CN205557369U - Light -duty way awl receive and releases machine people voluntarily - Google Patents
Light -duty way awl receive and releases machine people voluntarily Download PDFInfo
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- CN205557369U CN205557369U CN201620278769.4U CN201620278769U CN205557369U CN 205557369 U CN205557369 U CN 205557369U CN 201620278769 U CN201620278769 U CN 201620278769U CN 205557369 U CN205557369 U CN 205557369U
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Abstract
Light -duty way awl receive and releases machine people voluntarily relates to the intelligent transportation mechanical equipment field. Including the platform of depositing that sets up on the automobile body, is used for to deposit the way awl, deposit and install the manipulator that is used for discerning the image recognition system of way awl position and is used for receiving and releasing the way awl on the platform. The utility model discloses structural design scientific and reasonable has realized that the automation of way awl is receive and release, realizes need not the take effect of way awl of manual work.
Description
Technical field
This utility model relates to intelligent transportation technical field of mechanical equipment, a kind of light-duty road cone automatic deploying and retracting robot.
Background technology
It is known that, along with highway in China mileage and the increase of Road Transportation Volume, road maintenance workload is in quickly increasing the impetus, the road maintenance not only labor intensity that works is big, and there is many unsafe factors, during operation HIGHWAY MAINTENANCE, block and the opening on road surface are one of important events in operation, and one of its job content is to lay and reclaim road cone；The most on a highway, owing to totally-enclosed, vehicle travel the features such as high speed, the cone that satisfies the need lays and reclaims the highest requirement, should ensure the safety that vehicle travels, the safety of maintenance construction personnel to be ensured.
At present China is substantially and lays and reclaim road cone operation by being accomplished manually, exist lay low with organic efficiency, lay after the most undesirable and problem such as operator safety is poor when laying and reclaim.
Utility model content
The purpose of this utility model is to provide a kind of light-duty road cone automatic deploying and retracting robot, to realize the automatic deploying and retracting of road cone, reduces operation danger and labor intensity, saves human resources, improve work efficiency.
The technical scheme realizing above-mentioned purpose is: light-duty road cone automatic deploying and retracting robot, it is characterized in that: include being arranged on car body, for depositing the storage platform of road cone, described storage platform is provided with the image identification system for identifying cone position, road and the mechanical hand for folding and unfolding road cone；Described mechanical hand includes cantilever group, rotating clip claw mechanism and the slew gear being arranged in storage platform, one end of cantilever group is hinged on the upper end of slew gear, the cantilever group drive mechanism driving cantilever group pin joint on slew gear to rotate is installed on described slew gear, clip claw mechanism is hinged on the other end of cantilever group, and described cantilever group is provided with the mechanical arm drive mechanism driving the clip claw mechanism pin joint around cantilever group end to rotate.
Described cantilever group includes the large arm being hinged, middle arm and forearm, and the end of large arm connects the middle arm drive mechanism that in driving, arm rotates around large arm terminal hinge point, and the end of middle arm connects the forearm drive mechanism driving forearm to rotate around middle arm terminal hinge point.
Described clip claw mechanism includes connecting seat, one end of described connection seat is hinged with forearm, the other end connects driving motor, the outfan driving motor connects moving block, connect on moving block and have left jaw and right jaw, one end of left jaw and right jaw is connected on moving block by rotating shaft respectively, and one end that left jaw and right jaw are connected on moving block is arranged to intermeshing sprocket wheel, described moving block is also associated with drive the motor that wherein side sprocket wheel rotates.
Two rows it are provided with for placing the taper positioning sleeve of road cone in described storage platform.
The angle adjustable of described image identification system, and it is arranged in storage platform by transverse sliding mechanism, described horizontal sliding mechanism includes the 3rd slide rail being transversely mounted in storage platform, it is slidably fitted with mounting seat on 3rd slide rail, the 4th slide rail it is slidably fitted with in described mounting seat, being slidably fitted with connection seat on described 4th slide rail, described image identification system is arranged on connection seat.
Being also equipped with casing in storage platform, mechanical hand, image identification system and taper positioning sleeve may be contained within casing；Casing includes the second side plate and the top board being arranged at the first side plate of the storage platform left and right sides, front and back both sides, first side plate is movably arranged in storage platform, and the both sides of storage platform are separately installed with the elevating mechanism driving the lifting of respective side the first side plate, second side plate is fixed in storage platform, described top board is switchable rolling screen door, and described rolling screen door is using the upper surface of the first side plate of the left and right sides as switch track.
Elevating mechanism includes laterial translation mechanism, vertical translation mechanism and the first slide rail being vertically provided at the first side plate interior sides end face both sides respectively and is slidably arranged in the first slide block on corresponding first slide rail, connected as one by connecting plate between first slide block, the both sides of connecting plate are connected to the second slide rail, and described second slide rail is arranged in storage platform by the second slide block；Described laterial translation mechanism includes the 3rd motor being arranged in storage platform, the 3rd slide block of horizontally set and is slidably arranged in the first tooth bar on the 3rd slide block, the outfan of the 3rd motor connects has the first gear engaged with the first tooth bar, described first tooth bar to be connected with connecting plate；Vertical translation mechanism includes the 4th motor being arranged on connecting plate and the second tooth bar being vertically connected on the first side plate, and the outfan of described 4th motor connects the second gear engaged with the second tooth bar.
When this utility model receives road cone, by mechanical hand, the road on road surface is bored on the folding and unfolding taper positioning sleeve to storage platform, when putting road cone, by mechanical hand, the road cone on taper positioning sleeve is sequentially arranged on road surface.
The beneficial effects of the utility model:
1, this utility model scientific structure design is reasonable, it is achieved that the automatic deploying and retracting of road cone, it is achieved without the effect of road cone of manually taking.
2, the whole work process of this utility model participates in without artificial, reduces operation dangerous, reduces labor intensity, saves human resources, improves work efficiency high.
3, all mechanisms may be contained within casing, can be dust-proof, improves the service life of each mechanism, and also improves visual effect.
4, when this utility model does not uses, casing can hang vehicle, does not affect other uses of vehicle.
5, the angle adjustable of this utility model image identification system, and can transversely horizontally slipping by slide mechanism, it is ensured that without dead angle, the road cone that identifies optional position and form exhaustive.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of transverse sliding mechanism；
Fig. 3 is the structural representation of mechanical hand；
Fig. 4 is the structural representation of slew gear；
Fig. 5 is the structural representation of clip claw mechanism；
Fig. 6 is the structural representation of elevating mechanism.
Detailed description of the invention
One, below in conjunction with the accompanying drawings structure of the present utility model is illustrated:
As shown in Fig. 16, this utility model includes being arranged on car body, for depositing the storage platform 1 of road cone, image identification system 43, two row is installed in storage platform 1 be arranged between image identification system 43 and mechanical hand 2 for the taper positioning sleeve 25 placing road cone for the taper positioning sleeve 25 placing road cone and the mechanical hand 2 bored for folding and unfolding road, two rows.
The angle adjustable of image identification system 43, and it is arranged in storage platform 1 by transverse sliding mechanism 44, horizontal sliding mechanism 44 includes the 3rd slide rail 45 being transversely mounted in storage platform 1, it is slidably fitted with mounting seat 46 on 3rd slide rail 45, mounting seat 46 is driven horizontally slipped along the 3rd slide rail 45 by intermeshing 3rd gear, the 3rd tooth bar 47, and mounting seat 46 is provided with the 5th motor 48 driving the 3rd pinion rotation；The 4th slide rail 49 also it is slidably fitted with in described mounting seat 46,4th slide rail 49 is driven horizontally slipped along mounting seat 46 by intermeshing 4th gear, the 4th tooth bar 50, the 6th motor 51 driving the 4th pinion rotation is installed in described mounting seat 46, connection seat 52 it is slidably fitted with on four slide rails 49, it is arranged on image identification system 43 on connection seat 52, connecting seat 52 connection and have the 7th motor 53, the outfan of the 7th motor 53 connects the 5th gear 54 engaged with the 4th tooth bar 50.
Mechanical hand 2 includes cantilever group 3, rotating clip claw mechanism 4 and the slew gear 5 being arranged in storage platform 1, one end of cantilever group 3 is connected on slew gear 5, driving cantilever group 3 to rotate by slew gear 5, clip claw mechanism 4 is connected to the other end of cantilever group 3.
Slew gear 5 includes the bearing block 6 being arranged in storage platform 1 and is arranged on the first motor 9 and the first decelerator 10 bottom storage platform, vertically arranged rotary shaft 7 is installed in bearing block 6, the upper end of rotary shaft 7 connects rotating disk 8, the outfan connection reducer 10 of the first motor 9, the outfan of decelerator 10 connects rotary shaft 7, motor
Cantilever group 3 includes the large arm 11 being hinged, middle arm 12 and forearm 13, one end of large arm is hinged on rotating disk 8, the large arm drive mechanism 14 driving the large arm 11 pin joint on rotating disk 8 to rotate is installed on rotating disk 8, the end of large arm 11 connects the middle arm drive mechanism 15 that in driving, arm 12 rotates around large arm 13 terminal hinge point, the end of middle arm 12 connects the forearm drive mechanism 16 driving forearm 13 to rotate around middle arm 12 terminal hinge point, clip claw mechanism 4 is hinged on the end of forearm 13, the mechanical arm drive mechanism 17 driving clip claw mechanism 4 around the pin joint rotation of forearm 13 end it is also equipped with on the end of forearm 13.
It is capable of the most flexible of large arm 11, middle arm 12, forearm 13 and clip claw mechanism 4, it is achieved the road cone of optional position and angle of arbitrarily putting upside down is captured accurately and fast by large arm drive mechanism 14, middle arm drive mechanism 15, forearm drive mechanism 16 and mechanical arm drive mechanism 17；Large arm drive mechanism 14, middle arm drive mechanism 15, forearm drive mechanism 16 and mechanical arm drive mechanism 17 all can use motor to drive.
Clip claw mechanism 4 includes connecting seat 18, the one end connecting seat 18 is hinged with forearm 13, and the other end connects driving motor 19, and driving the outfan of motor 19 to connect has moving block 20, connect on moving block 20 and have left jaw 21 and right jaw 22, by driving motor 19 to realize the spinfunction of jaw；One end of left jaw 21 and right jaw 22 is connected on moving block 20 by rotating shaft respectively, and one end that left jaw 21 and right jaw 22 are connected on moving block 20 is arranged to intermeshing sprocket wheel 23, it is also associated with on moving block 20 driving the second motor 24 that wherein side sprocket wheel 23 rotates, the second motor 24 to rotate and drive left jaw 21 and the opening and closing of right jaw 22.
Casing 25 it is also equipped with in storage platform 1, mechanical hand 2, image identification system 43 and taper positioning sleeve 25 may be contained within casing 26, casing 26 includes the second side plate 28 and the top board 29 being arranged at the first side plate 27 of storage platform 1 left and right sides, front and back both sides, when this utility model does not works, all mechanisms may be contained within casing 26, can be dust-proof, improve service life and the visual effect of each mechanism.And also vehicle can be hung, do not affect other uses of vehicle,
But motion space when mechanical hand 2 and image identification system 43 work is relatively big, and therefore casing 26 also needs to, very according to work on the spot situation, need to open the first side plate 27 of the left and right sides and top board 29 in the course of the work.Therefore the first side plate 27 is movably arranged in storage platform 1, and the both sides of storage platform 1 are separately installed with the translation lifting mechanism 30 driving respective side the first side plate 27 to translate, lift, second side plate 28 is fixed in storage platform 1, top board 29 is switchable rolling screen door, and rolling screen door is using the upper surface of the first side plate 27 of the left and right sides as switch track.
Translation lifting mechanism 30 includes laterial translation mechanism, vertical translation mechanism and the first slide rail 31 being vertically provided at the first side plate 27 inner side end both sides respectively and is slidably arranged in the first slide block 32 on corresponding first slide rail 31, connected as one by connecting plate 33 between first slide block 32, the both sides of connecting plate 33 are connected to the second slide rail 34, and described second slide rail 34 is arranged in storage platform 1 by the second slide block 35；Described laterial translation mechanism includes the 3rd motor 37 being arranged in storage platform 1, the 3rd slide block 36 of horizontally set and the first tooth bar 38 being slidably arranged on the 3rd slide block 36, the outfan of the 3rd motor 37 connects has the first gear 41 engaged with the first tooth bar 38, described first tooth bar 38 to be connected with connecting plate 33；Vertical translation mechanism includes the 4th motor 39 being arranged on connecting plate 33 and the second tooth bar 40 being vertically connected on the first side plate 27, and the outfan of described 4th motor 39 connects the second gear 42 engaged with the second tooth bar 40.
The operation principle of translation lifting mechanism 30: when opening, the first tooth bar 38 need to be driven to slide along the 3rd slide block 36 by the 3rd motor 37, make the first side plate 27 protruding, restart the 4th motor 39 and drive the second tooth bar 40 to move down, drive the first side plate 27 to open downwards；During closedown, process is contrary.
Two, work process of the present utility model:
When receiving cone, vehicle is reverse travel state, first open rolling screen door, then left side or first side plate 27 on right side are opened according to receipts cone position, slew gear 5 starts, image identification system 43 and the most protruding casing of mechanical hand 2 26, image identification system 43 is according to the information provided, clip claw mechanism 4 clamps the road cone on road surface, and one by one the road cone of gripping is arranged on the taper positioning sleeve 25 of storage platform 1, the discharge principle of the road cone collected is: never receiving the lateral cone side of receiving of cone and discharge successively, on each taper positioning sleeve 25, set puts presetting quantity.
When putting cone, vehicle is normal transport condition, first opens rolling screen door, then opens left side or first side plate 27 on right side according to putting cone position, laterally do not put, from putting cone, the road cone that cone side grips taper positioning sleeve 25 by clip claw mechanism 4 successively, and be emitted on successively on road surface.
Claims (7)
- The light-dutyest road cone automatic deploying and retracting robot, it is characterised in that: include being arranged on car body, for depositing the storage platform of road cone, described storage platform is provided with the image identification system for identifying cone position, road and the mechanical hand for folding and unfolding road cone；Described mechanical hand includes cantilever group, rotating clip claw mechanism and the slew gear being arranged in storage platform, one end of cantilever group is hinged on the upper end of slew gear, the cantilever group drive mechanism driving cantilever group pin joint on slew gear to rotate is installed on described slew gear, clip claw mechanism is hinged on the other end of cantilever group, and described cantilever group is provided with the mechanical arm drive mechanism driving the clip claw mechanism pin joint around cantilever group end to rotate.
- Light-duty road the most according to claim 1 cone automatic deploying and retracting robot, it is characterized in that: described cantilever group includes the large arm being hinged, middle arm and forearm, the end of large arm connects the middle arm drive mechanism that in driving, arm rotates around large arm terminal hinge point, and the end of middle arm connects the forearm drive mechanism driving forearm to rotate around middle arm terminal hinge point.
- Light-duty road the most according to claim 1 and 2 cone automatic deploying and retracting robot, it is characterized in that: described clip claw mechanism includes connecting seat, one end of described connection seat is hinged with forearm, the other end connects driving motor, the outfan driving motor connects moving block, connect on moving block and have left jaw and right jaw, one end of left jaw and right jaw is connected on moving block by rotating shaft respectively, and one end that left jaw and right jaw are connected on moving block is arranged to intermeshing sprocket wheel, described moving block is also associated with drive the motor that wherein side sprocket wheel rotates.
- Light-duty road the most according to claim 1 cone automatic deploying and retracting robot, it is characterised in that: it is provided with two rows in described storage platform for placing the taper positioning sleeve of road cone.
- 5. bore automatic deploying and retracting robot according to the light-duty road described in claim 1 or 4, it is characterized in that: the angle adjustable of described image identification system, and it is arranged in storage platform by transverse sliding mechanism, described horizontal sliding mechanism includes the 3rd slide rail being transversely mounted in storage platform, it is slidably fitted with mounting seat on 3rd slide rail, being slidably fitted with the 4th slide rail in described mounting seat, described 4th slide rail is slidably fitted with connection seat, described image identification system is arranged on connection seat.
- Light-duty road the most according to claim 5 cone automatic deploying and retracting robot, it is characterised in that: being also equipped with casing in storage platform, mechanical hand, image identification system and taper positioning sleeve may be contained within casing；Casing includes the second side plate and the top board being arranged at the first side plate of the storage platform left and right sides, front and back both sides, first side plate is movably arranged in storage platform, and the both sides of storage platform are separately installed with the elevating mechanism driving the lifting of respective side the first side plate, second side plate is fixed in storage platform, described top board is switchable rolling screen door, and described rolling screen door is using the upper surface of the first side plate of the left and right sides as switch track.
- Light-duty road the most according to claim 6 cone automatic deploying and retracting robot, it is characterized in that: elevating mechanism includes laterial translation mechanism, vertical translation mechanism and the first slide rail being vertically provided at the first side plate interior sides end face both sides respectively and is slidably arranged in the first slide block on corresponding first slide rail, connected as one by connecting plate between first slide block, the both sides of connecting plate are connected to the second slide rail, and described second slide rail is arranged in storage platform by the second slide block；Described laterial translation mechanism includes the 3rd motor being arranged in storage platform, the 3rd slide block of horizontally set and is slidably arranged in the first tooth bar on the 3rd slide block, the outfan of the 3rd motor connects has the first gear engaged with the first tooth bar, described first tooth bar to be connected with connecting plate；Vertical translation mechanism includes the 4th motor being arranged on connecting plate and the second tooth bar being vertically connected on the first side plate, and the outfan of described 4th motor connects the second gear engaged with the second tooth bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620278769.4U CN205557369U (en) | 2016-04-07 | 2016-04-07 | Light -duty way awl receive and releases machine people voluntarily |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620278769.4U CN205557369U (en) | 2016-04-07 | 2016-04-07 | Light -duty way awl receive and releases machine people voluntarily |
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| Publication Number | Publication Date |
|---|---|
| CN205557369U true CN205557369U (en) | 2016-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620278769.4U Active CN205557369U (en) | 2016-04-07 | 2016-04-07 | Light -duty way awl receive and releases machine people voluntarily |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105696483A (en) * | 2016-04-07 | 2016-06-22 | 扬州江润科技有限公司 | Light road cone automatic collecting and placing robot |
| CN108797423A (en) * | 2018-04-18 | 2018-11-13 | 重庆交通职业学院 | A kind of highway reflective cone draw off gear |
| CN109117055A (en) * | 2018-07-26 | 2019-01-01 | 深圳市商汤科技有限公司 | Intelligent terminal and control method |
| CN110042779A (en) * | 2019-05-07 | 2019-07-23 | 衢州学院 | A kind of roadblock draw off gear |
| CN110468756A (en) * | 2019-07-30 | 2019-11-19 | 西安科诺维智能交通研究院有限公司 | A kind of warning lamp GIS for construction section arranges display systems automatically |
| CN111778891A (en) * | 2020-06-24 | 2020-10-16 | 湖州前锋机械配件厂 | Road cone batch stacking device convenient to operate and used for road machinery |
| CN112609611A (en) * | 2020-12-11 | 2021-04-06 | 广东嘉腾机器人自动化有限公司 | Roadblock transport AGV |
-
2016
- 2016-04-07 CN CN201620278769.4U patent/CN205557369U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105696483A (en) * | 2016-04-07 | 2016-06-22 | 扬州江润科技有限公司 | Light road cone automatic collecting and placing robot |
| CN108797423A (en) * | 2018-04-18 | 2018-11-13 | 重庆交通职业学院 | A kind of highway reflective cone draw off gear |
| CN108797423B (en) * | 2018-04-18 | 2020-09-22 | 重庆交通职业学院 | Highway reflection of light awl winding and unwinding devices |
| CN109117055A (en) * | 2018-07-26 | 2019-01-01 | 深圳市商汤科技有限公司 | Intelligent terminal and control method |
| CN110042779A (en) * | 2019-05-07 | 2019-07-23 | 衢州学院 | A kind of roadblock draw off gear |
| CN110468756A (en) * | 2019-07-30 | 2019-11-19 | 西安科诺维智能交通研究院有限公司 | A kind of warning lamp GIS for construction section arranges display systems automatically |
| CN111778891A (en) * | 2020-06-24 | 2020-10-16 | 湖州前锋机械配件厂 | Road cone batch stacking device convenient to operate and used for road machinery |
| CN112609611A (en) * | 2020-12-11 | 2021-04-06 | 广东嘉腾机器人自动化有限公司 | Roadblock transport AGV |
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