CN115262443B

CN115262443B - Traffic cone winding and unwinding devices

Info

Publication number: CN115262443B
Application number: CN202210846432.9A
Authority: CN
Inventors: 张一帆; 褚凌慧; 王文松; 吴祥林; 李炯锋; 曹志国; 何东珅; 韩霄; 庚泽; 黄科
Original assignee: Guangdong Qianxingda Automobile Safety Technology Co ltd
Current assignee: Guangdong Qianxingda Automobile Safety Technology Co ltd
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2023-05-12
Anticipated expiration: 2042-07-19
Also published as: CN115262443A

Abstract

The invention provides a traffic cone retraction device, which comprises a moving platform, wherein the moving platform comprises a storage platform for storing traffic cones and a moving device arranged on the storage platform and used for driving the storage platform to move, and a plurality of positioning areas for storing the traffic cones are arranged on the storage platform; the manipulator comprises a manipulator with multiple degrees of freedom and a grabbing module which is arranged on the manipulator and used for recovering and throwing traffic cones in the positioning area, and the manipulator is arranged on the object placing platform; the chassis shifting fork is arranged on one side of the object placing platform and is used for shifting the traffic cone to the operable range of the manipulator; and the control module is electrically connected with the moving device, the manipulator and the chassis shifting fork and is used for receiving and transmitting control signals of the traffic cone retraction device. According to the invention, only one person is required to remotely control the traffic cone retraction device to retract the traffic cone, so that the automatic degree is high; meanwhile, remote control operation can be performed far away from the road, and potential safety hazards are reduced.

Description

Traffic cone winding and unwinding devices

Technical Field

The invention relates to the technical field of traffic cone retraction equipment, in particular to a traffic cone retraction device.

Background

With the rapid development of the chinese highways, the number of highway traffic accidents and maintenance operations has also increased significantly. When traffic accidents occur and road maintenance is performed, the warning area or the buffer area is arranged to warn the following vehicles to avoid the front accident/operation area and provide buffer distance for the following vehicles. According to the twenty-fifth rule in the working Specification for road traffic accident handling: the … … should define the guard area according to the situation of the site, place the light-emitting or reflecting cone and warning mark … … "outside the direction of the coming vehicle from the site by fifty meters or at the crossing in the daytime, and the length value of the upstream transition area specified in the JTG H30-2015 highway maintenance safety operation procedure 4.0.5 is specified, the minimum length of the upstream transition area of the closed lane is between 100 and 190m, and the upstream transition area needs to place the traffic cone for warning. On highways with large traffic flow, how to quickly arrange guard areas in accidents and operation sites is a great test for road staff.

The traditional traffic cone placement method is realized completely through manual work, after a traffic police or an operator arrives at the site, the traffic cones are taken down from the traffic cone transport vehicle, the traffic cones are placed one by one along the road, and after the site treatment, the traffic cones are recovered one by one along the road through manual work. This approach is inefficient and requires the operator to continuously remove or pick up the traffic cone and place it in the corresponding location, which can take a long time and increase the risk of secondary accidents. And during the process of collecting traffic cones, workers are always exposed on roads with incomplete warning and buffering, and for roads with large traffic flow, the workers are possibly damaged by out-of-control rushing into the warning area at any time.

In recent years, in order to reduce potential safety hazards of workers and improve traffic cone retraction efficiency, some manufacturers have researched semiautomatic traffic cone retraction devices. Such devices are mounted on trucks or other vehicles, on which traffic cones are also stored. In the operation process of placing traffic cones, a worker stands on a truck hopper, picks up one traffic cone and places the traffic cone on a positioning cone of the device, and the traffic cone is vertically placed on the ground after a series of actions; also, in the process of recovering the traffic cone, the traffic cone standing on the ground rises to the vicinity of the staff through a series of actions of the device, and the staff removes the traffic cone to a stored position. The device can avoid the direct work of the staff on the road and save the operation steps of the staff. However, the semi-automatic retraction device also needs to be provided with a worker on the car hopper, and the worker has certain potential safety hazard.

The solution of fully automatic traffic cone retraction has been developed abroad, and is mainly divided into two schemes of adding a special engineering vehicle for traffic cone retraction or directly adding a retraction device on a carrier. For the new scheme of adding the engineering vehicle specially used for collecting and releasing the traffic cone, the operation cost and the maintenance cost of traffic operation are greatly increased. For the solution of installing the retraction device on the carrier, the modification cost is increased, the advertising situation of the carrier may be affected, and the maintenance of the carrier is more complicated and complicated because the device is fixed on the carrier.

In summary, the existing traffic cone placement technology has the problems of low automation degree and high potential safety hazard.

Disclosure of Invention

The invention aims to provide a traffic cone retraction device and aims to solve the technical problems of low automation degree and high potential safety hazard in the existing traffic cone placement technology.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

in a first aspect, the present invention provides a traffic cone retraction device, comprising: the mobile platform comprises a storage platform for placing traffic cones and a mobile device arranged on the storage platform and used for driving the storage platform to move, and a plurality of positioning areas for placing the traffic cones are arranged on the storage platform;

the manipulator comprises a manipulator arm with multiple degrees of freedom and a grabbing module which is arranged on the manipulator arm and used for recovering and throwing traffic cones in the positioning area, and the manipulator arm is arranged on the object placing platform;

the chassis shifting fork is arranged on one side of the object placing platform and is used for shifting the traffic cone to the operable range of the manipulator;

and the control module is electrically connected with the mobile device, the manipulator and the chassis shifting fork and is used for receiving and transmitting control signals of the traffic cone retraction device.

By adopting the technical scheme, the control module is electrically connected with the moving device, the manipulator and the chassis shifting fork, and can control the moving device to move, so that the traffic cone can be conveniently retracted and released along the road; the control module can control the manipulator to throw in traffic cones; the chassis shifting fork can shift the traffic cone to the operable range of the manipulator, so that the manipulator is convenient to recover the traffic cone; therefore, the automatic retraction of the traffic cone is realized; compared with the traffic cone placement technology requiring multiple people and throwing in the prior art, the traffic cone placement device is remotely controlled by only one person through the control module, so that the automation degree is higher; meanwhile, an operator can keep away from an operation road in the whole operation process and remotely control the traffic cone retraction device through the control module, so that the traffic cone retraction device and a traveling vehicle on the road are ensured to have enough safety distance, and potential safety hazards are reduced.

In some embodiments, the mechanical arm comprises a mechanical arm base, a first mechanical arm unit and a second mechanical arm unit which are connected in turn in a rotating manner, wherein the mechanical arm base is fixedly connected with the object placing platform, and the second mechanical arm unit is connected with the grabbing module in a rotating manner.

Through adopting above-mentioned technical scheme, rotate arm base, first arm unit and the second arm unit that connects gradually, can increase the removal degree of freedom of the module of snatching that is connected on the second arm unit to conveniently snatch the module and snatch the traffic cone that is located different positions on the thing platform.

In some embodiments, the grabbing module is a first electromagnet, and the first electromagnet is used for adsorbing a magnetic block fixedly connected on the traffic cone;

or the grabbing module is of a vacuum chuck structure, and the vacuum chuck structure comprises a vacuum chuck for adsorbing a traffic cone and a vacuumizing device connected with the vacuum chuck;

or the grabbing module is a mechanical clamping jaw capable of clamping the traffic cone;

or, snatch the module and be the chuck, be equipped with the recess on the chuck, the recess is used for with the first block of fixed connection's mushroom on the traffic cone.

By adopting the technical scheme, the grabbing module can grab and place the traffic cone, so that the traffic cone is recovered from the place to be placed on the object placing platform, or the traffic cone is grabbed from the object placing platform to be placed on the place.

In some embodiments, the manipulator further comprises a damping adjustment device rotationally connecting the gripping module and the robotic arm.

Through adopting above-mentioned technical scheme, damping adjustment device rotates and connects snatchs module and arm, and damping adjustment device can increase the rotation resistance between snatch module and the arm. After the grabbing module grabs the traffic cone, the damping adjusting device can control the grabbing module and the mechanical arm to rotate, and further the problem that the traffic cone shakes left and right in the clamping process is solved.

In some embodiments, the damping adjustment device comprises a rotating shaft, the rotating shaft is rotationally connected with the grabbing module and the mechanical arm, a first brake disc and a second electromagnet are fixedly connected to the mechanical arm, a second brake disc is fixedly arranged at one end, close to the first brake disc, of the rotating shaft, and the second electromagnet is used for attracting the second brake disc to be attached to and locked with the first brake disc.

Through adopting above-mentioned technical scheme, after snatching the module and successfully absorbing traffic cone, the second electro-magnet circular telegram, the magnetic force that produces can inhale the second brake disc to laminate with first brake disc and lock for the rotation axis can not free rotation, and then solves the problem that the traffic cone rocked about.

In some embodiments, the manipulator further comprises a flexible contact device, one end of the flexible contact device is connected with the mechanical arm, the other end of the flexible contact device is connected with the grabbing module, and the flexible contact device can stretch and retract along a direction perpendicular to a contact plane of the grabbing module and the traffic cone.

Through adopting above-mentioned technical scheme, when snatching the module and contacting with traffic cone surface, snatch the effort that produces between module and the traffic cone surface and can transmit to the guiding axle, the guiding axle removes along the axial of spring and keep away from one side on traffic cone surface, and then compression spring, and the spring buffers this effort, and then avoids snatching and produce rigid contact between module and the traffic cone surface.

In some embodiments, the flexible contact device comprises a spring and a guide shaft, one end of the spring is fixedly connected with the mechanical arm, the other end of the spring is fixedly connected with the guide shaft, one end of the guide shaft away from the spring is connected with the grabbing module, and the guide shaft can move along the axial direction of the spring.

In some embodiments, the manipulator further comprises a rotation adjusting device, one end of the rotation adjusting device is connected with the mechanical arm, the other end of the rotation adjusting device is connected with the grabbing module, and the rotation adjusting device is used for adjusting the contact angle between the grabbing module and the traffic cone.

Through adopting above-mentioned technical scheme, rotate adjusting device's one end and arm connection, rotate adjusting device's the other end and snatch the module and be connected, when snatching the module and contacting with traffic cone surface, rotate adjusting device and can adjust the contact angle between the surface of snatching the module and the traffic cone surface for snatch laminating between the surface of module and the traffic cone surface, be convenient for snatch the module and snatch the traffic cone better

In some embodiments, the manipulator further comprises a pull-press weighing sensor, the pull-press weighing sensor is connected with the grabbing module and the mechanical arm, and the pull-press weighing sensor is used for detecting whether the grabbing module grabs a traffic cone.

By adopting the technical scheme, the pulling and pressing weighing sensor can detect whether the grabbing module grabs the traffic cone or not. When the pulling and pressing weighing sensor detects that the grabbing module grabs the traffic cone successfully, the pulling and pressing weighing sensor is started by controlling the damping adjusting device through an electric signal, so that the grabbing module cannot rotate at will, and the traffic cone is ensured not to shake left and right.

In some embodiments, the object placing platform is further provided with a counting device, and the counting device is used for counting the number of traffic cones placed on the single positioning area.

Through adopting above-mentioned technical scheme, counting assembly is connected with the control module electricity, and counting assembly can count the quantity of the traffic cone of placing on the single location area. In the process of placing the traffic cone, when the counting device detects that no traffic cone exists in a single positioning area, the counting device transmits an electric signal to the control module, and the control module controls the manipulator to switch to another positioning area with the traffic cone to perform the placing operation of the traffic cone; in the process of recycling traffic cones, when the counting device detects that the number of the traffic cones stacked on a single positioning area reaches a preset threshold value, the counting device transmits an electric signal to the control module, and the control module controls the manipulator to switch to another positioning area where the number of the traffic cones stacked does not reach the preset threshold value so as to recycle the traffic cones.

In some embodiments, the counting device comprises a rotary disc rotatably connected to the storage platform, a plurality of positioning areas for stacking traffic cones are arranged on the rotary disc, the plurality of positioning areas are uniformly arranged along the circumferential direction of the rotary disc, one of the positioning areas is provided with a laser correlation sensor, and a plurality of laser emission sources are arranged on the laser correlation sensor at intervals along the stacking direction of the traffic cones.

By adopting the technical scheme, the laser correlation sensor can count the number of traffic cones placed in a single positioning area through the principle of laser induction. A laser correlation sensor is arranged at one positioning area of the rotary disc, the rotary disc can rotate, the positioning area corresponding to the laser correlation sensor can be switched through rotation, and counting of different positioning areas on the rotary disc is facilitated.

In some embodiments, the chassis fork comprises a fork body coupled to the storage platform in a flipped over manner, and a fork coupled to the fork body in a flipped over manner, the fork having an opening for clamping a traffic cone.

By adopting the technical scheme, in the recycling working condition of the traffic cone, the chassis shifting fork can stir and clamp the traffic cone on the road surface, and when the traffic cone is stirred to the root of the shifting fork by the shifting fork, the positioning of the traffic cone is realized; the manipulator is convenient to grasp the traffic cone according to a preset moving path.

In a second aspect, the present invention further provides a vehicle, including a vehicle body, and the traffic cone retraction device in the above technical solution, where the vehicle body is used to pull the traffic cone retraction device or place the traffic cone retraction device.

By adopting the technical scheme, the vehicle can carry the traffic cone retraction device to the operation site, and the movement is convenient and fast.

Drawings

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

FIG. 1 is an exploded schematic view of a traffic cone retraction device provided by an embodiment of the present invention;

FIG. 2 is an exploded view of a mobile platform according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a manipulator according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a gripper module provided by an embodiment of the invention;

FIG. 5 is a schematic view of a first traffic cone according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a second traffic cone and a grabbing module matched with the second traffic cone according to an embodiment of the present invention;

fig. 7 is a schematic general structural diagram of a traffic cone retraction device according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a traffic cone setting and releasing device according to an embodiment of the present invention;

FIG. 9 is a second schematic diagram of a traffic cone placement process of the traffic cone retraction device according to the embodiment of the present invention;

FIG. 10 is a third schematic diagram of a traffic cone placement process of the traffic cone retraction device according to the embodiment of the present invention;

FIG. 11 is a schematic diagram showing a process of placing traffic cones by the traffic cone retraction device according to the embodiment of the present invention;

FIG. 12 is a schematic view of a traffic cone retrieving device according to an embodiment of the present invention;

FIG. 13 is a second schematic view of a traffic cone retrieving and releasing device according to the second embodiment of the present invention;

FIG. 14 is a third schematic view of a traffic cone retrieving device according to the embodiment of the present invention;

fig. 15 is a schematic diagram of a process of recovering traffic cones by the traffic cone recovering and releasing device according to the embodiment of the present invention.

The reference numerals in the drawings are as follows: 1. a mobile platform; 11. a storage platform; 12. a rotary plate; 131. a first positioning sleeve; 132. a second positioning sleeve; 133. a third positioning sleeve; 134. a fourth positioning sleeve; 14. a laser correlation sensor; 141. a laser emission source; 15. a mechanical arm seat; 16. a mobile device; 2. a manipulator; 21. a base; 22. a first mechanical arm unit; 23. a second mechanical arm unit; 24. a grabbing module; 241. a first electromagnet; 242. spherical hinge; 243. a guide shaft; 244. a tension-compression weighing sensor; 245. a spring; 246. a rotation shaft; 247. an armature; 248. a second brake disc; 249. a first brake disc; 2410. a cover plate; 2411. an annular electromagnet; 3. a first chassis fork; 4. a second chassis fork; 41. a shifting fork; 5. a first traffic cone; 51. a traffic cone body; 52. a magnetic block; 61. a second traffic cone; 62. a mushroom head; 7. a chuck; 71. a groove.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected or indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing the invention based on the orientation or positional relationship shown in the drawings, and are not to be construed as limiting the invention, as the indicating device or element must have a particular orientation, be constructed and operated in a particular orientation.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating relative importance or indicating the number of technical features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The following describes in more detail the specific implementation of the present invention in connection with specific embodiments:

as shown in fig. 1, fig. 2, and fig. 3, a traffic cone retraction device provided by an embodiment of the present invention includes:

the mobile platform 1, mobile platform 1 is including being used for placing the thing platform 11 that puts of traffic cone and locating the mobile device 16 that is used for driving thing platform 11 to put on putting the thing platform 11 and remove, and mobile platform 1 can follow the road direction and remove, conveniently receive and release traffic cone along the way. In some embodiments, the mobile device 16 is a wheel and an engine coupled to the wheel; in other embodiments, the mobile device 16 is a track wheel and an engine coupled to the track wheel; the object placing platform 11 is provided with a plurality of positioning areas for placing traffic cones.

The manipulator 2, the manipulator 2 includes the mechanical arm with multiple degrees of freedom, and locate the grabbing module 24 used for retrieving and throwing the traffic cone in the locating area on the mechanical arm, the mechanical arm locates on putting the thing platform 11;

The positioning areas should be set within the operable range of the manipulator 2, and in some embodiments, the positioning areas are conical positioning sleeves matching the traffic cone shape, such as the first positioning sleeve 131, the second positioning sleeve 132, the third positioning sleeve 133, and the fourth positioning sleeve 134 shown in fig. 2; in other embodiments, the location area is an open storage bin storing traffic cones.

The manner in which the robot 2 recognizes the position where the positioning area is located is not limited to the following manner: in other embodiments, the relative spatial coordinate position of the positioning area relative to the fixed point of the mechanical arm can be input into the control system of the mechanical arm 2 in a programming manner, and when the mechanical arm 2 works, the program is called, so that the position of the positioning area can be positioned, the mechanical arm 2 can conveniently control the grabbing module 24 to move to the positioning area, and the traffic cone in the positioning area is grabbed or placed; in other embodiments, a camera with visual recognition technology may be added at the grabbing module 24 of the manipulator 2, where the camera may recognize a specific pattern mark (for example, a specific mark is disposed on a traffic cone) or a specific shape (for example, a cone shape of the traffic cone), and mark a position where the specific pattern mark or the specific shape is located as a positioning area, so that the manipulator 2 grabs or places the traffic cone in the positioning area.

The fixed point of the manipulator 2 on the object placing platform can be used as an origin to establish a coordinate system, wherein the point of the positioning area where the traffic cone is placed is used as a starting point of a moving path, and the point of the roadside where the traffic cone is placed is used as a path end point. The movement path through which the robot 2 can reciprocate can be programmed into the control system of the robot 2. The manipulator 2 grabs a traffic cone placed at a starting point in the positioning area according to the moving path, and then places the traffic cone at a path end point on the road surface according to the moving path; or grabbing a traffic cone placed at the end point of the path on the road surface, and placing the traffic cone at the starting point in the positioning area according to the moving path.

In the working condition of placing the traffic cone, the mobile platform 1 runs forwards along the road, if the operation lane is the rightmost lane, the traffic cone needs to be placed in the left line of the lane, and the manipulator 2 can place the traffic cone on the left side of the advancing direction; on the contrary, if the working lane is the leftmost lane, the traffic cone needs to be placed in the right line of the lane, and the manipulator 2 can place the traffic cone on the right side in the advancing direction. The movement of the robot arm 2 to extend to the left or right can be achieved by programming and pattern design.

The chassis shifting fork is arranged on one side of the object placing platform 11 and is used for shifting the traffic cone to the operable range of the manipulator 2; the chassis shifting fork can also position the traffic cone on the road surface, and can shift the traffic cone to the end point of the moving path of the manipulator 2, so that the manipulator 2 can conveniently grasp the traffic cone according to the moving path. The number of the chassis shifting forks can be one or a plurality of the chassis shifting forks, and the number of the chassis shifting forks can be determined according to actual requirements. In the present embodiment, the number of chassis forks is preferably 2, namely a first chassis fork 3 and a second chassis fork 4; the first chassis shifting fork 3 and the second chassis shifting fork 4 are respectively arranged at two sides perpendicular to the moving direction of the object placing platform.

And the control module is electrically connected with the moving device 16, the manipulator 2 and the chassis shifting fork and is used for receiving and transmitting control signals of the traffic cone retraction device. The wireless communication module is integrated in the control module, and a user can remotely control the control module through the wireless communication module, so that the remote control of the traffic cone retraction device is realized.

The beneficial effects of the above embodiment are that: the control module is electrically connected with the moving device 16, the manipulator 2 and the chassis shifting fork, and can control the moving device 16 to move, so that the traffic cone can be conveniently retracted and released along the road; the control module can control the manipulator 2 to throw in traffic cones; the chassis shifting fork can shift the traffic cone to the operable range of the manipulator 2, so that the manipulator 2 can conveniently recover the traffic cone; therefore, the automatic retraction of the traffic cone is realized; compared with the traffic cone placement technology requiring multiple people and throwing in the prior art, the traffic cone placement device is remotely controlled by only one person through the control module, so that the automation degree is higher; meanwhile, an operator can keep away from an operation road in the whole operation process and remotely control the traffic cone retraction device through the control module, so that the traffic cone retraction device and a traveling vehicle on the road are ensured to have enough safety distance, and potential safety hazards are reduced.

As shown in fig. 3, as an alternative implementation manner of this embodiment, the mechanical arm includes a mechanical arm base 21, a first mechanical arm unit 22 and a second mechanical arm unit 23 that are sequentially connected in a rotating manner, where the mechanical arm base 21 is fixedly connected to the mechanical arm base 15 on the object placing platform 11, and the second mechanical arm unit 23 is rotationally connected to the grabbing module 24. The steering engine is arranged at the connection point of the mechanical arm base 21 and the first mechanical arm unit 22 and the connection point of the first mechanical arm unit 22 and the second mechanical arm unit 23, the steering engine is electrically connected with the control module, and the steering engine can drive the connection point to rotate so as to realize the movement of the grabbing module 24 connected to the second mechanical arm unit 23 in multiple degrees of freedom.

The beneficial effects of the above embodiment are that: the mechanical arm base 21, the first mechanical arm unit 22 and the second mechanical arm unit 23 which are connected in turn rotate, so that the movement freedom degree of the grabbing module 24 connected to the second mechanical arm unit 23 can be increased, and the grabbing module 24 can grab traffic cones located at different positions on the object placing platform 11 conveniently.

As shown in fig. 4, as an alternative implementation manner of this embodiment, the grabbing module 24 is a first electromagnet 241, and this embodiment further provides a traffic cone implementation structure matched with this grabbing module 24: as shown in fig. 5, the first traffic cone 5 includes a traffic cone body 51, and a magnetic block 52 fixedly connected to the traffic cone body 51, and the first electromagnet 241 is used for attracting the magnetic block 52; when the first electromagnet 241 is electrified, a magnetic force can be generated, and the magnetic force can attract the magnetic block 52 fixedly connected to the traffic cone so as to realize the grabbing of the traffic cone by the grabbing module 24; when the first electromagnet 241 is powered off, the magnetic force required by the grabbing module 24 for attracting the magnetic block 52 fixedly connected to the traffic cone disappears, and the traffic cone falls from the grabbing module 24, so that the traffic cone is placed.

In other embodiments, the grasping module 24 is a vacuum chuck structure including a vacuum chuck for sucking traffic cones, and a vacuum extractor connected to the vacuum chuck; when the vacuum chuck contacts with the traffic cone surface, the vacuumizing device is started, the vacuumizing device pumps air in the space between the vacuum chuck and the traffic cone surface to form negative pressure, and under the action of the pressure difference between the inside and outside of the vacuum chuck, the vacuum chuck adsorbs the traffic cone to realize the grabbing of the traffic cone by the grabbing module 24; when the grabbing module 24 moves to a place, the vacuumizing device controls the decompression valve on the vacuum chuck to be opened, the atmospheric pressures on two sides of the vacuum chuck are consistent, and the traffic cone falls from the grabbing module 24, so that the traffic cone is placed.

In other embodiments, gripping module 24 is a mechanical gripper that grips the traffic cone; mechanical jaws are well known to those skilled in the art, and the structure and principle thereof will not be described in detail herein. The mechanical clamping jaw is provided with at least two movable clamping plates, the clamping plates are in contact with the outer surface of the traffic cone, and the mechanical clamping jaw can clamp the traffic cone under the action of static friction force between the clamping plate surface and the outer surface of the traffic cone; when the clamping plate moves towards one side far away from the outer surface of the traffic cone, the traffic cone falls off from the grabbing module 24, and the traffic cone is placed. In some embodiments, the mechanical jaws may grip from the traffic cone outer surface; in other embodiments, the mechanical jaws may also be enlarged from the interior surface of the traffic cone to grip the traffic cone. The specific structure of the mechanical clamping jaw can be designed according to different application scenes.

As shown in fig. 6, in other embodiments, the gripping module 24 is a chuck 7, and the chuck 7 is provided with a groove 71, and this embodiment further provides a traffic cone implementation structure matched with the gripping module 24: the second traffic cone 61 is fixedly connected with a mushroom head 62, and the groove 71 is used for being clamped with the mushroom head 62 fixedly connected with the traffic cone. When the second traffic cone 61 is required to be grabbed, the groove 71 of the movable grabbing module 24 is in contact with the mushroom head 62, and the groove 71 on the chuck 7 can hug the cylinder on the mushroom head 62, so that the second traffic cone 61 is grabbed; when the second traffic cone 61 is required to be placed, the chuck 7 is slightly inclined, so that the mushroom head 62 slides out of the chuck 7, and the second traffic cone 61 falls off from the grabbing module 24, thereby realizing the placement of the traffic cone.

The beneficial effects of the above embodiment are that: the grabbing module 24 can grab and place the traffic cone, so that the traffic cone can be recovered from the place to the object placing platform 11, or the traffic cone can be grabbed and placed from the object placing platform 11 to the place.

As shown in fig. 4, as an alternative implementation of this embodiment, the manipulator 2 further includes a damping adjustment device rotatably connected to the gripping module 24 and the manipulator. The damping adjustment device may adjust the rotational resistance between the gripper module 24 and the robotic arm. Because the manipulator 2 keeps moving all the time in the process of placing and recycling the traffic cone, the traffic cone mass is generally between 3kg and 10kg, the traffic cone is of a cone structure, the gravity center is lower, and the traffic cone can shake left and right due to the change of the speed and the moving direction in the process of extracting the traffic cone by the manipulator, so that the stability of the manipulator 2 and the normal retraction of the traffic cone are adversely affected. In order to solve the above-mentioned problem, this embodiment is provided with damping adjustment device between grabbing module 24 and the arm, after grabbing module 24 grabs the traffic cone, damping adjustment device can increase the rotation resistance between grabbing module 24 and the arm for can not take place to rotate between grabbing module 24 and the arm, and then solves the traffic cone and gets the problem that the in-process rocked about.

The beneficial effects of the above embodiment are that: the damping adjusting device is rotationally connected with the grabbing module and the mechanical arm, and the damping adjusting device can increase the rotational resistance between the grabbing module and the mechanical arm. After the grabbing module grabs the traffic cone, the damping adjusting device can control the grabbing module and the mechanical arm to rotate, and further the problem that the traffic cone shakes left and right in the clamping process is solved.

As shown in fig. 4, in some embodiments, specifically, the damping adjustment device includes a rotation shaft 246, the rotation shaft 246 is rotatably connected to the gripping module 24 and the mechanical arm, a first brake disc 249 and a second electromagnet 2411 are fixedly connected to the mechanical arm, and the first brake disc 249 is fixed to a cover plate 2410 on the mechanical arm. The second electromagnet 2411 has an armature 247, the armature 247 is fixedly connected with the second brake disc 248 and the rotating shaft 246, the second brake disc 248 is fixed at one end of the rotating shaft 246 close to the first brake disc 249, when the grabbing module 24 successfully sucks the traffic cone, the second electromagnet 2411 is electrified, and the generated magnetic force can attract the second brake disc 248 to be attached to and locked with the first brake disc 249, so that the rotating shaft 246 cannot rotate freely, and further the problem of shaking left and right of the traffic cone is solved.

The beneficial effects of the above embodiment are that: after the grabbing module successfully absorbs the traffic cone, the second electromagnet is electrified, and the generated magnetic force can attract the second brake disc to be attached to and locked with the first brake disc, so that the rotating shaft cannot rotate freely, and the problem of left-right shaking of the traffic cone is solved.

In other embodiments, in particular, the damping adjustment device comprises a gear set comprising at least two gears, wherein one gear is fixedly connected to the gripper module 24 and the other gear is fixedly connected to the mechanical arm, the two gears being meshed. One of the gears is connected with a rotating motor, and the rotating motor is used for driving the gears to rotate, so that the grabbing module 24 and the mechanical arm can rotate. The rotating electrical machine also has a locking structure that can lock the gear to prevent the gear from rotating. The specific structure and principle of the locking structure are well known to those skilled in the art, and the detailed description thereof will not be repeated herein. After the grabbing module 24 successfully absorbs the traffic cone, the gear is locked by the locking structure, so that the grabbing module 24 and the mechanical arm cannot rotate freely, and the problem of left-right shaking of the traffic cone is solved.

As an alternative implementation manner of this embodiment, the manipulator 2 further includes a flexible contact device, one end of the flexible contact device is connected to the manipulator, the other end of the flexible contact device is connected to the grabbing module 24, and the flexible contact device can stretch and retract along a direction perpendicular to a contact plane between the grabbing module 24 and the traffic cone.

For convenience of description, the present embodiment is described with the grabbing module 24 being the first electromagnet 241: the material of the first electromagnet 241, such as soft iron or silicon steel, has a relatively high rigidity; the magnetic block 52, which is matched with the first electromagnet 241, is made of a material such as iron, nickel, etc. and has a relatively high rigidity, when the two rigid structures are contacted, the contact surface generates a force, if the force is not treated, the force is accumulated for a plurality of times and for a long time, so that the abrasion of the first electromagnet 241 and the magnetic block 52 is easily caused, and further, other structures connected with the first electromagnet 241 and the magnetic block 52 are damaged. To solve the above-mentioned problem, the present embodiment uses a flexible contact device to connect the mechanical arm and the grasping module 24, and the flexible contact device can stretch and retract along a direction perpendicular to the contact plane between the grasping module 24 and the traffic cone. The device can buffer or absorb acting force generated by the grabbing module 24 and the traffic cone surface when the grabbing module 24 is contacted with the traffic cone, so that the possibility of rigid contact in the grabbing process is reduced, and the probability of damage of the component due to the rigid contact is reduced.

The beneficial effects of the above embodiment are that: the flexible contact device is connected with the mechanical arm and the grabbing module 24, and the flexible contact device can stretch and retract along the direction perpendicular to the contact plane of the grabbing module 24 and the traffic cone. The device can buffer or absorb acting force generated by the grabbing module 24 and the traffic cone surface when the grabbing module 24 is contacted with the traffic cone, so that the possibility of rigid contact in the grabbing process is reduced, and the probability of damage of the component due to the rigid contact is reduced.

As shown in fig. 4, as an alternative implementation manner of this embodiment, specifically, the flexible contact device includes a spring 245 and a guide shaft 243, one end of the spring 245 is fixedly connected with the mechanical arm, the other end of the spring 245 is fixedly connected with the guide shaft 243, one end of the guide shaft 243 away from the spring 245 is connected with the grabbing module 24, and the guide shaft 243 can move along the axial direction of the spring 245. When the grabbing module 24 contacts with the traffic cone surface, the acting force generated between the grabbing module 24 and the traffic cone surface is transferred to the guide shaft 243, and the guide shaft 243 moves along the axial direction of the spring 245 and away from one side of the traffic cone surface, so as to compress the spring 245, and the spring 245 buffers the acting force, so that rigid contact between the grabbing module 24 and the traffic cone surface is avoided.

The beneficial effects of the above embodiment are that: when the grabbing module 24 contacts with the traffic cone surface, the acting force generated between the grabbing module 24 and the traffic cone surface is transferred to the guide shaft 243, and the guide shaft 243 moves along the axial direction of the spring 245 and away from one side of the traffic cone surface, so as to compress the spring 245, and the spring 245 buffers the acting force, so that rigid contact between the grabbing module 24 and the traffic cone surface is avoided.

In other embodiments, specifically, the flexible contact device is a guide rod with better toughness, in this embodiment, the material of the guide rod is preferably spring steel, one end of the guide rod is fixedly connected with the mechanical arm, the other end of the guide rod is fixedly connected with the grabbing module 24, when the grabbing module 24 contacts with the traffic cone surface, the acting force generated between the grabbing module 24 and the traffic cone surface can be transferred to the guide rod, and the guide rod absorbs the acting force due to better toughness of the guide rod, so that rigid contact between the grabbing module 24 and the traffic cone surface is avoided.

As shown in fig. 4, as an alternative implementation manner of this embodiment, the manipulator 2 further includes a rotation adjustment device, one end of the rotation adjustment device is connected to the manipulator, the other end of the rotation adjustment device is connected to the grabbing module 24, and the rotation adjustment device is used for adjusting a contact angle between the grabbing module 24 and the traffic cone.

In some embodiments, the rotation adjustment device is a ball pivot 242; in other embodiments, the rotation adjustment device is a knuckle bearing.

For convenience of description, the present embodiment is described with the grabbing module 24 being the first electromagnet 241: when the grabbing module 24 is ready to suck the traffic cone, the traffic cone may be in a slightly inclined and incompletely vertical state due to uneven ground, and in order to enable the first electromagnet 241 to adapt to the top surface of the traffic cone magnetic block 52, the rotation adjusting device is used to connect the first electromagnet 241 so as to achieve the purpose of multi-angle rotation of the first electromagnet 241.

The beneficial effects of the above embodiment are that: one end of the rotation adjusting device is connected with the mechanical arm, the other end of the rotation adjusting device is connected with the grabbing module 24, when the grabbing module 24 is in contact with the traffic cone surface, the rotation adjusting device can adjust the contact angle between the surface of the grabbing module 24 and the traffic cone surface, so that the grabbing module 24 can be attached to the traffic cone surface conveniently, and the traffic cone can be grabbed better by the grabbing module 24.

As an alternative implementation of this embodiment, the manipulator 2 further includes a tension-compression weighing sensor 244, where the tension-compression weighing sensor 244 is connected to the grabbing module 24 and the mechanical arm, and the tension-compression weighing sensor 244 is used to detect whether the grabbing module 24 grabs a traffic cone. For convenience of description, the present embodiment is described with the grabbing module 24 being the first electromagnet 241: when the first electromagnet 241 grabs the traffic cone, the weight on the first electromagnet 241 can be increased, the tension and compression weighing sensor 244 connected with the first electromagnet 241 senses the tension generated by the gravity of the traffic cone, and the tension and compression weighing sensor is started by the damping adjusting device controlled by the electric signal, so that the grabbing module 24 cannot rotate at will, and the traffic cone is ensured not to shake left and right.

The beneficial effects of the above embodiment are that: the pull and press load cell 244 may detect whether the grab module 24 grabs a traffic cone. When the pulling and pressing weighing sensor detects that the grabbing module 24 grabs the traffic cone successfully, the pulling and pressing weighing sensor is started by controlling the damping adjusting device through an electric signal, so that the grabbing module 24 cannot rotate at will, and the traffic cone is ensured not to shake left and right.

As an alternative implementation manner of this embodiment, the object placing platform 11 is further provided with a counting device, and the counting device is used for counting the number of traffic cones placed on a single positioning area.

The beneficial effects of the above embodiment are that: the counting device is electrically connected with the control module and can count the number of traffic cones placed on the single positioning area. In the process of placing the traffic cone, when the counting device detects that no traffic cone exists in a single positioning area, the counting device transmits an electric signal to the control module, and the control module controls the manipulator 2 to switch to another positioning area with the traffic cone to perform the operation of placing the traffic cone; in the process of recycling traffic cones, when the counting device detects that the number of the traffic cones stacked on a single positioning area reaches a preset threshold value, the counting device transmits an electric signal to the control module, and the control module controls the manipulator 2 to switch to another positioning area where the number of the traffic cones stacked does not reach the preset threshold value so as to recycle the traffic cones.

As an alternative implementation manner of this embodiment, specifically, the counting device includes a rotary disc 12 rotatably connected to the object placing platform 11, a plurality of positioning areas for stacking traffic cones are disposed on the rotary disc 12, the plurality of positioning areas are uniformly disposed along the circumferential direction of the rotary disc 12, a laser correlation sensor 14 is disposed at one of the positioning areas, and a plurality of laser emission sources 141 are disposed on the laser correlation sensor 14 at intervals along the stacking direction of the traffic cones. The traffic cone is provided with a placing base and a cone-shaped main body, wherein the placing base is provided with a certain height, the cone-shaped main body is connected with the placing base, and the width of the placing base is larger than the maximum diameter of the cross section of the cone-shaped main body. The laser correlation sensor 14 should be disposed at a position where it can be irradiated to the placement base portion but not to the tapered body portion. In the present embodiment, the arrangement pitch of the laser emission sources 141 is preferably the height of the placement base. When traffic cones are stacked on the positioning area, the laser emitted by the laser emission source 141 is blocked by the placement base, so that the laser sensor on the other side cannot detect and accept the laser, and the laser correlation sensor 14 can recognize that the traffic cones are positioned on the plane where the laser emission source 141 is positioned in the state, so that the count is increased; in the same way, on the contrary, when the laser sensor on the other side can receive the laser signal emitted by the laser emission source 141 on the plane, it is proved that there is no traffic cone at the plane where the laser emission source 141 is located. Specifically, the rotary disk 12 includes a disk surface and a driving portion connected to the disk surface for driving the disk surface to rotate, and in this embodiment, the driving portion is preferably a motor. The turntable 12 can be rotated, and the positioning areas corresponding to the laser correlation sensor 14 can be switched by rotation, so that different positioning areas on the turntable 12 can be conveniently counted.

In other embodiments, in particular, the counting device is a pressure sensor arranged at a single positioning area; the pressure sensor counts the number of traffic cones at the location area by increasing or decreasing the weight at the location area thereon.

As shown in fig. 1, 2, 8 and 9, for convenience of understanding, the preset threshold value of the stacking traffic cone in the single positioning area is taken as "8" for example, and the implementation principle of the embodiment is described below: the traffic cone retraction device is provided with 8 pairs of laser emission sources 141 on the object placing platform 11, and the laser emission sources are used for monitoring the stacking number of the traffic cones. As shown in fig. 8, in the traffic cone placing working condition, when a stack of traffic cones is completely placed, the laser correlation sensor 14 outputs a signal of 0 traffic cones at the current position and transmits the signal to the control module, and the control module controls the rotary disc 12 to rotate so as to rotate the next stack of traffic cones to a position right below the mechanical arm. As shown in fig. 9, the laser correlation sensor 14 outputs signals of the current position and 8 traffic cones, and transmits the signals to the control module, and the control module controls the manipulator 2 to continuously extract the traffic cones. In the condition of recovering traffic cones, when 8 traffic cones are stacked, the laser correlation sensor 14 outputs a signal that the current position has 8 traffic cones, the stacking position is full, the stacking should be stopped, and the control module controls the rotary disc 12 to rotate so as to rotate the next empty positioning area to the position below the mechanical arm. At this time, the laser correlation sensor 14 outputs a signal that the current position has "0" traffic cones, so that the traffic cones can be recovered continuously. In addition, in order to ensure the normal retraction of the traffic cone, the traffic cone retraction device is additionally provided with a pair of laser emission sources 141 at the uppermost part of the original 8 pairs of laser emission sources 141, and when the laser emission sources 141 detect that an object is shielded, the traffic cone is not stacked upwards, so that the traffic cone is ensured not to be ultrahigh.

The beneficial effects of the above embodiment are that: the laser correlation sensor 14 can count the number of traffic cones placed at a single location area by the principle of laser sensing. A laser correlation sensor 14 is arranged at one positioning area of the rotary disk 12, the rotary disk 12 can rotate, and the positioning area corresponding to the laser correlation sensor 14 can be switched by rotation, so that different positioning areas on the rotary disk 12 can be conveniently counted.

As shown in fig. 1, as an alternative implementation of the present embodiment, the chassis fork includes a fork body coupled to the storage platform 11 in a turned state, and a fork 41 coupled to the fork body in a turned state, the fork body being folded and stored or unfolded by a turning motion, the fork 41 having an opening for clamping and fixing the traffic cone. In some embodiments, the opening is a V-shaped opening; in other embodiments, the opening is a U-shaped opening. The traffic cone can move along the gradually reduced opening on the shifting fork 41, so that the traffic cone is clamped and positioned by the shifting fork 41.

During non-operation, the chassis shifting fork can be folded and stored, so that the occupied space of the traffic cone retraction device is reduced as much as possible. When the traffic cone retraction device enters the working condition of recycling the traffic cone, the chassis shifting fork on the traffic cone retraction device is released to a horizontal state from a vertical state, along with the retreating of the mobile platform 1, the traffic cone placed on the road surface enters the shifting fork and is shifted to the root (center) of the shifting fork, when the traffic cone is shifted to the root of the shifting fork by the shifting fork 41, the positioning of the traffic cone is finished, at the moment, the mechanical arm is aligned to the top of the traffic cone and absorbs the traffic cone, then the traffic cone is lifted and moved to the upper side of the object placing platform, the traffic cone is released, and recycling is finished.

The beneficial effects of the above embodiment are that: in the recycling working condition of the traffic cone, the chassis shifting fork can stir and clamp the traffic cone on the road surface, and when the traffic cone is stirred to the root of the shifting fork by the shifting fork 41, the positioning of the traffic cone is realized; the manipulator 2 can conveniently grab the traffic cone according to a preset moving path.

The embodiment of the invention also provides a vehicle, which comprises a vehicle main body and the traffic cone retraction device in the technical scheme, wherein the vehicle main body is used for towing the traffic cone retraction device or placing the traffic cone retraction device.

The beneficial effects of the above embodiment are that: the vehicle can carry the traffic cone retraction device to the operation place, and the movement is convenient.

Referring to fig. 1 and 14, the implementation principle of the traffic cone retraction device of the present invention will be described in this embodiment: as shown in fig. 7, when the traffic cone retraction device is in a non-operating state, the first chassis fork 3 and the second chassis fork 4 are in a folded and retracted state, and the manipulator 2 is in an original rest position.

When the traffic cone retraction device is switched from the non-working state to the working condition of placing the traffic cone, the manipulator 2 firstly falls above the traffic cone. At this time, the bottom surface of the first electromagnet 241 at the end of the manipulator 2 contacts with the top surface of the magnetic block 52 at the top of the traffic cone, the first electromagnet 241 is electrified, and the manipulator 2 completes the attraction of the traffic cone. Referring to fig. 8, the manipulator 2 extracts that the traffic cone rises vertically to the highest point. With continued reference to fig. 9, the manipulator 2 extracts the traffic cone to reach the position shown in fig. 9 according to the preset path, and at this time, the bottom of the traffic cone is at a certain distance from the ground, the first electromagnet 241 is powered off, and the traffic cone falls to the ground freely, so as to complete the placement of one traffic cone. The manipulator 2 returns to the original position along the preset path and is ready to extract the next traffic cone.

As shown in fig. 10, when all traffic cones in the positioning area are completely extracted, no traffic cone shields the laser beam emitted by the laser correlation sensor 14, and at this time, the laser correlation sensor 14 outputs a signal with "0" traffic cones at the current position to the control module. With continued reference to fig. 10, at this time, the control module controls the turntable 12 to rotate 90 ° clockwise, rotates another positioning area with the traffic cone superimposed thereon to the position below the manipulator 2, and then extracts the traffic cone. In order to control the overall height of the traffic cones stacked in the positioning areas and ensure that the manipulator 2 can smoothly extract the traffic cones, the counting device of the invention monitors the number of traffic cone stacks in each positioning area. When 8 traffic cones have been stacked on one positioning area, if it is necessary to continue stacking traffic cones, the rotary disk 12 is rotated clockwise by 90 ° to rotate the positioning area on which 8 traffic cones have been stacked to a position of another position. At this time, the laser correlation sensor 14 outputs the traffic cone number signal of the current position again, when the traffic cone number is less than "8", the stacking can be continued, and if the traffic cone number is equal to "8", the rotary disk 12 continues to rotate until the traffic cone number in the positioning area is less than "8", and stacking is performed again.

As shown in fig. 12, when the traffic cone retraction device of the present invention is switched to the condition of recovering traffic cone, the second chassis fork 4 is extended from the vertically contracted state to the horizontally opened state, and the fork 41 is opened rearward. Along with the continuous backward movement of the mobile platform 1, the traffic cone placed on the ground is continuously close to the shifting fork 41 and finally falls into the opening of the shifting fork 41. The traffic cone is pushed by the fork 41 and gradually moves along one of the fork arms toward the root of the fork. When the traffic cone reaches the root of the shifting fork 41, the first electromagnet 241 on the manipulator 2 moves downwards, and when the bottom of the first electromagnet 241 is contacted with the magnetic block 52 at the top of the traffic cone, the first electromagnet 241 is electrified to absorb the traffic cone. Referring to fig. 13, the manipulator 2 extracts the traffic cone and moves vertically upwards, and the fork 41 is driven to swing upwards when the traffic cone moves upwards because the fork 41 can rotate freely. With continued reference to fig. 14, after the traffic cone is separated from the shifting fork 41, the shifting fork 41 is free to fall back to the original position, and the traffic cone is driven by the manipulator 2 to reach directly above the positioning area along the preset path. With continued reference to fig. 15, the first electromagnet 241 is de-energized, and the traffic cone freely falls into the underlying location area and stacks with other traffic cones in the location area.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. A traffic cone retraction device, comprising:

the mobile platform comprises a storage platform for placing traffic cones and a mobile device arranged on the storage platform and used for driving the storage platform to move, and a plurality of positioning areas for placing the traffic cones are arranged on the storage platform;

the control module is electrically connected with the mobile device, the manipulator and the chassis shifting fork and is used for receiving and transmitting control signals of the traffic cone retraction device;

the grabbing module is a chuck, a groove is formed in the chuck and used for being clamped with a mushroom head fixedly connected with a traffic cone.

2. The traffic cone retraction device according to claim 1 wherein the mechanical arm comprises a mechanical arm base, a first mechanical arm unit and a second mechanical arm unit which are rotatably connected in sequence, wherein the mechanical arm base is fixedly connected with the object placing platform, and the second mechanical arm unit is rotatably connected with the grabbing module.

3. The traffic cone retraction device according to claim 1 wherein the manipulator further comprises a damping adjustment device rotatably connecting the grasping module and the robotic arm.

4. The traffic cone retraction device according to claim 3 wherein the damping adjustment device comprises a rotating shaft, the rotating shaft is rotatably connected with the grabbing module and the mechanical arm, a first brake disc and a second electromagnet are fixedly connected to the mechanical arm, a second brake disc is fixedly arranged at one end of the rotating shaft, which is close to the first brake disc, and the second electromagnet is used for attracting the second brake disc to be attached to and locked with the first brake disc.

5. The traffic cone retraction device according to claim 1 wherein the manipulator further comprises a flexible contact device, one end of the flexible contact device is connected to the mechanical arm, the other end of the flexible contact device is connected to the grasping module, and the flexible contact device is retractable in a direction perpendicular to a plane where the grasping module contacts the traffic cone.

6. The traffic cone retraction device according to claim 5 wherein the flexible contact device comprises a spring and a guide shaft, one end of the spring is fixedly connected to the mechanical arm, the other end of the spring is fixedly connected to the guide shaft, one end of the guide shaft away from the spring is connected to the grasping module, and the guide shaft is movable in an axial direction of the spring.

7. The traffic cone retraction device according to claim 1 wherein the manipulator further comprises a rotation adjustment device, one end of the rotation adjustment device is connected with the mechanical arm, the other end of the rotation adjustment device is connected with the grabbing module, and the rotation adjustment device is used for adjusting a contact angle between the grabbing module and the traffic cone.

8. The traffic cone retraction device according to claim 1 wherein the manipulator further comprises a pull-press weighing sensor, the pull-press weighing sensor connecting the grasping module and the mechanical arm, the pull-press weighing sensor being configured to detect whether the grasping module is grasping the traffic cone.

9. The traffic cone retraction device according to claim 1 wherein the storage platform is further provided with a counting device for counting the number of traffic cones placed on a single positioning area.

10. The traffic cone retraction device according to claim 9 wherein the counting device comprises a rotary disc rotatably connected to the storage platform, wherein a plurality of positioning areas for stacking traffic cones are arranged on the rotary disc, the positioning areas are uniformly arranged along the circumferential direction of the rotary disc, a laser correlation sensor is arranged at one of the positioning areas, and a plurality of laser emission sources are arranged on the laser correlation sensor at intervals along the stacking direction of the traffic cones.