EP2405059A1 - Système de manipulation de cônes sur une route - Google Patents

Système de manipulation de cônes sur une route Download PDF

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Publication number
EP2405059A1
EP2405059A1 EP10748367A EP10748367A EP2405059A1 EP 2405059 A1 EP2405059 A1 EP 2405059A1 EP 10748367 A EP10748367 A EP 10748367A EP 10748367 A EP10748367 A EP 10748367A EP 2405059 A1 EP2405059 A1 EP 2405059A1
Authority
EP
European Patent Office
Prior art keywords
clamp
cone
vehicle
cones
unloading
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10748367A
Other languages
German (de)
English (en)
Inventor
Enrique Nicolás ARNALDOS
Ramon Castelltort Ventura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autopistas Concesionaria Espanola SA
Original Assignee
Autopistas Concesionaria Espanola SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autopistas Concesionaria Espanola SA filed Critical Autopistas Concesionaria Espanola SA
Publication of EP2405059A1 publication Critical patent/EP2405059A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
    • E01F9/70—Storing, transporting, placing or retrieving portable devices

Definitions

  • the present invention relates generally to a system for handling demarcation or sign cones of a road, and particularly to a system installed in a vehicle for automatically picking up and/or positioning cones on a traffic circulation road.
  • patent EP-B1-0501106 relates to an apparatus and to a method for positioning and picking up cones on a road.
  • the apparatus described in this patent comprises means for ascending and descending the cones, means for correcting the posture of the cones, sensors and gripping means in the form of a clamp for picking up and placing cones on the road.
  • the cones are picked up with the vehicle moving backwards, when such cones are in their upright position, gripping them by their body. In relation to the position of the cones, it is carried out with the vehicle moving in the travel direction.
  • patent EP-B1-1112411 describes an apparatus for automatically picking up cones from the surface of a road with a vehicle optionally moving forwards or backwards.
  • This apparatus is assembled adjacent to a side of the vehicle and comprises a lifting arm operated by maneuvering means between an ascending position and a descending position.
  • the mentioned lifting arm has gripping means configured to grip a cone by its base when the cone is not in its upright position, i.e., it is lying down on the road.
  • These gripping means are activated by a sensor which detects the presence of the cone in a position relative to the apparatus.
  • Patent application WO-A1-2005071167 describes an apparatus and a method for picking up cones
  • the apparatus comprises a lifting arm provided with gripping means designed to pick up the cone by being introduced at least partially inside the walls of the cone through its base.
  • a sensor detects if the gripping means are positioned inside the mentioned cone.
  • the gripping means are provided with an adjoining surface where the side of the cone can rest, so the cone is placed in a predetermined position with respect to the gripping means to be maneuvered safely and precisely.
  • the apparatus also comprises means for overturning the cones and means for positioning them so that it is easier to pick them up by their lower part.
  • the mentioned apparatus can comprise means for putting an overturned cone upright if necessary.
  • the present invention proposes an alternative system to the described systems for automatically picking up and positioning cones on a road with a gripping device which is different to those set forth above, which allows covering a wider surface area in which to place the cone for it to be picked up.
  • the present invention relates to a system for automatically or semi-automatically handling cones on a road, installed in a vehicle, of the type comprising:
  • the mentioned gripping device further comprises:
  • This elongated member projecting perpendicularly to the longitudinal direction of the vehicle, is formed by:
  • the distal end of the robotic arm further comprises height regulation and verification means with respect to the ground of the arm, which means allow maintaining the mentioned elongated member at a uniform height from the ground during the process for picking up the cones.
  • the fixed half-clamp and the mobile half-clamp are formed by two substantially parallel arms having associated therewith respective profiles with a triangular section, acting as a clamp jaw.
  • the fact of using two elongated bars allows covering, by sweeping, a larger transverse area in which to locate the cone for it to be picked up, since it is possible to seize it provided that it is in its upright position, within the area located between both ends of these bars.
  • the mentioned movement of the mobile half-clamp closer to and away from the fixed half-clamp is carried out by means of a linear movement combined with a rotational movement with respect to a longitudinal axis of the mobile half-clamp such that in the active position, the two jaws point towards the ground when they seize the end of the cone by clamping and in the rest position, the jaw of the mobile half-clamp is oriented in a direction opposite to the ground.
  • the mobile half-clamp is linearly guided for its movement between said rest position and said active position, this mobile half-clamp having fixed thereto, in a preferred embodiment of the present invention, a pinion coaxial with the longitudinal axis thereof and meshed with a fixed rack arranged parallel to the direction of the linear movement.
  • the driving means they are formed by linear actuators linked to each of the ends of the mobile half-clamp and arranged to perform the linear movement with the collaboration of the mentioned pinion rack and thus cause said rotational movement of the mobile half-clamp.
  • the robotic arm likewise comprises, at a proximal end thereof, a rotational drive unit suitable for, once the cone is seized by the fixed half-clamp and the mobile half-clamp, performing a first rotation of the robotic arm on a substantially horizontal axis, from the pick-up position to an intermediate position between the pick-up position and the unloading position, and a second rotation from the mentioned intermediate position to an unloading position.
  • the mentioned rotational drive unit of the robotic arm is installed on a linear movement unit, transverse to the longitudinal direction of the vehicle, which comprises driving means suitable for moving the robotic arm in the mentioned intermediate position, after having performed the first rotation, linearly closer to the unloading area, the fixed half-clamp and the mobile half-clamp thus being in a suitable position for being able to be introduced inside the vehicle through the rear opening thereof.
  • the second rotation thereof is performed, depositing the cone on a conveyor belt comprising leading means which lead the cone to the mentioned storage area.
  • the gripping device further comprises an element acting as a concealable stop located, in its extended position, at a height close to the base of the cone to support part of the body of the cone and thus prevent it from overturning when the first rotation is performed.
  • This concealable stop comprises a strip associated with a frame secured to the chassis of the vehicle.
  • the mentioned detection system consists of an optical detection system generating an optical barrier in front of the fixed half-clamp.
  • the system for handling cones object of the present invention likewise incorporates an element demarcating a safety area inside which the cones to be picked up are positioned, which element comprises a frame, flush with the ground, open towards the area of contact with the cones.
  • the mentioned means for positioning cones on the road comprise:
  • Figure 1 shows a system for handling cones on a road, installed in a vehicle, the mentioned system comprising:
  • Figure 2 illustrates with greater detail the mentioned gripping device, formed by an elongated member 11, extending in a cantilevered manner, projecting perpendicularly from a side of the vehicle 14, transversely to the road, on the right or left side of the vehicle, through a rear opening 21 thereof, and which is provided to face the cones 12 when the vehicle 14 moves backwards.
  • the mentioned gripping device formed by an elongated member 11, extending in a cantilevered manner, projecting perpendicularly from a side of the vehicle 14, transversely to the road, on the right or left side of the vehicle, through a rear opening 21 thereof, and which is provided to face the cones 12 when the vehicle 14 moves backwards.
  • the mentioned elongated member 11 incorporates a fixed half-clamp 15 located in a pick-up position, at a height, in relation to the ground, slightly lower than that of the cone 12 in a vertical position, and a mobile half-clamp 16, which can be moved closer to and away from the fixed half-clamp 15 by driving means for driving between a rest position, in which the mobile half-clamp 16 is located at a height above the cone 12, and an active position in which it moves until facing the fixed half-clamp 15, seizing the upper end of the cone 12 therebetween.
  • the fixed half-clamp 1 and the mobile half-clamp 16 are two substantially parallel arms having associated therewith respective profiles or strips with a triangular section, acting as a clamp jaw 15a, 16a.
  • the mentioned movement of the mobile half-clamp 16 closer to and away from the fixed half-clamp 15 is carried out by means of a linear movement combined with a rotational movement with respect to a longitudinal axis of the mobile half-clamp 16 such that in the active position, the two jaws 15a, 16a point towards the ground when they seize the end of the cone 12 ( Figures 5 and 6 ), whereas in the rest position the jaw 16a is oriented in a direction opposite to the ground ( Figure 3 ).
  • Figure 3 also shows that the distal end of the robotic arm 10, in a pick-up position for picking up cones 12, incorporates height regulation and verification means 17.
  • the detection system 13 is an optical detection system generating an optical barrier 24 in front of the fixed half-clamp 15.
  • Figure 4 illustrates the gripping device in the moment in which the cone 12 has already gone through the optical barrier 24 and is supported in the fixed half-clamp 15.
  • the jaw 16a associated with the mobile half-clamp 16 is moving closer to the fixed half-clamp 15 by means of the rotational and linear movement explained above, to trap the cone 12 between both jaws 15a, 16a.
  • Figure 5 shows the gripping device once it has seized the cone 12.
  • Figure 6 shows the mechanism of rotational and linear movement which, for the embodiment shown, is performed by means of a pinion 36 fixed to the mobile half-clamp 16 and coaxial with the longitudinal axis thereof, meshed with a rack 37 arranged parallel to the direction of the linear movement, and linear actuators 18 linked to each of the ends of the mobile half-clamp 16 and arranged to perform the linear movement and thus cause the rotational movement.
  • Figure 6 shows with a dotted line the mobile half-clamp 16 in a rest position, the direction of rotation and movement performed by such half-clamp to reach its active position being shown with an arrow.
  • the robotic arm 10 comprises, at a proximal end, a rotational drive unit 19 suitable for, once the cone is seized by the fixed half-clamp 15 and the mobile half-clamp 16, performing a first rotation of the robotic arm 10 on a substantially horizontal axis, from the mentioned pick-up position to an intermediate position between the pick-up position and the unloading position, and a second rotation from the intermediate position to the unloading position.
  • the rotational drive unit 19 is installed, as illustrated in Figure 1 , on a linear movement unit 20, transverse to the longitudinal direction of the vehicle 14, this linear movement unit 20 comprising driving means suitable for moving the robotic arm 10 in the intermediate position, after having performed the first rotation, linearly closer to the unloading area, the fixed half-clamp 15 and the mobile half-clamp 16 thus being in a suitable position for being able to be introduced inside the vehicle 14 through the rear opening 21 thereof.
  • the system likewise comprises a conveyor belt 22 inside the vehicle 14, which in turn comprises leading means for leading the cone 12 to the storage area.
  • the gripping device also comprises a concealable stop 23 located, in its extended position, at a height close to the base of the cone 12, to support part of the body of the cone 12 and thus prevent it from overturning when the mentioned first rotation is performed.
  • This concealable stop 23 is formed by a strip associated with a frame.
  • Figures 1 and 7 illustrate the mentioned means for positioning the cones 12 on the road, which comprise:

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)
  • Replacement Of Web Rolls (AREA)
EP10748367A 2009-03-06 2010-02-22 Système de manipulation de cônes sur une route Withdrawn EP2405059A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200900720A ES2346126B1 (es) 2009-03-06 2009-03-06 Sistema para manipular conos en una via.
PCT/ES2010/070097 WO2010100305A1 (fr) 2009-03-06 2010-02-22 Système de manipulation de cônes sur une route

Publications (1)

Publication Number Publication Date
EP2405059A1 true EP2405059A1 (fr) 2012-01-11

Family

ID=42709233

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10748367A Withdrawn EP2405059A1 (fr) 2009-03-06 2010-02-22 Système de manipulation de cônes sur une route

Country Status (5)

Country Link
EP (1) EP2405059A1 (fr)
AR (1) AR076160A1 (fr)
CL (1) CL2010000179A1 (fr)
ES (1) ES2346126B1 (fr)
WO (1) WO2010100305A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102776848A (zh) * 2012-07-19 2012-11-14 上海电控研究所 交通路锥自动收放车
GB2496416A (en) * 2011-11-10 2013-05-15 Clebert O'bryan Ricardo Yearwood Traffic management vehicle
CN103469740A (zh) * 2013-09-06 2013-12-25 北京申江风冷发动机有限责任公司 交通锥全自动收放存储专用车
CN103952988A (zh) * 2014-04-23 2014-07-30 南京理工大学 交通路锥车用的双向拨锥及收锥机构
FR3014916A1 (fr) * 2013-12-18 2015-06-19 Mati Ind & Technologies Accessoire pour la pose et la recuperation de cones de signalisation.
CN105672160A (zh) * 2016-02-19 2016-06-15 河南高远公路养护设备股份有限公司 交通锥分离及入仓装置
CN105951628A (zh) * 2016-05-12 2016-09-21 武汉理工大学 便于机械化定点提取的路锥存储装置
CN107869121A (zh) * 2017-11-22 2018-04-03 江苏中路工程技术研究院有限公司 一种高速公路锥形桶码放车
CN109183660A (zh) * 2018-11-12 2019-01-11 张习先 一种快速向路面设置路障的方法
CN110775647A (zh) * 2019-10-23 2020-02-11 朱海艳 一种配合工程车的交通锥回收及变线码放设备
WO2022104716A1 (fr) * 2020-11-20 2022-05-27 苏州睿澎诚科技有限公司 Appareil de positionnement automatique pour cônes de sécurité

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2984927A1 (fr) * 2011-12-23 2013-06-28 Antoine Francis Arsene Cibron Syteme de pose et reprise de cones de balissage de chantier sur routes
CN102877423B (zh) * 2012-10-20 2014-10-15 荣乌高速公路潍坊管理处 路锥自动摆放与自动回收装置
CN103061283B (zh) * 2013-01-08 2015-05-06 威海怡和专用车有限公司 路锥自动布放回收车
CN106192788A (zh) * 2015-04-30 2016-12-07 黄星 一种小型化全自动路锥收放器
CN105064234B (zh) * 2015-05-25 2018-01-26 上海电机学院 龙门式路锥自动收放装置
CN105507177B (zh) * 2015-12-02 2017-10-24 武汉理工大学 交通路锥自动收放车
CN105735166B (zh) * 2016-02-24 2017-11-07 同济大学 一种交通路锥自动收放车
CN107804210B (zh) * 2017-09-28 2020-08-25 中国兵器装备集团上海电控研究所 一种基于机械手的路锥自动收放车
CN112796248A (zh) * 2021-02-03 2021-05-14 袁长福 一种交通锥自动收放设备
CN114808793B (zh) * 2022-04-25 2023-03-21 江苏中泽汽车科技有限公司 一种便于自动收放交通锥的摆放车及其使用方法

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FR2556378B1 (fr) * 1983-12-13 1986-05-23 Michit Emile Procede et machine pour ramasser, stocker et poser mecaniquement des balises de signalisation routiere coniques et creuses
US5244334A (en) 1991-01-17 1993-09-14 Shinmei Industry Co., Ltd. Apparatus for installing and withdrawing road sign
US6056498A (en) 1998-09-09 2000-05-02 The Regents Of The University Of California Apparatus for retrieving conical roadway warning markers
NL1025330C2 (nl) 2004-01-27 2005-08-01 Theodorus Carolus Josep Simons Inrichting en werkwijze voor het oppakken van een pion.
GB0419298D0 (en) * 2004-08-31 2004-09-29 Jordan Alan A cone collecting apparatus

Non-Patent Citations (1)

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See references of WO2010100305A1 *

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2496416A (en) * 2011-11-10 2013-05-15 Clebert O'bryan Ricardo Yearwood Traffic management vehicle
CN102776848A (zh) * 2012-07-19 2012-11-14 上海电控研究所 交通路锥自动收放车
CN102776848B (zh) * 2012-07-19 2015-05-20 上海电控研究所 交通路锥自动收放车
CN103469740A (zh) * 2013-09-06 2013-12-25 北京申江风冷发动机有限责任公司 交通锥全自动收放存储专用车
CN103469740B (zh) * 2013-09-06 2015-09-23 北京申江风冷发动机有限责任公司 交通锥全自动收放存储专用车
US10174469B2 (en) 2013-12-18 2019-01-08 Mati Industries & Technologies Accessory for positioning and recovering traffic cones
FR3014916A1 (fr) * 2013-12-18 2015-06-19 Mati Ind & Technologies Accessoire pour la pose et la recuperation de cones de signalisation.
WO2015092266A1 (fr) * 2013-12-18 2015-06-25 Mati Industrie & Technologies Accessoire pour la pose et la recuperation de cônes de signalisation
CN103952988B (zh) * 2014-04-23 2015-12-30 南京理工大学 交通路锥车用的双向拨锥及收锥机构
CN103952988A (zh) * 2014-04-23 2014-07-30 南京理工大学 交通路锥车用的双向拨锥及收锥机构
CN105672160A (zh) * 2016-02-19 2016-06-15 河南高远公路养护设备股份有限公司 交通锥分离及入仓装置
CN105951628A (zh) * 2016-05-12 2016-09-21 武汉理工大学 便于机械化定点提取的路锥存储装置
CN105951628B (zh) * 2016-05-12 2018-06-08 武汉理工大学 便于机械化定点提取的路锥存储装置
CN107869121A (zh) * 2017-11-22 2018-04-03 江苏中路工程技术研究院有限公司 一种高速公路锥形桶码放车
CN107869121B (zh) * 2017-11-22 2020-04-10 江苏中路工程技术研究院有限公司 一种高速公路锥形桶码放车
CN109183660A (zh) * 2018-11-12 2019-01-11 张习先 一种快速向路面设置路障的方法
CN110775647A (zh) * 2019-10-23 2020-02-11 朱海艳 一种配合工程车的交通锥回收及变线码放设备
CN110775647B (zh) * 2019-10-23 2021-04-09 泰州帕沃能源科技有限公司 一种配合工程车的交通锥回收及变线码放设备
WO2022104716A1 (fr) * 2020-11-20 2022-05-27 苏州睿澎诚科技有限公司 Appareil de positionnement automatique pour cônes de sécurité

Also Published As

Publication number Publication date
AR076160A1 (es) 2011-05-26
WO2010100305A1 (fr) 2010-09-10
ES2346126B1 (es) 2011-06-22
ES2346126A1 (es) 2010-10-08
CL2010000179A1 (es) 2010-05-28

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