth travel switch is used for triggering when the traffic cone is transferred on the pushing track and transmitting driving motor starting operation information and pushing cylinder starting information to the control device, and the sixth travel switch is used for triggering when the traffic cone is transferred on the conveying chain track and transmitting pushing cylinder closing information to the control device.
Preferably, wherein the rear end of carriage is provided with the second camera, the second camera is used for the wide angle to gather the image data of carriage rear end, the second camera with controlling means electricity is connected.
Preferably, wherein controlling means is including setting up the main control system in the carriage and setting up the control panel in the driver's cabin, the main control system with control panel communication connection, control panel includes mainboard, liquid crystal display and a plurality of operation button, liquid crystal display and operation button all with mainboard communication connection.
Compared with the prior art, the invention has at least the following advantages:
the utility model provides a car of putting convenient to automatic receive and release traffic awl, includes the freight train body, and sets up the carriage at freight train body rear portion, and the front side in carriage is provided with the traffic awl storage device who is used for saving the traffic awl, and traffic awl storage device borders on the traffic awl conveyor who is used for carrying the traffic awl, and the rear side in carriage is provided with the traffic awl and puts the unit, and the traffic awl is put the unit and is included the base with carriage fixed connection, is provided with six robots on the base, and six robots be used for with the traffic awl conveyor carries the traffic awl of assigned position and puts on the road surface, still is provided with the traffic awl anchor clamps that are used for snatching the traffic awl on the six robots, and traffic awl storage device, traffic awl conveyor, six robots and traffic awl anchor clamps all are connected with controlling means electricity. According to the placing vehicle capable of automatically placing and releasing the traffic cones, when an operator needs to perform highway maintenance operation, the traffic cones stored in the traffic cone storage device are conveyed to the specified positions through the traffic cone conveying device, the six-axis robot drives the traffic cone clamps to grab the traffic cones at the specified positions to be placed on the road surface, the operation is performed in a circulating mode, the truck body moves forwards at any time, the traffic cones are sequentially placed on the road surface, the operator can achieve automatic placing of the traffic cones only in the cab through the control device, mixed operation of the operator and the machine in a narrow limited space is avoided, and the operator is effectively protected when traffic accidents happen.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of a placing vehicle provided by the present utility model;
fig. 2 is a schematic structural diagram of a six-axis robot in a placing vehicle provided by the present application;
fig. 3 is a schematic front view of a traffic cone clamp of a parking vehicle according to the present disclosure;
fig. 4 is a schematic side view of a traffic cone clamp for a parking vehicle according to the present invention;
fig. 5 is a schematic top view of the transportation cone conveying device of the parking vehicle according to the present invention;
fig. 6 is a schematic side view of a traffic cone conveying device of a parking vehicle according to the present invention;
fig. 7 is a schematic top view of a traffic cone storage device for a parking vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
Descriptions in this specification as relating to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to any indicated technical feature or quantity. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The present invention will be further described with reference to the following drawings and examples, which are illustrative only and not intended to be limiting, and the scope of the present invention is not limited thereby.
Example 1
As shown in figure 1, the placing vehicle convenient for automatically placing and releasing traffic cones comprises a truck body 1 and a carriage 11 arranged at the rear part of the truck body 1, wherein a traffic cone storage device 12 used for storing traffic cones is arranged at the front side of the carriage 11, the traffic cone storage device 12 is adjacent to a traffic cone conveying device 13 used for conveying traffic cones, a traffic cone placing unit is arranged at the rear side of the carriage 11 and comprises a base 4 fixedly connected with the carriage 11, a six-axis robot 2 is arranged on a base 4, the six-axis robot 2 is used for placing a traffic cone which is conveyed to a designated position by a traffic cone conveying device 13 on a road surface, a traffic cone clamp 3 for grabbing the traffic cone is also arranged on the six-axis robot 2, the traffic cone storage device 12, the traffic cone conveying device 13, the six-axis robot 2 and the traffic cone clamp 3 are all electrically connected with the control device.
The traffic cone storage device and the traffic cone conveying device in the embodiment belong to the prior art, and specifically refer to the traffic cone automatic placing vehicle disclosed in patent No. CN207919415U, when the vehicle is used, firstly, the traffic cone is conveyed to a conveyor belt (designated position) at an inclined rear end from a conveyor belt at a horizontal front end through the traffic cone storage device and the traffic cone conveying device in the disclosed traffic cone automatic placing vehicle, then, the six-axis robot drives a traffic cone clamp to be placed on a road surface from the traffic cone on the conveyor belt, the operation is circulated, the traffic cones are sequentially placed on the road surface as the truck body moves forward, the six-axis robot transfers objects from one position to another position through circulation, the vehicle belongs to the prior art and is not detailed again, the application uses the six-axis robot in the placing vehicle of the traffic cone, and combines the traffic cone storage device and the traffic cone conveying device, the traffic cone can be automatically placed only by the control device in the cab, mixed operation of the operator and machinery in a narrow limited space is avoided, the operator is effectively protected when traffic accidents happen, and the work efficiency and the safety performance of the vehicle placing device are improved.
Example 2
As shown in fig. 2, based on embodiment 1, the six-axis robot 2 includes a first axis arm 21, a second axis arm 22, a third axis arm 23, a fourth axis arm 24, a fifth axis arm 25 and a sixth axis arm 26, the bottom end of the first axis arm 21 is rotatably connected to the top of the base 4, the bottom end of the second axis arm 22 is welded to the top end of the first axis arm 21, the top end and the bottom end of the third axis arm 23 are both provided with a pin, the bottom end of the third axis arm 23 is connected to the side surface of the second axis arm 22 by a pin, the top end of the third axis arm 23 is connected to the bottom of the fourth axis arm 24 by a pin, one end of the fifth axis arm 25 is embedded in the fourth axis arm 24, and is in clearance fit with the inner wall of the fourth shaft arm 24, the other end of the fifth shaft arm 25 is provided with a U-shaped opening 251, a sixth shaft arm 26 which rotates and swings is arranged at the U-shaped opening 251, the sixth shaft arm 26 can rotate at an angle of +/-180 degrees, so that the traffic cone clamp is driven to grab the traffic cone which is placed and toppled over; the other end of the sixth shaft arm is provided with a traffic cone clamp, and the first shaft arm, the second shaft arm, the third shaft arm, the fourth shaft arm, the fifth shaft arm and the sixth shaft arm are all electrically connected with the control device. During the specific use, the operating personnel passes through controlling means and starts six robots and traffic awl anchor clamps, this six robots are through first armshaft, the rotary motion of second armshaft, the third armshaft, the commentaries on classics pendulum of fourth armshaft, and the rotary motion of fifth armshaft and the upset swing of sixth armshaft, make this traffic awl anchor clamps can the free activity, and then realize setting up the snatching of traffic awl, and through setting the sixth armshaft to the upset swing, realized receiving and releasing (putting and the use of traffic awl to toppling over, the problem that the traffic awl topples over can hardly appear in the avoidance of the realization), the service function of this manipulator has been widened greatly, staff's working strength has been reduced, the work efficiency and the security performance of traffic awl in-process are put to the improvement.
As shown in fig. 3, in a preferred technical solution of this embodiment, the traffic cone fixture 3 includes a base 31 fixedly connected to the sixth shaft arm 26 of the six-shaft robot 2, a chuck 32 is movably connected to a front end of the base 31, both ends of the base 31 are fixed with cylinder fixing blocks 33, a fixture cylinder 34 is disposed on the cylinder fixing block 33, a movable end of the fixture cylinder 34 is fixedly connected to a first push plate 35, both sides of the first push plate 35 are fixedly connected to a connecting rod 36, and one end of the connecting rod 36, which is far away from the first push plate 35, is fixedly connected to the chuck 32. This traffic awl anchor clamps pass through anchor clamps cylinder function, and the anchor clamps cylinder can drive first push pedal flexible around, when flexible around the first push pedal, drives two chucks through the connecting rod and mutually support to press from both sides tightly or loosen, and then realizes that this traffic awl anchor clamps snatch or release the traffic awl, and this traffic awl anchor clamps simple structure, the flexibility ratio is high, can press from both sides tightly rapidly to the traffic awl to the reliable technical characterstic of anchor clamps dynamics.
Example 3
As shown in fig. 3 and 4, on the basis of the embodiment 2, a visual detection device 5 is arranged on the traffic cone clamp 3, the visual detection device 5 includes a support frame 51 fixedly mounted on the traffic cone clamp, a first camera 52 arranged on the top of the support frame 51, and an infrared sensor 53 arranged in the middle of the support frame 51, the six-axis robot 2, the traffic cone clamp 3, the first camera 52 and the infrared sensor 53 are all electrically connected with a control device, the infrared sensor is used for sensing the position and the state of the traffic cone, the first camera is used for collecting the placing state (right placing or inclining) of the traffic cone, when in use, when the traffic cone needs to be placed, an operator starts a traffic cone placing mode, at the moment, the position and the state of the traffic cone are obtained through the infrared sensor and the first camera, and the obtained position and state information of the traffic cone are transmitted to the control device, the control device controls the free swing of the six-axis robot to drive the traffic cone clamp to grab the traffic cones which are conveyed to the designated positions by the conveying belt and sequentially place the traffic cones on the road surface to be isolated, and then the traffic cones can be placed; when the traffic cone needs to be recovered, an operator starts a traffic cone recovery mode, acquires the position and the state of the traffic cone through the infrared sensor and the first camera, accurately positions the traffic cone to be grabbed, transmits the acquired data information to the six-axis robot, and controls the six-axis robot to accurately position the traffic cone to be grabbed, so that the robot can accurately grab the traffic cone and sequentially put back to the specified position on the conveyor belt; and when the worker acquires the putting state of the traffic cone through the first camera and is in the state of dumping, then the recovery mode of dumping the traffic cone needs to be started, because the dumping traffic cone and the upright traffic cone are in two different states, the sixth shaft arm of the six-shaft robot is set to overturn and swing, the grabbing and the folding of the dumped traffic cone are realized, the service function of the manipulator is greatly widened, the six-shaft robot is completely used for putting the traffic cone, recovering and recovering the dumping traffic cone, the working strength of the worker is reduced, and the working efficiency and the safety performance of the traffic cone in the putting process are improved.
Referring to fig. 1 again, in a preferred technical solution of this embodiment, a second camera 6 is disposed at the rear end of the carriage 11, the second camera 6 is used for collecting image data at the rear end of the carriage at a wide angle, the second camera 6 is electrically connected to the control device, a liquid crystal display in the control device can intuitively display video (image) data collected by the second camera, a driver can intuitively observe the situation of the traffic cone in real time through the video (image data) displayed in the liquid crystal display, and can adjust the driving direction in time, so that the placing position of the traffic cone meets the placing requirement;
example 4
As shown in fig. 5 and fig. 6, on the basis of embodiment 3, the transportation cone conveying device 13 includes a supporting frame 131, a conveying chain track 132 and a pushing track 133 are sequentially arranged on the left and right of the supporting frame 131, the conveying chain track 132 includes a conveying chain and a third driving motor 1321 for driving the conveying chain to operate, the heights of the conveying chain track 132 and the pushing track 131 are consistent, a plurality of first clamping cylinders 134 are symmetrically arranged at the end of the conveying chain track 132 up and down, and a first material sensor (not shown in the figure) is arranged, the first material sensor is used for collecting the position information of the transportation cone and sending the collected position information to the control device; a first pushing device capable of reciprocating along the conveying track direction is arranged on the right side of the first clamping cylinder 134, the first pushing device comprises a second pushing plate 1351 with the shape matched with that of the supporting frame, a plurality of first pushing cylinders 1352 are symmetrically arranged on the left side of the second pushing plate 1351, and a plurality of second clamping cylinders 1353 are symmetrically arranged on the front side and the back side of the left side of the second pushing plate 1351; a second pushing device capable of reciprocating along the sliding rail is further arranged on the pushing rail 133, the second pushing device comprises a mounting frame 1361 arranged on the right side, a second pushing cylinder 1362 is arranged on the mounting frame 1361, the output end of the second pushing cylinder 1362 is fixedly connected with a sliding block 1363, the sliding block 1363 is assembled on a rail rod 1364 in a sliding manner, the rail rod 1364 is fixed below the bottom surface of the pushing rail 133, and a plurality of positioning columns 1365 extending out of the plane of the pushing rail are arranged on the sliding block 1363; when the traffic cone swinging mode used by the staff is used, the traffic cones stacked together in the traffic cone storage unit are continuously transferred onto the conveying chain track, when the conveying chain track runs to convey the stacked traffic cones to the tail end (right end) of the conveying chain track, when the first material sensing device senses the conveyed traffic cones, the control device controls the first clamping cylinder to be closed, the first traffic cone at the outermost end is released, then the first clamping cylinder is opened to clamp the second traffic cone, the second clamping cylinder is started, the second clamping cylinder in the pushing device extends out to clamp the first traffic cone, then the pushing cylinder is opened to push the first traffic cone to the designated position, when the six-axis robot drives the traffic cone clamp to grasp the first traffic cone, the second clamping cylinder is closed to release the first traffic cone, then the pushing cylinder is closed to reset the pushing device, after the six-axis robot takes out the first traffic cone, the first clamping cylinder is closed to release the second traffic cone, meanwhile, the conveying chain track conveys the second traffic cone forwards to a position to enter the next splitting conveying cycle for work, the splitting device is simple in structure and stable and continuous in splitting, the first cylinder clamping device clamps the second traffic cone, the second clamping device clamps the first (outermost end) traffic cone, then the pushing cylinder completes the splitting of the first traffic cone and the second traffic cone, and the splitting conveying work of the stacked traffic cones is completed through the cycle;
when the pushing device is not started, the sliding block is positioned at the right end of the pushing track, when a traffic cone recycling mode used by a worker is used, the six-axis robot drives the traffic cone fixture to continuously recycle the traffic cone from the ground to the specified position of the pushing track, the pushing cylinder and the third driving motor are started, the pushing cylinder drives the sliding block to slide leftwards, the positioning column extending out of the plane of the pushing track on the sliding block is clamped with the bottom surface of the traffic cone, so that the traffic cone is driven to slide onto the conveying chain track, when the first material sensing device senses the transported traffic cone, the control device controls the pushing cylinder to be closed, the sliding block slides rightwards to reset, when the six-axis robot drives the traffic cone fixture to place a second traffic cone at the specified position of the pushing track, the operation is sequentially circulated, the six-axis robot drives the traffic cone fixture to recycle the traffic cone to the specified position of the pushing track at the interval time, the conveying chain track conveys the position of a traffic cone to the left, namely the recovery frequency of the six-axis robot is matched with the conveying speed of the conveying chain track.
The conveying chain track and the pushing track are respectively provided with a plurality of material sensors for collecting the positions and/or the quantity of traffic cones in the conveying process and transmitting the collected position or quantity information to the control device, the control device realizes automatic control on the conveying chain track and the pushing track through the received position and/or quantity information, and the setting positions and the effects of the material sensors belong to the prior art and are not detailed here.
The conveying caterpillar track has a bidirectional movement process, and can meet the requirements of placing and recycling traffic cones by controlling the forward rotation and the reverse rotation of the third driving motor.
Example 5
As shown in fig. 7, on the basis of embodiment 4, the traffic cone storage device 12 includes an elevating type longitudinal conveyor for receiving the traffic cones, a horizontal lateral conveyor for horizontally transferring the traffic cones, the horizontal lateral conveyor includes a frame 1221 fixed on the carriage and a conveying roller 1222, the conveying roller 1222 is driven to rotate by a first driving motor 1223, and the conveying roller 1222 is mounted on the frame 1221; the lifting type longitudinal conveying device comprises a lifting frame 1211, wherein a plurality of conveying chains 1212 are arranged on the lifting frame 1211, the conveying chains 1212 are positioned between the conveying rollers 1222, the plurality of conveying chains 1212 are connected with the same driving shaft, the input end of the driving shaft is connected with a second driving motor 1213, a lifting cylinder 1214 is connected below the lifting frame 1211, the base of the lifting cylinder 1214 is installed on a carriage, and a mandril is connected to the lifting frame 1211; the conveying direction of the lifting type longitudinal conveying device is vertical to the conveying direction of the horizontal transverse conveying device, the lowest descending height of the lifting type longitudinal conveying device is lower than that of the horizontal transverse conveying device, the highest ascending height of the lifting type longitudinal conveying device is higher than that of the horizontal transverse conveying device, the lifting type longitudinal conveying device is adjacent to and equal in height with the conveying platform of the conveying chain track, the running speed and the running direction of the second driving motor and the running speed and the running direction of the third driving motor are consistent, and the second driving motor and the third driving motor can share one driving motor.
When the placing vehicle is in a traffic cone recovery mode and a lifting type longitudinal conveying device is needed to convey traffic cones, the lifting cylinder is started to control the lifting frame to lift, so that the conveying chain is driven to lift, the traffic cones on the conveying chain rails in the traffic cone conveying device are continuously transferred and placed on the lifting type longitudinal conveying device, and the stacked traffic cones continuously move on a conveying platform of the lifting type longitudinal conveying device along with the operation of the lifting type longitudinal conveying device; when the traffic cones stacked on the conveying platform need to be transferred, the lifting cylinder is closed to control the lifting frame to descend so as to drive the conveying chain to descend, the traffic cones on the conveying platform of the lifting type longitudinal conveying device are jacked up by the conveying rollers and borne on the conveying rollers, the first driving motor is controlled to start the horizontal transverse conveying device, the traffic cones are transversely transferred through rotation of the conveying rollers, and the storage space of the traffic cone storage unit in the carriage is filled with the traffic cones through alternation of the lifting type longitudinal conveying device and the horizontal transverse conveying device;
the lifting type longitudinal conveying device and the horizontal transverse conveying device are both provided with a plurality of material sensors, the material sensors are used for collecting the positions and/or the quantity of traffic cones in the conveying process and transmitting the collected position or quantity information to the control device, the control device realizes automatic control over the lifting type longitudinal conveying device and the horizontal transverse conveying device through the received position and/or quantity information, and the arrangement positions and the effects of the material sensors belong to the prior art and are not detailed here.
The lifting type longitudinal conveying device and the horizontal transverse conveying device both have a bidirectional movement process, the traffic cone storage operation can be completed by controlling the forward rotation of the first driving motor and the second driving motor, otherwise, the traffic cone on the horizontal transverse conveying device is transferred to the lifting type longitudinal conveying device by controlling the first driving motor and the second driving motor, and then the traffic cone is transferred to the conveying chain track through the lifting type longitudinal conveying device to enter the next operation procedure. This an automatic storage device for traffic awl can automatic storage and with the transportation of the traffic awl transfer of storage carry, reduced artifical use amount, reduced the personnel selection cost of enterprise, owing to can multirow is placed side by side, improved traffic awl storage capacity of traffic awl storage device greatly, the volume of the traffic awl of adopting this automatic storage device storage can reach more than 300.
In a preferred technical scheme of the embodiment, when the placing vehicle is in a traffic cone recovery mode, a first travel switch and a second travel switch are arranged on the lifting type longitudinal conveying device, a third travel switch and a fourth travel switch are arranged on the horizontal transverse conveying device, and the first travel switch is used for triggering when the traffic cone is transferred from the conveying chain track to the conveying chain and conveying forward rotation information of a second driving motor to the control device; the traffic cone always triggers a first travel switch in the process of transmitting on the conveying chain; the second travel switch is used for triggering when the traffic cone is transmitted in place on the conveying chain and transmitting the stop operation information of the second driving motor and the closing information of the lifting cylinder to the control device; the third travel switch is used for triggering when the traffic cone is moved from the lifting type longitudinal conveying device to be loaded on the conveying rollers and conveying forward rotation information of the first driving motor to the control device; the fourth travel switch is used for triggering when the traffic cone is transmitted in place on the conveying roller and transmitting the stop operation information of the first driving motor to the control device.
When the placing vehicle is in a traffic cone placing mode, firstly, the control device controls to start the lifting cylinder to control the lifting frame to ascend, so that a traffic cone loaded on the conveying rollers lands on a conveying platform of the lifting type longitudinal conveying device, and the first travel switch is used for triggering when the traffic cone is transferred onto a conveying chain from the conveying rollers of the horizontal transverse conveying device and conveying reverse information of a second driving motor to the control device; the traffic cone always triggers a first travel switch in the process of transmitting on the conveying chain; the second travel switch is used for triggering when a last traffic cone on the lifting type longitudinal conveying device is transmitted in place on the conveying chain, and transmitting the stop operation information of the second driving motor and the closing information of the lifting cylinder to the control device; the third travel switch is used for triggering when the traffic cone is transmitted in place on the conveying roller and transmitting the stop operation information of the first driving motor and the starting information of the lifting cylinder to the control device; the fourth travel switch is used for triggering when a traffic cone borne on the conveying roller lands on a conveying platform of the lifting type longitudinal conveying device, conveying forward rotation information of the first driving motor to the control device, and circulating in sequence until the traffic cone in the traffic cone storage device is conveyed.
Example 6
On the basis of embodiment 5, the top of the transmission shaft of the truck body is rotatably provided with a distance measuring wheel, the rotation of the transmission shaft enables the distance measuring wheel to rotate, the axis of the distance measuring wheel is perpendicular to the axis of the transmission shaft, and the distance measuring wheel is electrically connected with a control device. Specifically, the truck body is at the in-process that traveles, and the rotation of transmission shaft drives the gauge wheel and rotates, sets for controlling means through setting up the gauge wheel, adjusts the rotational speed, the periodic frequency etc. of each running part, can adjust the interval of putting of traffic awl, and then controls the continuous stability that the interval was put to the traffic awl effectively.
Example 7
Referring to fig. 1 again, on the basis of the above embodiment, the control device includes a control host 71 disposed in the vehicle compartment 11 and a control panel disposed in the cab, the control host is in communication connection with the control panel, the control panel includes a main board, a liquid crystal display and a plurality of operation keys, the liquid crystal display and the operation keys are both in communication connection with the main board, the liquid crystal display is used for displaying each operation mode in the control device and visually watching video (image) data collected by the first camera and the second camera, each operation key is used for switching each operation mode, and switches and places relevant devices (components) in the vehicle, the arrangement enables an operator to automatically place, recover and store traffic cones only in the cab through the control device, thereby avoiding mixed operation of the operator and machinery in a narrow limited space, but also ensures that the operators are effectively protected when traffic accidents happen.
The working principle of the invention is as follows: firstly, two operators sit in a cab, one operator drives the vehicle, the other operator operates a control device, when the traffic cones need to be placed on a road surface, the traffic cones are stored in a traffic cone storage device in a toppling state of a base towards the cab, the operators press a key of a traffic cone placing mode, the traffic cones are continuously transferred into a traffic cone conveying device through the traffic cone storage device, the traffic cones are transferred to a specified position through a first pushing device after being split through a splitting device in the traffic cone conveying device, in the process, the traffic cones are always in the toppling state of the base towards the cab, a six-axis robot drives a traffic cone clamp to accurately grab the toppling traffic cones at the specified position, the traffic cones are placed in a correct position and transferred and placed on the road surface, and in the whole process, the continuous stable interval placement of the traffic cones can be effectively ensured through a distance measuring wheel on a rotating shaft, finishing the placing operation of the traffic cones; meanwhile, the driver can transmit video (image) data to the liquid crystal display screen through the second camera, timely find whether the placed traffic cone is askew or not meeting the requirement, and timely adjust the driving direction; according to the road condition requirement, the six-axis robot can place the traffic cones from left to right or from right to left, straight lines or oblique lines. When a traffic cone placed on a road surface needs to be recovered, a driver backs up to run, an operator switches to a traffic cone recovery mode, the position and the state of the ground traffic cone are obtained through an infrared sensor and a first camera which are arranged on a traffic cone clamp, the traffic cone to be grabbed is accurately positioned, the obtained data information is transmitted to a six-axis robot, and a control device controls the six-axis robot to accurately position the traffic cone to be grabbed, so that the six-axis robot can accurately grab the upright traffic cone, topple over and sequentially place the traffic cone at a specified position on a conveyor belt; in the process of recycling, when an operator acquires that the placing state of the traffic cone is in a dumping state through the first camera, a recycling mode for dumping the traffic cone needs to be started, the six-axis robot grabs the dumped traffic cone, aligns and dumps the dumped traffic cone at a specified position on the conveyor belt, and the dumped traffic cone is in a dumping state of the base towards the cab; then the second pusher among the traffic awl conveyor will be this traffic awl propelling movement to the conveying chain track on, the conveying chain track will be this traffic awl carry to the traffic awl storage device in, and then accomplish the recovery operation of traffic awl, whole putting, the process of retrieving and storing, the automation has all been realized, make the operation personnel only can realize the traffic awl is automatic to be put through controlling means in the driver's cabin, retrieve and the storage, the operation personnel has been avoided, machinery mixes the operation in narrow restricted space, guaranteed again that the operation personnel receives effective protection when taking place traffic accident.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A placing vehicle convenient for automatically retracting and releasing a traffic cone is characterized by comprising a truck body and a carriage arranged at the rear part of the truck body, the front side of the carriage is provided with a traffic cone storage device for storing traffic cones, the traffic cone storage device is adjacent to a traffic cone conveying device for conveying traffic cones, the rear side of the carriage is provided with a traffic cone swinging unit which comprises a base fixedly connected with the carriage, the base is provided with a six-axis robot which is used for placing the traffic cones conveyed to the designated positions by the traffic cone conveying device on the road surface, the six-axis robot is also provided with a traffic cone clamp for grabbing the traffic cone, and the traffic cone storage device, the traffic cone conveying device, the six-axis robot and the traffic cone clamp are all electrically connected with the control device.
2. The placing vehicle convenient for automatically retracting and releasing the traffic cones as defined in claim 1, wherein the six-axis robot comprises a first axis arm, a second axis arm, a third axis arm, a fourth axis arm, a fifth axis arm and a sixth axis arm, the bottom end of the first axis arm is rotatably connected with the top of the base, the bottom end of the second axis arm is welded with the top end of the first axis arm, the top end and the bottom end of the third axis arm are both provided with a pin shaft, the bottom end of the third axis arm is connected with the side surface of the second axis arm through a pin shaft, the top end of the third axis arm is connected with the bottom of the fourth axis arm through a pin shaft, one end of the fifth axis arm is embedded in the fourth axis arm and is in clearance fit with the inner wall of the fourth axis arm, the other end of the fifth axis arm is provided with a U-shaped opening, the U-shaped opening is provided with a swinging sixth axis arm, and the other end of the sixth axis arm is provided with a traffic cone clamp, and the first shaft arm, the second shaft arm, the third shaft arm, the fourth shaft arm, the fifth shaft arm and the sixth shaft arm are all electrically connected with the control device.
3. The placing vehicle convenient for automatically retracting and releasing the traffic cone as defined in claim 2, wherein a visual detection device is arranged on the traffic cone clamp, the visual detection device comprises a support frame fixedly arranged on the traffic cone clamp, a first camera arranged at the top of the support frame, and an infrared sensor arranged in the middle of the support frame, and the six-axis robot, the traffic cone clamp, the first camera and the infrared sensor are all electrically connected with the control device.
4. The placing vehicle convenient to automatically retract and release the traffic cone as defined in claim 3, wherein the traffic cone clamp comprises a base fixedly connected with the six-axis robot, a chuck is movably connected to the front end of the base, cylinder fixing blocks are fixed to both ends of the base, a clamp cylinder is arranged on each cylinder fixing block, the movable end of each clamp cylinder is fixedly connected with the first push plate, connecting rods are fixedly connected to both sides of the first push plate, and one end of each connecting rod, which is far away from the first push plate, is fixedly connected with the chuck.
5. The placing vehicle convenient for automatically retracting and releasing the traffic cones as recited in claim 4, the traffic cone conveying device comprises a supporting frame, a conveying chain track and a pushing track are sequentially arranged on the left and the right of the supporting frame, the conveying chain track comprises a conveying chain and a third driving motor for driving the conveying chain to operate, the heights of the conveying chain track and the pushing track are consistent, a plurality of first clamping cylinders are symmetrically arranged at the tail end of the conveying chain track from top to bottom, and a first material sensor is arranged, a first pushing device capable of reciprocating along the direction of the conveying track is arranged on the right side of the first clamping cylinder, the first pushing device comprises a second pushing plate, the shape of the second pushing plate is matched with that of the supporting frame, a plurality of first pushing cylinders are symmetrically arranged on the left side of the second pushing plate, and a plurality of second clamping cylinders are symmetrically arranged on the front and back of the left side of the second pushing plate; just still be provided with the second pusher that can follow slip track reciprocating motion on the propelling movement track, the second pusher is including setting up in the mounting bracket on right side, be provided with second propelling movement cylinder on the mounting bracket, the output fixed connection slider of second propelling movement cylinder, on slider sliding assembly and the track pole, the track pole is fixed in the below of the orbital bottom surface of propelling movement, be provided with a plurality of extensions on the slider the planar reference column of propelling movement track.
6. The placing vehicle convenient for automatically retracting and releasing the traffic cones as defined in claim 5, wherein the traffic cone storage device comprises an elevating type longitudinal conveying device for receiving the traffic cones and a horizontal transverse conveying device for horizontally transferring the traffic cones, the horizontal transverse conveying device comprises a rack fixed on a carriage and conveying rollers, the conveying rollers are driven by a first driving motor to rotate, and the conveying rollers are mounted on the rack; the lifting type longitudinal conveying device comprises a lifting frame, a plurality of conveying chains are arranged on the lifting frame and positioned between conveying rollers, the conveying chains are connected with a same driving shaft, the input end of the driving shaft is connected with a second driving motor, a lifting cylinder is connected below the lifting frame, a base of the lifting cylinder is installed on a carriage, and an ejector rod is connected to the lifting frame; the conveying direction of the lifting type longitudinal conveying device is perpendicular to the conveying direction of the horizontal transverse conveying device, the lowest descending height of the lifting type longitudinal conveying device is lower than that of the horizontal transverse conveying device, and the highest ascending height of the lifting type longitudinal conveying device is higher than that of the horizontal transverse conveying device.
7. The placing vehicle convenient for automatically retracting and releasing traffic cones as recited in claim 6, wherein the lifting type longitudinal conveying device is provided with a first travel switch and a second travel switch, and the horizontal transverse conveying device is provided with a third travel switch and a fourth travel switch.
8. The placing vehicle convenient for automatically retracting and releasing the traffic cones as recited in claim 3, wherein a second camera is arranged at the rear end of the carriage, the second camera is used for collecting image data at the rear end of the carriage in a wide angle, and the second camera is electrically connected with the control device.
9. The placing vehicle convenient for automatically retracting and releasing the traffic cones as defined in claim 7, wherein a distance measuring wheel is rotatably arranged above the transmission shaft of the truck body, the rotation of the transmission shaft enables the distance measuring wheel to rotate, the axis of the distance measuring wheel is perpendicular to the axis of the transmission shaft, and the distance measuring wheel and the six-shaft machine are electrically connected with a control device.
10. The placing vehicle convenient for automatically retracting and releasing the traffic cones as defined in claim 9, wherein the control device comprises a control host arranged in a carriage and a control panel arranged in a cab, the control host is in communication connection with the control panel, the control panel comprises a main board, a liquid crystal display and a plurality of operation keys, and the liquid crystal display and the operation keys are in communication connection with the main board.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010759461.2A CN111945610A (en) | 2020-07-31 | 2020-07-31 | Put car convenient to receive and release traffic awl automatically |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010759461.2A CN111945610A (en) | 2020-07-31 | 2020-07-31 | Put car convenient to receive and release traffic awl automatically |
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| CN111945610A true CN111945610A (en) | 2020-11-17 |
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| CN202010759461.2A Pending CN111945610A (en) | 2020-07-31 | 2020-07-31 | Put car convenient to receive and release traffic awl automatically |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113235486A (en) * | 2021-06-02 | 2021-08-10 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone winding and unwinding devices and machineshop car |
| CN113250104A (en) * | 2021-06-11 | 2021-08-13 | 南京英达公路养护车制造有限公司 | Automatic traffic cone bucket winding and unwinding vehicle |
| CN113250105A (en) * | 2021-06-11 | 2021-08-13 | 南京英达公路养护车制造有限公司 | Traffic cone placing mechanism for traffic cone placing and releasing vehicle |
| CN113463540A (en) * | 2021-07-23 | 2021-10-01 | 河北建筑工程学院 | Automatic traffic cone taking and placing device based on intelligent transportation |
| CN113756224A (en) * | 2021-10-08 | 2021-12-07 | 福建船政交通职业学院 | Intelligent car for resetting inverted cone of traffic cone |
| CN113774832A (en) * | 2021-09-26 | 2021-12-10 | 广西北投交通养护科技集团有限公司 | Conical barrel placing recoverer |
| CN114481900A (en) * | 2022-02-23 | 2022-05-13 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone folding and unfolding method and traffic cone folding and unfolding vehicle |
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| CN113235486A (en) * | 2021-06-02 | 2021-08-10 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone winding and unwinding devices and machineshop car |
| CN113235486B (en) * | 2021-06-02 | 2022-06-14 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone winding and unwinding devices and machineshop car |
| CN113250104A (en) * | 2021-06-11 | 2021-08-13 | 南京英达公路养护车制造有限公司 | Automatic traffic cone bucket winding and unwinding vehicle |
| CN113250105A (en) * | 2021-06-11 | 2021-08-13 | 南京英达公路养护车制造有限公司 | Traffic cone placing mechanism for traffic cone placing and releasing vehicle |
| CN113463540A (en) * | 2021-07-23 | 2021-10-01 | 河北建筑工程学院 | Automatic traffic cone taking and placing device based on intelligent transportation |
| CN113774832A (en) * | 2021-09-26 | 2021-12-10 | 广西北投交通养护科技集团有限公司 | Conical barrel placing recoverer |
| CN113756224A (en) * | 2021-10-08 | 2021-12-07 | 福建船政交通职业学院 | Intelligent car for resetting inverted cone of traffic cone |
| CN114481900A (en) * | 2022-02-23 | 2022-05-13 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone folding and unfolding method and traffic cone folding and unfolding vehicle |
| CN114481900B (en) * | 2022-02-23 | 2023-08-22 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone retraction method and traffic cone retraction vehicle |
| CN116511869A (en) * | 2023-06-30 | 2023-08-01 | 云南省交通科学研究院有限公司 | Mechanical arrangement and installation vehicle-mounted co-fusion robot for corrugated beam steel guardrails |
| CN116511869B (en) * | 2023-06-30 | 2023-09-15 | 云南省交通科学研究院有限公司 | Mechanical arrangement and installation vehicle-mounted co-fusion robot for corrugated beam steel guardrails |
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