CN114214981A

CN114214981A - Automatic retracting device for traffic cones

Info

Publication number: CN114214981A
Application number: CN202111680041.6A
Authority: CN
Inventors: 臧孟炎; 郑登; 甘润驰
Original assignee: South China University of Technology SCUT
Current assignee: Foshan Xiangxin Automotive Electronics Technology Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-03-22
Anticipated expiration: 2041-12-31
Also published as: CN114214981B

Abstract

The invention provides an automatic traffic cone winding and unwinding device which comprises a frame, and a storage mechanism, a peeling mechanism, a conveying mechanism, a winding and unwinding mechanism and a centering mechanism which are arranged on the frame; the storage mechanism is used for storing and accommodating the traffic cones; the stripping mechanism is positioned above the storage mechanism and used for stripping the traffic cones and moving the stripped traffic cones to a position to be conveyed; the conveying mechanism is positioned in front of the storage mechanism and used for conveying the stripped traffic cones from the position to be conveyed to the working position to be folded and unfolded; the retraction mechanism is arranged on the frame in a sliding mode and used for moving the stripped traffic cones from the working positions to be retracted to the placing positions or moving the traffic cones to be retracted from the retracting positions to the working positions to be retracted. Through setting up storage mechanism, peeling off mechanism, conveying mechanism, jack, right mechanism, can receive and release the traffic awl fast, full automatization, its work efficiency is high, and the operation is stable.

Description

Automatic retracting device for traffic cones

Technical Field

The invention belongs to the field of traffic warning, and particularly relates to an automatic retracting and releasing device for a traffic cone.

Background

With the increase of highway mileage in China, the task of highway maintenance is increasingly heavy. The maintenance management of the expressway is a complex systematic project, and when the expressway needs maintenance or a traffic accident occurs, a traffic closed control mode, namely a traffic sign is placed outside an operation area to guide the running of vehicles, must be adopted. When the road administration personnel perform the official business, the safety of the driving and the working area must be ensured, so that the traffic cones are arranged outside the working area to guide the driving of the vehicles, and particularly when the vehicles work on the highway, the traffic cones and the like are required to be arranged to guide the traffic due to the extremely high driving speed.

The traditional traffic cone placement method generally adopts a manual operation mode to fold and unfold the traffic cone, a driver drives a carrying vehicle, and traffic cones in a carriage are taken out and placed back manually; when the operation finishes, retrieve the traffic awl one by one through the manual work again, it advances and backs a car to need the driver to drive the vehicle usually, and need stand alone and carry out receiving and releasing of traffic awl in the carriage, and put and retrieve the traffic awl by the car back along with a plurality of staff, it has not only improved the cost of labor, the efficiency of receiving and releasing of traffic awl has been reduced, more importantly exposes the staff under extremely dangerous traffic environment, factor of safety is low, simultaneously because artificial difference, the straight line is often accomplished in putting of traffic awl, often need correct, and the work quality is reduced.

When a sudden traffic accident occurs on the highway, according to the requirements of a road traffic law: after a road police reaches the scene, the law enforcement vehicle is parked in front of the accident vehicle, the danger alarm flash lamp is turned on, the law enforcement personnel get off and move the traffic cone to place, a 150-meter operation closed area is set, and then rescue and treatment are carried out. The distance between adjacent traffic cones is 10 meters, and in general, 15 traffic cones are enough to complete a work closed area with 150 meters.

In the 'an automatic car that receive and releases of safety awl' of chinese utility model patent of old xingchun etc, through setting up storage device, pressing from both sides and getting device, transfer device, conveyor and receiving and releasing device, can be fast, full automatization receive and release safety awl, its work efficiency is high, and the operation is stable. This device represents a significant improvement over previous devices, but requires the use of specially designed trucks, resulting in significant cost increases for the high speed authority. In the Chinese published patent application of the invention of 'an automatic retraction device for traffic cones', the device mainly comprises a mechanical arm rotating mechanism, a push-down righting frame mechanism and a PLC (programmable logic controller), can realize the forward running of a vehicle to put or recover the traffic cones, solves the problem that only the traffic cones can be recovered by backing, and improves the safety; the traffic cones can be recovered in a unified posture, the subsequent stacking and storage are facilitated, and the working efficiency is improved. However, the device is designed independently, is not designed according to a sample car platform, cannot be used and installed, occupies a large space, and only stays at a theoretical level. Zhengmin et al in the Chinese published patent application for 'an automatic retraction system for road cones', the designed system comprises a control system, a road cone retraction device and a retraction auxiliary device which are detachably connected with the same side of a truck. In the recovery mode, the traffic cones on the road surface are transversely arranged and oppositely oriented, the system can adjust the traffic cones to a standard recovery state through the storage auxiliary device, and the situation that the traffic cones fall down and cannot be recovered due to the fact that the traffic cones are not aligned does not occur. However, the storage auxiliary device of the system needs to be manually placed on the side of the carriage, full automation cannot be achieved, and labor cost is high.

At present, domestic traffic cone collecting and releasing vehicles are mainly trucks with large sizes, the storage capacity of the traffic cones is hundreds, in addition, most of the traffic cone collecting and releasing mechanisms are traditional mechanical devices, the mass is overlarge, the volume is overlarge, the vehicles are ultra-wide, the cone collecting and releasing efficiency is low, and the economic cost is overhigh; therefore, the traffic cone winding and unwinding device using the truck as the carrier has the problems of resource waste, overhigh manufacturing cost, inconvenient running in a non-working state and the like.

Disclosure of Invention

The invention aims to provide an automatic traffic cone retracting and releasing device which can efficiently and stably place and recover traffic cones.

In order to achieve the purpose, the invention provides an automatic traffic cone retracting and releasing device which comprises a frame, and a storage mechanism, a peeling mechanism, a conveying mechanism, a retracting and releasing mechanism and a righting mechanism which are arranged on the frame;

the storage mechanism is used for storing and accommodating the traffic cones;

the stripping mechanism is positioned above the storage mechanism and used for stripping the traffic cones and moving the stripped traffic cones to a position to be conveyed;

the conveying mechanism is positioned in front of the storage mechanism and used for conveying the stripped traffic cones from the position to be conveyed to the working position to be folded and unfolded;

the retraction mechanism is arranged on the frame in a sliding mode and used for moving the stripped traffic cones from the working positions to be retracted to the placing positions or moving the traffic cones to be retracted from the retracting positions to the working positions to be retracted.

Preferably, the frame outside is given by the sheet metal component and is used for fixing other mechanisms of the device and plays a supporting role.

Preferably, the storage mechanism is used for storing traffic cones and comprises a bottom plate, a fixed cover fixed above the bottom plate and a driving lug assembly located below the bottom plate and fixed with the frame, the driving lug assembly is located below the bottom plate and comprises a sliding block push plate capable of sliding, and the top of the sliding block push plate penetrates through the bottom plate and extends into the fixed cover. A traffic cone is placed on the base plate and is constrained by the stationary shroud and the drive lug assembly.

Preferably, the driving lug assembly further comprises a storage support frame, a single-axis robot and at least one driving unit, the single-axis robot is located on the storage support frame, the single-axis robot comprises a driving sliding block, a sliding block push plate is fixedly connected with the driving sliding block, and the sliding block push plate is used for pushing the traffic cone;

every drive unit all includes first cylinder, the second cylinder, the first lug of cylinder and cylinder second lug, first cylinder and second cylinder are all fixed on the storage support frame, and are located unipolar robot one side, the first lug of cylinder is connected with the output of first cylinder, the cylinder second lug is connected with the output of second cylinder, and the first lug of cylinder and cylinder second lug distribute along the slip direction of slider push pedal, the first lug of cylinder and cylinder second lug are used for spacing the traffic awl.

Preferably, the stripping mechanism comprises a stripping cylinder, a floating joint, a stripping support frame, a slider guide rail assembly and a stripping manipulator, the stripping cylinder is fixedly connected with the frame, the floating joint is connected with an output shaft of the stripping cylinder, the stripping support frame is connected with the floating joint, the slider guide rail assembly is arranged on the stripping support frame, the stripping manipulator is fixedly connected with a slider in the slider guide rail assembly, and the stripping manipulator is used for clamping the traffic cone.

Preferably, the jacking mechanism comprises a jacking connecting piece, two jacking double-shaft air cylinders connected to the frame through the connecting piece and a jacking lug.

Preferably, the conveying mechanism comprises a bearing plate fixed on the frame, a conveying synchronous belt module and a conveying assembly, the conveying synchronous belt module comprises a conveying sliding block, the conveying assembly is connected with the conveying sliding block, the conveying assembly comprises a conveying driving unit and a conveying manipulator, the conveying manipulator is connected with the conveying driving unit, and the conveying manipulator is used for clamping the traffic cone.

Preferably, the conveying assembly further comprises a conveying bottom plate fixed to the conveying sliding block, a sliding plate arranged on the conveying bottom plate, a conveying cylinder connected with the sliding plate, a second rack connected with the sliding plate, a second gear matched with the rack, and a conveying shaft connected with the second gear, and the conveying manipulator is fixedly connected with the conveying shaft.

Preferably, the retraction mechanism comprises a mounting base, a retraction mechanism front-and-back movement combination, a retraction box up-and-down movement combination, a manipulator up-and-down movement combination and a retraction manipulator,

the mounting base is fixedly connected with the framework, the front-back moving combination of the retraction mechanism is arranged on the mounting base in a front-back sliding mode, the retraction box is arranged on the front-back moving combination of the retraction mechanism in a sliding mode, and the retraction box can move front-back under the driving of the front-back moving combination of the retraction mechanism;

the retractable box is connected with the retractable box in a vertical moving combination manner, and can move vertically relative to the retractable mechanism in a vertical moving combination manner under the driving of the retractable box in the vertical moving combination manner

The retraction manipulator is arranged on the retraction box in a sliding manner through the up-and-down movement combination of the manipulator.

Preferably, the retraction and release mechanism front-and-back movement assembly comprises a ball screw assembly, a first linear guide rail assembly, a first connecting slide block, a third motor and a fourth motor,

the ball screw assembly comprises a fourth motor, a screw shaft and a nut arranged on the screw shaft, the gear and rack assembly comprises a first rack and a second gear, the fourth motor is fixed on the mounting base, the screw shaft is connected with the fourth motor, and the first linear guide rail assembly is fixedly connected with the nut; the first connecting sliding block is fixedly connected with a first rack, the first rack is fixed on the first linear guide rail assembly, the second gear is meshed with the first rack, and the first rack is connected with an output shaft of the third motor;

the vertical moving combination of the folding and unfolding box comprises a first motor, a first driving chain wheel, a first driven chain wheel and a first chain, the folding and unfolding box comprises a box body, the first motor is fixed on the box body, the first driving chain wheel is connected with an output shaft of the first motor, the first driving chain wheel and the first driven chain wheel are rotatably arranged in the box body, the first driving chain wheel and the first driven chain wheel are in transmission connection through the first chain, and a first connecting sliding block is fixedly connected with the first chain;

the manipulator up-and-down moving combination comprises a second motor, a second driving sprocket, a second driven sprocket, a second chain and a second connecting slider, the second motor is fixed on the box body, the second driving sprocket is connected with an output shaft of the second motor, the second driving sprocket and the second driven sprocket are located in the box body, the second driving sprocket and the second driven sprocket are driven by the second chain, the second connecting slider is fixedly connected with the second chain, and the manipulator and the second connecting slider are fixedly connected.

Preferably, the righting mechanism comprises a sliding block guide rail combination fixed on the right side of the frame, a long aluminum profile fixed on a sliding block in the sliding block guide rail combination, a cylinder joint fixing piece fixed on the long aluminum profile, a long cylinder fixed on the cylinder joint fixing piece and fixed on the right side of the frame, a righting combination arranged on the long aluminum profile in a sliding mode, a speed reducer arranged on the righting combination and a servo motor arranged above the speed reducer.

Compared with the prior art, the automatic traffic cone retracting device has the beneficial effects that at least:

through setting up storage mechanism, peeling means, top and send mechanism, conveying mechanism, jack and right mechanism, can receive and release the traffic awl fast, full-automatic, its work efficiency is high, puts effectually, and stability is good, and the device volume is less, has reduced the work degree of difficulty, has reduced the cost of labor.

Drawings

In order to illustrate embodiments of the invention or solutions in the prior art more clearly, the drawings that are needed in the description of the embodiments or solutions in the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the invention, and for a person skilled in the art, without inventive effort, other drawings may be obtained from these drawings, in which:

FIG. 1 is a traffic cone structure diagram of the automatic retraction device of the traffic cone of the present invention;

FIG. 2 is a structural assembly diagram of the frame, the storage mechanism, the peeling mechanism, the jacking mechanism, the conveying mechanism, the retracting mechanism and the righting mechanism of the automatic retracting device for traffic cones of the invention;

FIG. 3 is a structural assembly view of the frame;

FIG. 4 is a structural assembly view of the storage mechanism;

FIG. 5 is a block diagram of a drive lug assembly of the storage mechanism;

FIG. 6 is a structural assembly view of the stripping mechanism;

FIG. 7 is a structural assembly view of the jacking mechanism;

FIG. 8 is a structural assembly view of the conveying mechanism;

FIG. 9 is a block diagram of a conveyor assembly of the conveyor mechanism;

FIG. 10 is a structural assembly view of the pick and place mechanism;

FIG. 11 is an assembly view of the other viewing structure of the pick and place mechanism;

FIG. 12 is an enlarged view of a portion of the retracting mechanism;

FIG. 13 is a structural assembly view of the retracting robot of the retracting mechanism;

FIG. 14 is a structural assembly view of the centralizer mechanism;

fig. 15 is a structural view of the centering mechanism stored in the vehicle compartment.

Detailed Description

The invention is described in detail below with reference to the drawings, but it should be emphasized that the following embodiments are illustrative and not intended to limit the scope and application of the invention.

Referring to fig. 2 and 3, the automatic retraction device for a traffic cone provided by the present invention includes a frame 1, and a storage mechanism 2, a peeling mechanism 3, a pushing mechanism 4, a conveying mechanism 5, a retraction mechanism 6, and a centering mechanism 7 installed in the frame 1.

The traffic cone structure is shown in fig. 1 and includes a base and a cone body above the base.

In some of the embodiments of the invention the frame 1 is sealed on the outside by sheet metal parts 11. The frame 1 is used for fixing other mechanisms of the device and plays a supporting role. The frame 1 is an aluminum profile frame.

In some embodiments of the present invention, a storage mechanism 2 is disposed in the middle of the frame 1, and the peeling mechanism 3 is fixed to the frame 1 and located above the storage mechanism 2; the jacking mechanism 4 is positioned in front of the storage mechanism 2 and in front of the frame 1; the conveying mechanism 5 is located on the outermost side of the frame 1, the middle and the lower part of the right side of the frame 1 are provided with a sliding block guide rail assembly 12, and the retraction mechanism 6 and the righting mechanism 7 are arranged on the right side of the frame 1 in a matched mode through the sliding block guide rail assembly 12.

In some embodiments of the invention, and with reference to fig. 4 and 5, the storage mechanism 2 is used for storing traffic cones, and comprises a base plate 21, a fixed cover 22 fixed above the base plate, and a driving lug assembly 23 located below the base plate 21 and fixed to the frame 1, wherein the traffic cones are stored on the base plate 21 and restrained by the fixed cover 22 and the driving lug assembly 23. The stacked traffic cones, with their center of gravity forward, may topple forward if the fixed cover 22 is not secured to the upper degree of freedom, which may interfere with the storage and automatic retraction of the traffic cones.

In the invention, the driving lug assembly 23 is positioned below the bottom plate 21 and comprises a storage support frame 237, a single-axis robot 236, a slide block push plate 235 and at least one driving unit, wherein the storage support frame 237 is fixed on the frame 1, the single-axis robot 236 is positioned on the storage support frame 237, the single-axis robot 236 comprises a driving slide block, the slide block push plate 235 is fixedly connected with the driving slide block, the slide block push plate 235 is positioned at the rearmost side of all traffic cones stored in the fixed cover 22, and the slide block push plate 235 can move forward under the driving of the single-axis robot 236, so that the traffic cones can be pushed to move forward. Each driving unit comprises a first air cylinder 231, a second air cylinder 232, an air cylinder first lug 233 and an air cylinder second lug 234, the first air cylinder 231 and the second air cylinder 232 are fixed on a storage support frame 237 and located on one side of a single-shaft robot 236, the air cylinder first lug 233 is connected with the output end of the first air cylinder 231, the air cylinder second lug 234 is connected with the output end of the second air cylinder 232, and the air cylinder first lug 233 and the air cylinder second lug 234 are distributed along the sliding direction of a sliding block push plate 235.

Preferably, in some embodiments of the present invention, there are two driving units, and the two driving units are fixedly located at two sides of the storage supporting frame 237, that is, referring to fig. 5, the driving protrusion assembly 23 includes two pairs of first and

second cylinders

231 and 232, two cylinder first protrusions 233, two cylinder second protrusions 234, a slider push plate 235, a single-axis robot 236 and the storage supporting frame 237, a first protrusion 233 is fixedly located at an output end of each first cylinder 231, a cylinder second protrusion 234 is fixedly located at an output end of each second cylinder 232, the two pairs of first and

second cylinders

231 and 232 respectively control the corresponding cylinder first and

second protrusions

233 and 234, and the two pairs of first and

second cylinders

231 and 232 are fixed at two sides of the storage supporting frame 237 through a connecting piece 238; the single-shaft robot 236 is fixed on the storage support frame 237 and is positioned between the first cylinder 231 and the second cylinder 232; the slide block push plate 235 is fixedly connected with a driving slide block of the single-axis robot 236, and the traffic cone is driven by the single-axis robot 236. The number of the slide block push plates 235 is equal to that of the driving units, so that two traffic cones can be pushed at one time. It is understood that the number of the driving units is not particularly limited, and in other embodiments, other numbers of the driving units may be provided as needed.

The first cylinder 231 and the second cylinder 232 are both biaxial cylinders. The storage support frame 237 is made of aluminum profile.

When the storage mechanism 2 starts to work, the output shaft of the first air cylinder 231 extends, the first lug 233 of the air cylinder enters the working position, the second air cylinder 232 contracts, the second lug 234 of the air cylinder exits the working position, the single-shaft robot 236 drives the sliding block push plate 235 to push forwards for a certain distance, the traffic cone group moves forwards under the action of the sliding block push plate 235 and is limited by the first lug 233 of the air cylinder which enters the working position previously, and therefore the traffic cone group enters the working position to be stripped.

In some embodiments of the present invention, referring to fig. 6, stripping cylinders 31 are disposed above four end corners of the stripping support 33 to stably lower or raise the stripping support 33. Specifically, peeling means 3 includes four and is fixed in peeling off cylinder 31, four of frame 1 top connect in peeling off the epaxial floating joint 32 of thick stick of cylinder, connection floating joint peel off support frame 33, be fixed in peel off hold-in range module 34 of support frame 33 top, the slider guide rail subassembly 35 of being connected with hold-in range module 34, connect the manipulator 36 is peeled off to slider guide rail subassembly 35, and hold-in range module 34 is used for providing power for slider guide rail subassembly 35.

The peeling mechanism 3 further comprises a clamping cylinder 37, the peeling manipulator 36 comprises a first clamping block 361 and a second clamping block 362, the clamping cylinder 37 is fixed on the first clamping block 361, the first clamping block 361 is fixedly connected with a sliding block in the sliding block guide rail assembly 35, the first clamping block 361 can extend into a gap between two stacked traffic cones, and the second clamping block 362 is connected with an output shaft of the clamping cylinder 37 through a pin shaft, so that the second clamping block 362 can rotate around the pin shaft, and the rotation is controlled through the extension and contraction of the clamping cylinder 37. When stripping, the output shaft of the clamping cylinder 37 extends to drive the second clamping block 362 to rotate clockwise until the second clamping block 362 is pressed on the base of the traffic cone to be stripped, at the moment, the base of the traffic cone to be stripped is clamped by the first clamping block 361 and the second clamping block 362, and then the stripping manipulator 36 moves to the position to be conveyed under the driving of the synchronous belt module 34 and the slide block guide rail assembly 35, so that the traffic cone to be stripped can be stripped and moved to the position to be conveyed.

The clamp cylinder 37 is a thin cylinder.

In some embodiments of the present invention, a sensor is further disposed on the first clamping block 361 for detecting whether the first clamping block 361 is inserted into the gap between the traffic cones.

When the stripping mechanism 3 starts to work, the output shaft of the stripping cylinder 31 extends to drive the stripping support frame 33 to move downwards, the first clamping block 361 is inserted into a gap between the second row of traffic cones and the first row of traffic cones to be stripped, after a sensor arranged on the first clamping block 361 detects that the first clamping block 361 successfully enters a working position, the output shaft of the clamping cylinder 37 extends, the second clamping block 362 rotates clockwise until contacting and clamping the first row of traffic cones together with the first clamping block 361, and grabbing of the traffic cones to be stripped is completed; meanwhile, the first air cylinder 231 of the storage mechanism 2 contracts, the first air cylinder lug 233 exits from the working position, the second air cylinder 232 extends, the second air cylinder lug 234 enters the working position of the second air cylinder to block the rear row traffic cones, and the first air cylinder lug 233 and the second air cylinder lug 234 ensure that the rear row traffic cones are prevented from being taken out when the front row traffic cones are stripped. After the clamping is successful, the synchronous belt module 34 works to drive the sliding blocks in the sliding block guide rail assembly 35 to slide on the guide rails, so that the peeling manipulator 36 is driven to move forwards, the peeling process is completed, and the front row of traffic cones are successfully peeled off and come to the position to be conveyed.

In some embodiments of the present invention, referring to fig. 7, the jacking mechanism 4 is located in front of the storage mechanism 2 and below the bottom plate 21, is disposed at a position to be conveyed, and comprises a jacking connector 41, two jacking cylinders 42 connected to the frame 1 through the jacking connector 41, and two jacking lugs 43 connected to output shafts of the jacking cylinders 42. The top-feeding bump 43 is used for limiting the stripped traffic cone in the front-back direction, so that the traffic cone is prevented from being overturned to influence the subsequent conveying process. After the front-row traffic cone group comes to the position to be conveyed, the jacking cylinder 42 extends upwards to drive the jacking lug 43 to enter the working position, and the jacking lug 43 butts against the rear surface of the base of the front-row traffic cone, so that the traffic cone is prevented from sliding backwards, the degree of freedom of backward movement is limited, and the traffic cone group is limited.

The jacking cylinder 42 is a two-axis cylinder.

In some embodiments of the present invention, referring to fig. 8 and 9, the conveying mechanism 5 is located at the outermost side of the frame, and includes a carrying plate 51 fixed to the frame 1, a conveying timing belt module 52 fixed above the carrying plate 51, and a conveying assembly 53 connected to a conveying slider on the conveying timing belt module 52. The conveying assembly 52 includes a conveying base plate 531 fixed to the conveying slider, a fixed plate 532 fixed to the conveying base plate 531, a sliding plate 533 coupled to the fixed plate 532, a conveying cylinder 534 coupled to the sliding plate 533, a second rack 535 coupled to the sliding plate 533, a second gear 536 coupled to the second rack 535, a conveying shaft 537 coupled to the second gear 536, an oilless bush 538 coupled to the conveying shaft 537, and a conveying robot 539 fixed above the conveying shaft 537.

In some embodiments of the present invention, the conveying manipulator 539 is provided with a curved surface that conforms to the curvature of the outer wall of the traffic cone.

When the conveying mechanism 5 starts to work, the output shaft of the conveying cylinder 534 extends to drive the second rack 535 on the sliding plate 533 to move forwards, the second gear 536 meshed with the second rack 535 is driven to rotate along with the movement of the second rack 535, the counterclockwise rotation of the second gear 536 drives the conveying shaft 537 connected with the second gear 536 to rotate, so that the conveying manipulator 539 fixed on the conveying shaft 537 rotates to a vertical position from a horizontal position, and the arc surface of the conveying manipulator 539 contacts with a traffic cone to grab the traffic cone; after the above-mentioned work is finished, the conveying synchronous belt module 52 drives the conveying assembly 53 to move to the right side, and the traffic cone on the right side smoothly enters the to-be-received and released working position under the driving of the conveying manipulator 539 and the limiting action of the pushing lug 43 of the pushing mechanism 4. After the traffic cone on the right side is sent to the working position to be folded and unfolded, the conveying assembly 53 can move to the left side under the action of the conveying synchronous belt module 52, and the traffic cone on the left side can be conveyed to the working position to be folded and unfolded in the same way.

In some embodiments of the present invention, referring to fig. 13, a traffic cone supporting seat 13 and a traffic cone supporting seat 13 are further disposed on the frame 1. As shown in fig. 2, the two traffic cones are peeled off at a time by the peeling mechanism, the traffic cone on the right side is supported by the conveying manipulator, the traffic cone on the left side is supported by the traffic cone supporting seat 13, otherwise, the traffic cone on the left side is peeled off to reach the working position to be stored and released and then easily falls off.

In the present invention, referring to fig. 10, 11, 12 and 13, the retraction mechanism 6 includes a mounting base, a retraction mechanism forward-and-backward movement assembly, a storage box, a chain and sprocket assembly, a manipulator upward-and-downward movement assembly and a retraction manipulator 613. The mounting base is fixedly connected with the frame 1, the front-back moving combination of the folding and unfolding mechanism is arranged on the mounting base in a front-back sliding mode, the folding and unfolding box is arranged on the front-back moving combination of the folding and unfolding mechanism in a sliding mode, the folding and unfolding box can move front and back under the driving of the front-back moving combination of the folding and unfolding mechanism, the folding and unfolding box is connected with the up-down moving combination of the folding and unfolding box, the folding and unfolding box can move up and down relative to the front-back moving combination of the folding and unfolding mechanism under the driving of the up-down moving combination of the folding and unfolding box, and the folding and unfolding manipulator 613 is arranged on the folding and unfolding box in a sliding mode through the up-down moving combination of the manipulator.

In an operating state, the retraction box and the retraction manipulator 613 need to move out of the device, and specifically, the ball screw assembly 610 drives the retraction mechanism to move back and forth and move the retraction mechanism to move out of the device, so that the retraction box and the retraction manipulator 613 can move out of the device, and the retraction box can move up and down, so that the retraction manipulator 613 can grab a traffic cone onto a road surface.

In some embodiments of the present invention, the retraction mechanism back and forth movement assembly includes an aluminum profile disposed on the mounting base and a first linear guide combination 69 fixedly disposed on the aluminum profile. The automatic adjusting device further comprises a ball screw assembly 610, a first connecting slide block 614, a third motor 65, a gear and rack assembly 68 and a fourth motor 66, wherein the ball screw assembly 610 comprises the fourth motor 66 fixed on the mounting base, a screw shaft connected with an output shaft of the fourth motor 66, a nut arranged on the screw shaft, a support assembly fixed on the mounting base and used for fixing two ends of the screw shaft, and an L-shaped connecting piece 615 for connecting the nut and the retraction mechanism in a forward and backward movement combination mode, and the first linear guide rail assembly 69 is fixedly connected with the nut. The fourth motor 66 drives the screw shaft to rotate, so as to drive the nut to move back and forth, and further drive the first linear guide rail assembly 69 to move through the L-shaped connector 615, so as to drive the retraction mechanism to move back and forth, so as to move the retraction box and the retraction manipulator 613 to the outside of the device, so as to put down the traffic cone to be placed or to clamp the traffic cone to be recovered. The rack and pinion combination 68 comprises a first rack 681 and a second gear 682, the first rack 681 is fixed on an aluminum profile, the third motor 65 is fixed on the connecting part 651, the connecting part 651 is fixed on the first connecting sliding block 614, the third motor 65 which is vertically arranged is fixed, the second gear 682 is fixed on an output shaft of the third motor 65, the first linear guide rail combination 69 comprises a first linear guide rail and a first sliding block, the first connecting sliding block 614 is fixedly connected with the first sliding block, and the first connecting sliding block 614 is fixedly connected with a first chain 671 of the vertical moving combination of the collecting and releasing box. The gear-rack combination 68 drives the second gear 682 to rotate through the third motor 65 and convert the rotation into the linear motion of the first rack 681, so as to drive the retractable box to move back and forth.

The retractable box comprises a box body 67, a chain and chain wheel combination is fixed in the box body 67 through a shaft, the chain and chain wheel combination comprises a retractable box up-down moving combination and a manipulator up-down moving combination, the retractable box up-down moving combination comprises a first motor 63, a first driving chain wheel 62, a first driven chain wheel 621 and a first chain 671 with a local bent plate, the first motor 63 is fixed on the box body 67, the first driving chain wheel 62 is connected with an output shaft of the first motor 63, the first driving chain wheel 62 is in transmission connection with the first driven chain wheel 621 through the first chain 671, and a first connecting sliding block 614 is fixed on the first chain 671 through the bent plate and a screw; the manipulator up-and-down moving assembly comprises a second motor 64, a second driving sprocket 623, a second driven sprocket 622, a second chain 672 with a partial bent plate and a second connecting slider 612, wherein the second motor 64 is fixed on the box body 67, the second driving sprocket 623 is connected with an output shaft of the second motor 64, the second driving sprocket 623 is in transmission connection with the second driven sprocket 622 through the second chain 672, the second connecting slider 612 is fixed on the second chain 672 through the bent plate and a screw, and the picking and placing manipulator 613 is fixedly connected with the second connecting slider 612.

A second linear guide rail combination 673 is arranged on one side of the box body 67 close to the first linear guide rail combination 69, and the storage box slides along the second linear guide rail combination 673 when moving up and down. A third linear guide rail combination 674 is arranged on the other side of the box body 67 and the second linear guide rail combination 673, and the second connecting slider 612 slides along the third linear guide rail combination 674 when sliding up and down.

The first motor 63, the second motor 64, the third motor 65 and the fourth motor 66 are all servo motors and have a self-locking function.

The retractable box is matched with the chain and chain wheel combination through the second connecting slide block 612, the retractable box and the retractable mechanism back-and-forth movement combination have a relative movement relation in the vertical direction under the action of the first connecting slide block 614, the first driving chain wheel 62 is driven to rotate through the first motor 63, and the first driven chain wheel 621 is matched to drive the first chain 671 to rotate, so that the up-and-down movement of the retractable box is realized. Specifically, the vertical motion of the retractable box is realized by changing the distance between the first driving sprocket 62 and the first connecting slider 614, and the first connecting slider 614 is fixed on the front-back movement combination of the retractable mechanism in the vertical direction, but has a motion relation with the retractable box in the vertical direction; when the first motor 63 rotates counterclockwise, the first link block 614 should ascend with the first chain 671 (the first link block 614 and the chain 671 are already fixed by screws), but since the first link block 614 is fixed in the vertical direction, the storage box 67 having a vertically moving relation with the first link block 614 moves downward. The retracting and releasing mechanical arm 613 is matched with a second driving chain wheel 623, a second driven chain wheel 622 and a second chain 672 in the chain and chain wheel combination through a second connecting sliding block 612, under the action of the second connecting sliding block 612, the retracting and releasing mechanical arm 613 and the retracting and releasing box have a relative motion relation in the vertical direction, and the second driving chain wheel 623 is driven by the second motor 64 to be matched with the second driven chain wheel 622 in a rotating mode so as to drive the second chain 672 to rotate, and therefore the up-and-down motion of the retracting and releasing mechanical arm 613 is achieved.

In some embodiments of the present invention, a tension adjusting device 611 is further included, and the tension adjusting device 611 adjusts the center distance between the first driving sprocket 62 and the first driven sprocket 621, and adjusts the center distance between the second driving sprocket 623 and the second driven sprocket 622, so as to adjust the tensioning degree of the first chain 671 and the second chain 672, and to make the chain in an optimal working state.

In some embodiments of the present invention, referring to fig. 13, the retracting and releasing manipulator 613 is fixedly connected to the second connecting slider 612, the retracting and releasing manipulator 613 includes a first retracting and releasing cylinder 61, a second retracting and releasing cylinder 617, a first clamping plate 613 and a second clamping plate 616, the first clamping plate 613 is connected to an output shaft of the first retracting and releasing cylinder 61, the second clamping plate 616 is connected to an output shaft of the second retracting and releasing cylinder 617, and an extension direction of the output shaft of the first retracting and releasing cylinder 61 is horizontal to the left. The opening and closing degree between the first clamping plate 613 and the second clamping plate 616 can be changed through the first retractable cylinder 61 and the second retractable cylinder 617, so that the traffic cone can be clamped.

When the traffic cone does not enter the to-be-retracted working position, the retraction mechanism 6 starts to prepare the traffic cone, the fourth motor 66 drives the screw shaft of the ball screw assembly 610 to move, so that the retraction mechanism moves the assembly, the retraction box and the retraction manipulator 613 back and forth to enter the to-be-retracted working position, and after the movement is completed, the fourth motor 66 enters a locking state. After the traffic cone enters the to-be-retracted working position, the first motor 63 and the second motor 64 on the retraction mechanism 6 are in a locking state, so that the retraction manipulator 613 and the retraction box are in a suspended state, the second retraction cylinder 617 of the retraction manipulator 613 extends to complete the grabbing of the traffic cone, in the process, the first retraction cylinder 61 is always in an extending state, and the conveying cylinder 533 contracts to enable the conveying manipulator 539 to return to a horizontal position to complete the handing-over of the traffic cone; after the delivery is completed, the gear and rack assembly 68 drives the second gear 682 to rotate through the third motor 65 and convert the rotation into the linear motion of the first rack 681, drives the retraction box and the retraction manipulator 613 which has grabbed the traffic cone to move towards the direction of the disengaging device, after the farthest position of the motion is reached, the first motor 63 and the second motor 64 on the retraction mechanism 6 start to work simultaneously and release the locking state at the same time, the first motor 63 drives the main chain wheel 62 to rotate and cooperate with the first driven chain wheel 621, so that the first connecting sliding block 614 fixed on the retraction mechanism back-and-forth movement assembly is driven to move upwards relative to the retraction box through the first chain 671, and the downward motion of the retraction box is realized; when the retractable box moves downwards, the second motor 64 drives the first driving sprocket 621 to be in running fit with the driven sprocket 622, so that the retractable manipulator 613 which is fixed on the second chain 672 and has a relative motion relation in the vertical direction relative to the retractable box is driven to move downwards through the second chain 672, the transportation of the traffic cone downwards is completed, when the traffic cone contacts the ground, the retractable cylinder 61 on the retractable manipulator 613 is retracted, the grabbing of the traffic cone is finished, and the throwing of the traffic cone is smoothly completed.

In some embodiments of the present invention, referring to fig. 14, the righting mechanism 7 includes a slider-rail assembly 71 connected to the slider-rail assembly 12 in the frame 1, a slide rail 72 slidably fixed on the slider in the slider-rail assembly 71, a cylinder joint fixing member 73 fixed on the slide rail 72, a long cylinder 74 fixed on the cylinder joint fixing member 73 and fixed on the right side of the frame 1, a righting assembly 75 slidably disposed on the slide rail 72, a speed reducer 76 installed on the righting assembly, and a righting motor 77 installed above the speed reducer. The righting mechanism 7 is a first working mechanism of the automatic traffic cone retracting device, the long air cylinder 74 extends to drive the slide rail 72 to extend out of the device, the righting motor 77 drives the righting assembly 75 to rotate to a working position, and the righting assembly 75 enters a working state. After the traffic cone is separated from the retraction manipulator 613, the automobile continues to drive forward to drive the centering assembly 75 to move forward, so as to center the lying traffic cone. Specifically, when the traffic cone is placed on the ground, the traffic cone is laid on the ground, the righting combination 75 moves forwards along with the continuous forward movement of the automobile, the traffic cone can be dragged after the righting combination 75 is contacted with the upper portion of the base of the traffic cone, and a turnover moment is generated below the base of the traffic cone due to the friction between the traffic cone and the ground, so that the righting of the traffic cone is realized.

The slide rail 72 is a long-strip aluminum profile, and the centering motor 77 is a servo motor.

When the traffic cone needs to be placed, the traffic cone is placed through the process.

When the traffic cones need to be recovered after the project is finished, the pick-up truck bearing the automatic traffic cone retracting device recovers the traffic cones in a backward mode. When the pick-up truck is backing, the centralizing combination 75 is aligned with the traffic cone, the truck continues to move backwards, and the centralizing combination 75 knocks down the traffic cone; the retraction manipulator 613 waits for the approach of the traffic cone, and when the traffic cone approaches, the retraction cylinder 61 extends to complete the grabbing of the traffic cone; the first motor 63 and the second motor 64 of the retraction mechanism 6 start to work simultaneously, the first motor 63 drives the first main chain wheel 62 to rotate and cooperate with the first driven chain wheel 621 to drive the first chain 671, so that the first connecting sliding block 614 fixed on the retraction mechanism back-and-forth movement combination is driven by the first chain 671 to move downwards relative to the retraction box, so that the upward movement of the retraction box is realized, meanwhile, the second motor 64 drives the second driving chain wheel 623 to rotate and cooperate with the second driven chain wheel 622 to drive the second chain 672 so as to drive the retraction manipulator 613 fixed on the second connecting sliding block 612 to move upwards, so that the transportation of the traffic cone in the vertical direction is completed, and then the third motor 65 drives the retraction box to move towards the direction of the approaching device to drive the traffic cone to enter the to-be-retracted working position.

When the traffic cone enters a to-be-retracted working position, the conveying cylinder 533 extends to drive the second rack 535 on the sliding plate 534 to move forwards, the second gear 536 meshed with the second rack 535 is driven to rotate along with the movement of the second rack 535, the counterclockwise rotation of the second gear 536 drives the conveying shaft 537 connected with the second gear 536 to rotate, and therefore the conveying manipulator 539 fixed on the conveying shaft 537 rotates from a horizontal position to a vertical position to grab the traffic cone at the working position; the conveying synchronous belt module 52 drives the conveying component 53 to move towards the left side, and the traffic cone smoothly enters the position to be stacked under the driving of the conveying manipulator 539 and the limiting effect of the jacking lug 43 of the jacking mechanism 4.

When the stripping mechanism 3 starts to work, the stripping cylinder 31 extends to drive the stripping support frame 33 to move downwards, and after the sensor detects that the first clamping block 361 successfully enters the working position, the clamping cylinder 37 extends to drive the second clamping block 362 and the first clamping block 361 to clamp the traffic cones to be stacked; at the same time, the second air cylinder 232 of the storage mechanism 2 contracts, and the second lug 234 of the air cylinder exits from the working position; at this time, the single-axis robot 236 drives the slide block push plate 235 to pull back for a certain distance, and after the work is completed, the synchronous belt module 34 drives the stripping manipulator 36 to move back, and the traffic cone groups are stacked back; after the stacking is successful, the second air cylinder 232 of the storage mechanism 2 extends, the second lug 234 of the air cylinder enters the working position to limit the traffic cone group, and the recovery of a group of traffic cones is completed by the actions.

Referring to fig. 15, after all traffic cones are recovered, the centering motor 77 of the centering mechanism 7 drives the centering assembly 75 to rotate back to the initial position, and meanwhile, the long cylinder 74 contracts to drive the slide rail 72 to contract back into the device, so that the centering mechanism 75 is out of the working state and is stored in the carriage.

According to the invention, by arranging the storage mechanism, the stripping mechanism, the jacking mechanism, the conveying mechanism, the retracting mechanism and the righting mechanism, the traffic cones can be retracted and stored quickly and fully automatically, the working efficiency is high, the placing effect is good, the stability is good, the whole volume of the device is small, the working difficulty is reduced, and the labor cost is reduced.

Of course, those skilled in the art will recognize that the above-described embodiments are illustrative only, and not intended to be limiting, and that changes and modifications may be made to the above-described embodiments without departing from the true spirit and scope of the invention, which is set forth in the following claims.

Claims

1. The utility model provides an automatic winding and unwinding devices of traffic awl which characterized in that: comprises a frame (1), and a storage mechanism (2), a peeling mechanism (3), a conveying mechanism (5), a retracting mechanism (6) and a righting mechanism (7) which are arranged on the frame (1);

the storage mechanism (2) is used for storing and accommodating the traffic cones;

the stripping mechanism (3) is positioned above the storage mechanism (2) and used for stripping the traffic cones and moving the stripped traffic cones to a position to be conveyed;

the conveying mechanism (5) is positioned in front of the storage mechanism (2) and is used for conveying the stripped traffic cones from the position to be conveyed to the working position to be folded and unfolded;

the retraction and release mechanism (6) is arranged on the frame (1) in a sliding mode and used for moving the stripped traffic cones from the working positions to be retracted to the placing positions or moving the traffic cones to be retracted from the retracting positions to the working positions to be retracted.

2. The automatic retraction device of the traffic cone according to claim 1, characterized in that: the storage mechanism (2) comprises a bottom plate (21), a fixed cover (22) and a driving lug assembly (23), the bottom plate (21) is fixed in the frame (1), the fixed cover (22) is fixed on the bottom plate (21), the driving lug assembly (23) is located below the bottom plate (21) and comprises a sliding block push plate (235), and the top of the sliding block push plate (235) penetrates through the bottom plate (21) and extends into the fixed cover (22).

3. The automatic retraction device of a traffic cone according to claim 2, characterized in that: the driving lug assembly (23) further comprises a storage support frame (237), a single-axis robot (236) and at least one driving unit, the single-axis robot (236) is located on the storage support frame (237), the single-axis robot (236) comprises a driving sliding block, a sliding block push plate (235) is fixedly connected with the driving sliding block, and the sliding block push plate (235) is used for pushing a traffic cone;

each driving unit comprises a first air cylinder (231), a second air cylinder (232), an air cylinder first lug (233) and an air cylinder second lug (234), the first air cylinder (231) and the second air cylinder (232) are fixed on a storage support frame (237) and located on one side of a single-shaft robot (236), the air cylinder first lug (233) is connected with the output end of the first air cylinder (231), the air cylinder second lug (234) is connected with the output end of the second air cylinder (232), the air cylinder first lug (233) and the air cylinder second lug (234) are distributed along the sliding direction of a sliding block push plate (235), and the air cylinder first lug (233) and the air cylinder second lug (234) are used for limiting a traffic cone.

4. The automatic retraction device of the traffic cone according to claim 1, characterized in that: the stripping mechanism (3) comprises a stripping cylinder (31), a floating joint (32), a stripping support frame (33), a sliding block guide rail assembly (35) and a stripping manipulator (36), the stripping cylinder (31) is fixedly connected with the frame (1), the floating joint (32) is connected with an output shaft of the stripping cylinder (31), the stripping support frame (33) is connected with the floating joint (32), the sliding block guide rail assembly (35) is arranged on the stripping support frame (33), the stripping manipulator (36) is fixedly connected with a sliding block in the sliding block guide rail assembly (35), and the stripping manipulator (36) is used for clamping a traffic cone.

5. The automatic retraction device of the traffic cone according to claim 1, characterized in that: the conveying mechanism (5) comprises a bearing plate (51) fixed on the frame (1), a conveying synchronous belt module (52) fixed on the bearing plate (51) and a conveying assembly (53), the conveying synchronous belt module (52) comprises a conveying sliding block, the conveying assembly (53) is connected with the conveying sliding block, the conveying assembly (53) comprises a conveying driving unit and a conveying manipulator (539), the conveying manipulator (539) is connected with the conveying driving unit, and the conveying manipulator (539) is used for clamping a traffic cone.

6. The automatic retraction device of the traffic cone according to claim 5, characterized in that: the conveying assembly (53) further comprises a conveying bottom plate (531) fixed to the conveying sliding block, a sliding plate block (533) arranged on the conveying bottom plate (531), a conveying cylinder (534) connected with the sliding plate block (533), a second rack (535) connected with the sliding plate block (534), a second gear (536) matched with the rack, and a conveying shaft (537) connected with the second gear (536), and the conveying manipulator (539) is fixedly connected with the conveying shaft (537).

7. The automatic retraction device of the traffic cone according to claim 1, characterized in that: the retraction mechanism (6) comprises a mounting base, a retraction mechanism front-and-back movement combination, a retraction box up-and-down movement combination, a manipulator up-and-down movement combination and a retraction manipulator (613),

the mounting base is fixedly connected with the framework (1), the front-back movement combination of the retraction mechanism is arranged on the mounting base in a front-back sliding mode, the retraction box is arranged on the front-back movement combination of the retraction mechanism in a sliding mode, and the retraction box can move front-back under the driving of the front-back movement combination of the retraction mechanism;

the retractable box is connected with the retractable box up-and-down moving combination, and can move up and down relative to the retractable mechanism back-and-forth moving combination under the driving of the retractable box up-and-down moving combination;

the collecting and releasing mechanical arm (613) is arranged on the collecting and releasing box in a sliding mode through the vertical moving combination of the mechanical arm.

8. The automatic retraction device of a traffic cone according to claim 7, wherein: the front-back movement combination of the retraction mechanism comprises a ball screw combination (610), a gear rack combination (68), a first linear guide rail combination (69), a first connecting slide block (614), a third motor (65) and a fourth motor (66),

the ball screw assembly (610) comprises a fourth motor (66), a screw shaft and a nut arranged on the screw shaft, the gear and rack assembly (68) comprises a first rack (681) and a second gear (682), the fourth motor (66) is fixed on the mounting base, the screw shaft is connected with the fourth motor (66), and the first linear guide rail assembly (69) is fixedly connected with the nut; the first connecting sliding block (614) is connected with the first linear guide rail combination (69), the first rack (681) is fixed on the first linear guide rail combination (69), the second gear (682) is meshed with the first rack (681) and connected with the output shaft of the third motor (65);

the vertical moving combination of the retractable box comprises a first motor (63), a first driving sprocket (62), a first driven sprocket (621) and a first chain (671), the retractable box comprises a box body (67), the first motor (63) is fixed on the box body (67), the first driving sprocket (62) is connected with an output shaft of the first motor (63), the first driving sprocket (62) and the first driven sprocket (621) are rotatably arranged in the box body (67), the first driving sprocket (62) is in transmission connection with the first driven sprocket (621) through the first chain (671), and a first connecting sliding block (614) is fixedly connected with the first chain (671);

the manipulator up-and-down moving combination comprises a second motor (64), a second driving chain wheel (623), a second driven chain wheel (622), a second chain (672) and a second connecting sliding block (612), the second motor (64) is fixed on the box body (67), the second driving chain wheel (623) is connected with an output shaft of the second motor (64), the second driving chain wheel (623) and the second driven chain wheel (622) are located in the box body (67), the second driving chain wheel (623) and the second driven chain wheel (622) are driven through the second chain (672), the second connecting sliding block (612) is fixedly connected with the second chain (672), and the retracting manipulator (613) is fixedly connected with the second connecting sliding block (612).

9. The automatic retraction device of the traffic cone according to claim 1, characterized in that: the righting mechanism (7) comprises a slider guide rail combination (71) fixed on the right side of the frame (1), a sliding rail (72) fixed on a sliding block in the slider guide rail combination (71), a cylinder joint fixing piece (73) fixed on the sliding rail (72), a long cylinder (74) fixed on the cylinder joint fixing piece (73) and fixed on the frame (1), a righting combination (75) arranged on the sliding rail (72) in a sliding mode, and a righting motor (77) installed on the righting combination (75).

10. The automatic retraction device for the traffic cone according to any one of claims 1 to 9, characterized in that: the device is characterized by further comprising a jacking mechanism (4), wherein the jacking mechanism (4) is located in front of the storage mechanism (2) and below the storage mechanism (2) and comprises a jacking cylinder (42) and a jacking bump (43) used for limiting the stripped traffic cone, the jacking cylinder (42) is fixed on the frame (1), and the jacking bump (43) is connected with an output shaft of the jacking cylinder (42).