A double-arm retractable cone robot

Abstract

The present invention relates to a highway construction traffic control auxiliary machinery, in particular to a double-arm cone-retracting robot; the robot comprises a walking device and a mechanical main body mounted on the walking device through a frame bearing device, the mechanical main body comprises at least two conveying arms and a first driving device, at least two manipulators and a second driving device, and a servo driving system; the robot has a simple structure and a low equipment cost, is installed on the left side or right side of a vehicle, is easy to disassemble, occupies little vehicle body space, and can complete the placement, collection and stacking of cones by forward or reverse driving, is not restricted by roads, has a wide range of uses, and meets the domestic needs for collecting and placing cones of different models.

Description

Technical Field

[0001] The invention relates to a highway construction traffic control auxiliary machine, in particular to a double-arm retractable cone robot. Background Art

[0002] Cones are hollow cone-shaped safety signs made of plastic or rubber. The bottom of the cone is open and has an outer canopy. They are used in road closures or emergency construction and traffic tidal lane diversion work. Safety cones are often deployed to isolate part of the road and collected after use. Existing deployment and collection methods mostly use manpower, which is labor-intensive, inefficient, and extremely dangerous.

[0003] Currently, the industry is in urgent need of a small, easy-to-operate, servo-driven dual-arm robot that can collect and place highway safety cones and perform integrated palletizing of the cones. Summary of the invention

[0004] In view of the problems mentioned in the prior art, the present invention provides a double-arm cone retracting and releasing robot, which adopts a servo drive system to control the staggered lifting and lowering of the double arms to complete the conveying of cones, and completes the clamping and stacking of cones by rotating 90°. The robot has high efficiency, low equipment cost and stable equipment operation.

[0005] The present invention discloses a double-arm cone-retracting robot, comprising a walking device and a mechanical body mounted on the walking device through a frame carrying device, wherein the mechanical body comprises at least two conveying arms and a first driving device, at least two manipulators and a second driving device, and a servo driving system; the at least two conveying arms are installed in parallel at both ends of the mechanical body, the bottom of the conveying arms are connected to the mechanical body through the first driving device, and the first driving device can drive the conveying arms to rotate around the central axis of the first driving device in the same plane; the at least two manipulators are installed on the at least two conveying arms respectively, the second driving device is installed on the mechanical body and connected to the manipulators, and the second driving device can drive the manipulators to move on the conveying arms; the servo driving system is connected to the first driving device and the second device respectively.

[0006] Preferably, connecting plates are installed at both ends of the mechanical body, and both ends of the conveying arm are connected to the connecting plates through bearing seats, wherein one end of the conveying arm is connected to the first driving device, and the other end is fixed with a probe sensor plate; the first driving device includes a rotating power head and a power motor connected to each other, and the power motor drives the rotating power head to drive the conveying arm to rotate.

[0007] Preferably, the second driving device includes a chain, a chain guide groove, a main drive sprocket, a steering sprocket, a fastening sprocket and a chain motor, the chain guide groove is parallel to the mechanical body and fixedly installed on the mechanical body, the chain is arranged in the chain guide groove, wherein the steering sprocket is fixedly installed on the four corners of the mechanical body, the main drive sprocket and the fastening sprocket are fixedly arranged on the mechanical body, the chain is sleeved on the main drive sprocket, the steering sprocket and the fastening sprocket for transmission, and the fastening sprocket is rotationally connected with the chain motor.

[0008] Preferably, the conveying arm is connected to the robot via a first bearing sleeve, a second bearing sleeve is sleeved on the surface of the first bearing sleeve, a bearing is sleeved on the surface of the second bearing sleeve, the bearing is connected to the chain guide groove via a chain connecting plate, wherein one end of the chain connecting plate extends into the chain guide groove and is connected to the chain.

[0009] The at least two manipulators are respectively manipulators , Robot , the manipulator Mounted on one of the conveyor arms, the robot Installed on another conveyor arm, where the robot With robot The structure is the same as that of the manipulator; or robot It includes a robotic arm, a robotic arm bracket, a robotic arm clamp and a guide adjustment mechanism. One end of the robotic arm is connected to the robotic arm bracket, and the other end is provided with a detachable connecting port and a connecting lock. The end of the robotic arm bracket away from the robotic arm is connected to the robotic arm clamp, and the bottom of the robotic arm bracket is also connected to the guide adjustment mechanism.

[0010] Preferably, it also includes an electric push-pull rod, a piston rod, and a clamp connecting rod. The manipulator clamp is symmetrically arranged in a pair, including a long arm and a short arm, and the long arm and the short arm are connected at an angle of 90°. The connection between the long arm and the short arm is connected to the manipulator bracket by a bolt, wherein one end of the clamp connecting rod is cross-arranged and connected to the piston rod, and the other end is connected to the short arm by a connecting screw. The piston rod is also connected to the electric push-pull rod, and the clamp connecting rod is driven to move to control the connected manipulator clamp to adjust the opening angle to clamp or release the cone. The angle between the manipulator clamps is 45°~60°.

[0011] Preferably, the guide adjustment mechanism includes a connecting arm connected to the bottom of the manipulator bracket and an opening mechanism arranged on the connecting arm, the connecting arm is provided with a plurality of positioning adjustment holes arranged in the vertical direction, the guide adjustment mechanism is connected to the manipulator bracket by positioning pins passing through the positioning adjustment holes, the opening mechanism is arranged in a scissors structure, the angle between the opening mechanisms is 80° to 100°, and also includes a contact rod, wherein the contact rod passes through the manipulator bracket, and a reset spring is also arranged between the contact rod and the manipulator bracket.

[0012] Preferably, the servo drive system includes a controller, which is also provided with a collection button and a placement button for collecting cones and placing cones respectively, and the controller is respectively connected to the induction system, the rotary power head, the chain motor, and the electric push-pull rod; it also includes a power supply, which is provided with a power switch for controlling the power supply, and the power supply is respectively connected to the controller and the induction system.

[0013] Preferably, the frame bearing device includes a carriage fixing frame connected to the mechanical body, and the carriage fixing frame is an inverted "U"-shaped structure, wherein the carriage fixing frame is threadedly fixedly connected to the traveling device.

[0014] Compared with the prior art, the present invention has achieved the following technical effects:

[0015] 1. The robot has a simple structure and low equipment cost. It can be installed on the left or right side of the vehicle, is easy to disassemble, occupies little space on the vehicle, and can complete the placement, collection and stacking of cones by driving forward or reverse. It is not restricted by roads and has a wide range of uses, meeting the domestic needs for the collection and placement of cones of different models.

[0016] 2. The servo drive system is used to control the staggered lifting of the double arms to complete the conveying of cones, and the double manipulators are controlled to staggered and automatically rotate 90° to complete the clamping and release of the cones. The control technology system is perfect, the degree of automation is high, the spacing of the laid cones is uniform, the collection and stacking are completed simultaneously, the speed is fast, the efficiency is high, and the equipment runs stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention.

[0018] Figure 2 for Figure 1 Schematic diagram of the left view structure.

[0019] Figure 3 for Figure 1 Schematic diagram of the front view structure of the robot.

[0020] Figure 4 for Figure 3 Schematic diagram of the robot structure from top view.

[0021] Figure 5 for Figure 3 Schematic diagram of the left view of the robot structure.

[0022] Figure 6 This is a connection diagram of the servo drive system.

[0023] Reference numerals: 1-chain, 2-sensing probe , 3-probe induction sheet, 4-conveying arm, 4.1-left arm conveying arm, 4.2-right arm conveying arm, 5-first bearing sleeve, 6-second bearing sleeve, 7-bearing, 8-rotating power head, 9-connecting plate, 10-chain motor, 11-chain connecting plate, 12-carriage fixing frame, 13-chain guide groove, 14-mechanical body, 15-main drive sprocket, 16-fastening sprocket, 17-induction probe , 18-steering sprocket, 19-sensing probe III, 20-detachable connection port, 21-connecting lock, 22-mechanical arm, 23-clamp connecting rod, 24-mechanical arm clamp, 25-connecting screw, 26-electric push-pull rod, 27-mechanical arm bracket, 28-sensing probe IV, 29-contact rod, 30-locating pin, 31-locating adjustment hole, 32-guide adjustment mechanism, 33-piston rod, 34-reset spring, 35-mechanical arm , 36-manipulator , 37-bolt, 38-controller, 39-power switch, 40-collect button, 41-deploy button. DETAILED DESCRIPTION Example

[0024] The present invention discloses a double-arm cone-retracting robot, comprising a walking device and a mechanical body 14 mounted on the walking device through a frame carrying device, wherein the mechanical body 14 comprises at least two conveying arms 4 and a first driving device, at least two manipulators and a second driving device, and a servo driving system; the at least two conveying arms 4 are parallelly mounted at both ends of the mechanical body 14, the bottom of the conveying arms 4 are connected to the mechanical body 14 through a first driving device, and the first driving device can drive the conveying arms 4 to rotate around the central axis of the first driving device in the same plane; the at least two manipulators are respectively mounted on the at least two conveying arms 4, the second driving device is mounted on the mechanical body 14 and connected to the manipulators, and the second driving device can drive the manipulators to move on the conveying arms 4; the servo driving system is respectively connected to the first driving device and the second device.

[0025] The mechanical body 14 is provided with connecting plates 9 at both ends, and both ends of the conveying arm 4 are connected to the connecting plates 9 through bearing seats, wherein one end of the conveying arm 4 is connected to the first driving device, and the other end is fixed with a probe sensor sheet 3; the first driving device includes a rotating power head 8 and a power motor connected to each other, and the power motor drives the rotating power head 8 to drive the conveying arm 4 to rotate.

[0026] The second driving device includes a chain 1, a chain guide groove 13, a main transmission sprocket 15, a steering sprocket 18, a fastening sprocket 16 and a chain motor 10, wherein the chain guide groove 13 is parallel to the mechanical body 14 and is fixedly installed on the mechanical body 14, the chain 1 is arranged in the chain guide groove 13, wherein the steering sprocket 18 is fixedly installed on the four corners of the mechanical body 14, the main transmission sprocket 15 and the fastening sprocket 16 are fixedly arranged on the mechanical body 14, the chain 1 is sleeved on the main transmission sprocket 15, the steering sprocket 18 and the fastening sprocket 16 for transmission, and the fastening sprocket 16 is rotationally connected to the chain motor 10.

[0027] The conveying arm 4 is connected to the robot through a first bearing sleeve 5, a second bearing sleeve 6 is sleeved on the surface of the first bearing sleeve 5, a bearing 7 is sleeved on the surface of the second bearing sleeve 6, and the bearing 7 is connected to the chain guide groove 13 through a chain connecting plate 11, wherein one end of the chain connecting plate 11 extends into the chain guide groove 13 and is connected to the chain 1.

[0028] The at least two manipulators are respectively manipulators 35. Robotic Arm 36, the manipulator 35 is installed on one of the conveying arms 4, the manipulator 36 is mounted on another conveying arm 4, wherein the robot 35 and manipulator 36 has the same structure; the manipulator 35 or manipulator 36 includes a robot arm 22, a robot bracket 27, a robot clamp 24 and a guide adjustment mechanism 32, one end of the robot arm 22 is connected to the robot bracket 27, and the other end is provided with a detachable connecting port 20 and a connecting lock 21, one end of the robot bracket 27 away from the robot arm 22 is connected to the robot clamp 24, and the bottom of the robot bracket 27 is also connected to the guide adjustment mechanism 32.

[0029] It also includes an electric push-pull rod 26, a piston rod 33, and a clamp connecting rod 23. The manipulator clamp 24 is arranged in a pair, including a long arm and a short arm. The long arm and the short arm are connected at an angle of 90°. The connection between the long arm and the short arm is connected to the manipulator bracket 27 by a bolt 37. One end of the clamp connecting rod 23 is cross-arranged and connected to the piston rod 33, and the other end is connected to the short arm by a connecting screw 25. The piston rod 33 is also connected to the electric push-pull rod 26. By driving the clamp connecting rod 23 to move, the connected manipulator clamp 24 is controlled to adjust the opening angle to clamp or release the cone. The angle between the manipulator clamps 24 is 45° to 60°.

[0030] The guide adjustment mechanism 32 includes a connecting arm connected to the bottom of the manipulator bracket 27 and an opening mechanism arranged on the connecting arm, and the connecting arm is provided with a plurality of positioning adjustment holes 31 arranged in the vertical direction. The guide adjustment mechanism 32 is connected to the manipulator bracket 27 by a positioning pin 30 passing through the positioning adjustment hole 31. The opening mechanism is arranged in a scissors structure, and the angle between the opening mechanisms is 80° to 100°; it also includes a contact rod 29, wherein the contact rod 29 is arranged through the manipulator bracket 27, and a reset spring 34 is also arranged between the contact rod 29 and the manipulator bracket 27.

[0031] Also includes a sensing system, the sensing system includes a sensing probe 2. Induction probe 17. Induction probe III 19 and induction probe IV 28, the induction probe 2 and the induction probe III 19 are mounted on the connecting plate 9 at the upper end of the mechanical body 14, wherein the induction probe 2 is installed at a 90° angle to the induction probe III 19, and the induction probe 2 and the viewing direction of the induction probe III 19 are both perpendicular to the horizontal plane; the induction probe 17 is symmetrically mounted on the conveying arm 4, the induction probe The viewing direction of 17 is parallel to the horizontal plane; the sensing probe IV 28 is installed at the bottom of the manipulator bracket 27 and is located higher than the contact rod 29, and the viewing direction of the sensing probe IV 28 is aligned with the contact rod 29.

[0032] The servo drive system includes a controller 38, on which a collection button 40 and a placement button 41 for collecting cones and placing cones are respectively provided. The controller 38 is respectively connected to the induction system, the rotary power head 8, the chain motor 10, and the electric push-pull rod 26; it also includes a power supply, which is provided with a power switch 39 for controlling the power supply, and the power supply is respectively connected to the controller 38 and the induction system.

[0033] The frame bearing device includes a carriage fixing frame 12 connected to a mechanical body 14, wherein the carriage fixing frame 12 is an inverted "U"-shaped structure, wherein the carriage fixing frame 12 is threadedly fixedly connected to the traveling device.

[0034] The present invention is further described below in conjunction with the accompanying drawings:

[0035] like Figure 1 As shown, the mechanical body 14 of the present invention is a rectangular fixed structure, and a carriage fixing frame 12 is provided on the side wall of the mechanical body 14. The carriage fixing frame 12 is an inverted "U"-shaped structure, and can be inserted into the edge of the vehicle's carriage through the carriage fixing frame 12 and fixed by threads.

[0036] like Figure 2 As shown, in this embodiment, two conveying arms 4 are provided, namely a left arm conveying arm 4.1 and a right arm conveying arm 4.2. Both conveying arms 4 are square tube structures. The left arm conveying arm 4.1 and the right arm conveying arm 4.2 are parallel to each other and are connected to the mechanical body 14 through connecting plates 9 arranged at the upper end and the lower end, wherein the connecting plate 9 is also provided with a bearing seat, and the left arm conveying arm 4.1 and the right arm conveying arm 4.2 are both connected to the bearing seats at both ends, and two rotary power heads 8 and power motors are also provided at the lower ends of the left arm conveying arm 4.1 and the right arm conveying arm 4.2, and the two rotary power heads 8 are both connected to the left arm conveying arm 4.1 and the right arm conveying arm 4.2, and the power motor drives the rotary power head 8 to rotate, and the rotary power head 8 drives the connected left arm conveying arm 4.1 and the right arm conveying arm 4.2 to rotate around their own angles.

[0037] like Figure 1 As shown, steering sprockets 18 are provided on the four corners of the mechanical body 14, and a chain 1 is provided around the four steering sprockets 18. A chain guide groove 13 is provided on the mechanical body 14, and the chain 1 is located in the chain guide groove 13. The size of the chain 1 matches the opening size of the chain guide groove 13. A main drive sprocket 15 and two fastening sprockets 16 are also provided at the bottom end of the mechanical body 14, and a chain motor 10 is also connected to one end of the fastening sprocket 16. The chain 1 bypasses the steering sprocket 18, the main drive sprocket 15, and the fastening sprocket 16, and the chain 1 is driven to move on the mechanical body 14 through the cooperation of multiple sprockets.

[0038] In this embodiment, the motion trajectories of the left transport arm 4.1 and the right transport arm 4.2 are as follows: Figure 1 As shown, the robot 35 is installed on the upper end of the right arm conveyor arm 4.2, the manipulator 36 is installed at the lower end of the left arm conveying arm 4.1, the manipulator 35 and manipulator 36 are with induction probe The viewing direction of 17 is on the same horizontal line; at this time, the chain 1 rotates clockwise, and the manipulator 36 The left arm conveying arm 4.1 moves upward from the lower end to the induction probe 17 Limit upper end stop; synchronization, robot 35 The right arm conveying arm 4.2 moves from the upper end to the lower end and stops; when the robot 35 and manipulator After the 36 movement positions are exchanged, chain 1 rotates counterclockwise, and the robot 35 The right arm conveying arm 4.2 moves from the lower end to the induction probe 17 limit upper stop, synchronization, robot 36 The left arm conveying arm 4.1 moves from the upper end to the lower end and stops;

[0039] like Figure 3 , Figure 4 , Figure 5 Shown is the robot arm of the present invention 35 or manipulator 36 structural diagram,

[0040] like Figure 2 As shown, the detachable connection port 20 and the connection lock 21 provided at one end of the robot arm 22 are matched and connected with the first bearing sleeve 5, and the other end is connected with a robot bracket 27, wherein the robot arm 22 and the robot bracket 27 are vertically arranged, and the robot bracket 27 is connected to the robot clamp 24, and the cone can be clamped or released by the robot clamp 24. The robot clamp 24 and the clamp connecting rod 23 are both arranged in a pair, and the robot clamp 24 includes a long arm and a short arm connected to each other, and the long arm and the short arm are spaced apart. The robot bracket 27 is arranged at an angle of 90°, and the connection between the long arm and the short arm is also connected to the robot bracket 27 by a bolt 37. The other end of the short arm is connected to one end of the clamp connecting rod 23 by a connecting screw 25, and the other end of the clamp connecting rod 23 is cross-arranged and threadedly connected to the piston rod 33. The piston rod 33 is also connected to the electric push-pull rod 26. The contact rod 29 arranged at the bottom of the robot bracket 27 is used to contact the cone to provide a signal for the servo drive system, and can be quickly reset under the action of the reset spring 34.

[0041] The guide adjustment mechanism 32 includes an opening mechanism and a connecting arm, which are vertically arranged to the opening mechanism, wherein the connecting arm is connected to the manipulator bracket 27 by a positioning pin 30, and the manipulator bracket 27 is also provided with a plurality of positioning adjustment holes 31 matching the positioning pin 30, and the position of the guide adjustment mechanism 32 on the manipulator bracket 27 can be adjusted through the positioning adjustment holes 31, and the opening mechanism is used to guide and position the cone under the manipulator clamp 24, so as to facilitate the positioning and grasping of the manipulator clamp 24.

[0042] The working principle of the manipulator clamp 24 in this embodiment is as follows: when the cone touches the contact rod 29 and pushes the contact rod 29 out of the manipulator bracket 27, the induction probe IV 28 senses the signal of the contact rod 29 and transmits the signal to the controller 38, the controller 38 starts the electric push-pull rod 26, the electric push-pull rod 26 drives the piston rod 33 to move to the right, drives the clamp connecting rod 23 to open, thereby drives the manipulator clamp 24 to clamp the cone with a contraction force; when the piston rod 33 of the electric push-pull rod 26 moves to the left, drives the clamp connecting rod 23 to contract, causes the manipulator clamp 24 to open, thereby releasing the cone, and after the cone leaves, the contact rod 29 returns to its position under the action of the reset spring 34.

[0043] The chain motor 10 in this embodiment has the following model: Model: ZDBLD510, ZDBLDC Controller;

[0044] Electric push-pull rod 26 model: Model: IJC-C2-24-50-80-200-11;

[0045] Induction probe model: PR18-8DN.

[0046] Example 1

[0047] The working method of placing and collecting cones of the present invention is in the standby installation state: Figure 1 As shown, the robot 35 stops at the upper end of the right arm conveyor arm 4.2, the robot 36 stops at the lower end of the left arm conveyor arm 4.1, the robot 36 Press Figure 1 The status shown is installed, the robot 35 Press Figure 2 The status shown is installed:

[0048] 1. Steps for collecting and stacking cones

[0049] (1.1) Automatic reset at power on

[0050] After the power is turned on, click the collection button 40, the controller 38 sends a clockwise rotation reset signal to the rotary power head 8 of the right arm conveying arm 4.2, and the rotary power head 8 drives the connected right arm conveying arm 4.2 and the connected probe sensor sheet 3 and the manipulator 35 The right arm conveying arm 4.2 is rotated clockwise. When the right arm conveying arm 4.2 rotates 90 degrees, the sensing probe 2 The signal sensed by the probe sensor 3 is transmitted to the controller 38, and the controller 38 sends a stop signal (reset signal) to the rotary power head 8, and the right arm conveying arm 4.2 and the connected manipulator 35 Complete 90 degrees clockwise rotation. The state of the collection cone is automatically reset after startup: 35 Rotate to Figure 1 The state shown is stopped at the upper end of the left arm conveying arm 4.1, and the robot 36 Figure 2 The state shown stops at the lower end of the left arm conveying arm 4.1;

[0051] (1.2) The left arm manipulator grasps the cone

[0052] The vehicle is reversing and aligning itself with the cone line originally placed on the road. As the vehicle is reversing, the left arm manipulator The guide adjustment mechanism 32 of 36 guides the cone into the manipulator clamp 24, and the induction probe IV 28 transmits the signal that the cone touches the contact rod 29 to the controller 38, and the controller 38 starts the electric push-pull rod 26, and the piston rod 33 of the electric push-pull rod 26 is retracted to make the scissors structure of the manipulator clamp 24 contract and clamp the cone, and the current-controlled clamping cone identification signal is transmitted to the controller 38. When the current reaches the set value, it means that the clamping cone has been reinforced and stabilized;

[0053] (1.3) Conveyor cone in clockwise direction

[0054] When the current-controlled cone clamping stable identification signal in step (1.2) overlaps with the stop signal (reset signal) sent by the controller 38 to the rotary power head 8 in step (1.1), the controller 38 controls the chain 1 to rotate clockwise according to the program, and the manipulator 36 slides upward on the left conveyor arm 4.1, while the robot 35 Slide down on the right arm conveyor arm 4.2; when the left arm's sensor probe 17Sensing the robot The signal of 36 is transmitted to the controller 38, and the controller 38 sends a stop signal to the chain motor 10; at this time, the robot 35 has stopped at the lower end of the right arm conveying arm 4.2;

[0055] (1.4) Collecting and stacking cones

[0056] When the stop signal sent by the controller 38 to the chain motor 10 in step (1.3) overlaps with the counterclockwise rotation transmission signal sent by the controller 38 to the rotary power head 8 of the left arm conveying arm 4.1, the rotary power head 8 drives the connected left arm conveying arm 4.1 and the connected probe sensor sheet 3 and the manipulator. 36 rotates counterclockwise with the left transport arm 4.1 as the axis. When the left transport arm 4.1 rotates 90 degrees, the sensor probe III 19 senses the signal of the sensor sheet 3 and transmits it to the controller 38. The controller 38 sends a stop signal to the rotary power head 8. The stop signal and the controller 38 send a stop signal to the manipulator. When the cone release signal 36 is overlapped, the electric push-pull rod 26 pushes the manipulator 36 Release the cones, and the cones fall into the carriage, completing the automatic stacking and palletizing process of the cones.

[0057] (1.5) The right arm grips the cone

[0058] Right arm manipulator The steps of grasping the cone cylinder at 36 are the same as those of grasping the cone cylinder with the left arm at (1.2). The current-controlled cone cylinder grasping identification signal is transmitted to the controller 38, and the controller 38 waits for the left arm manipulator reset signal;

[0059] (1.6) Left arm manipulator reset

[0060] Step (1.4) Robot The signal of releasing the cone 36 is transmitted to the controller 38, and the controller 38 sends a clockwise rotation reset signal to the rotary power head 8 of the left arm conveying arm 4.1, and the rotary power head 8 drives the connected left arm conveying arm 4.1 and the connected probe sensor sheet 3 and the manipulator 35 The left arm conveying arm 4.1 is rotated clockwise. When the left arm conveying arm 4.1 rotates 90 degrees, the sensing probe 2 The signal sensed by the probe sensor 3 is transmitted to the controller 38, and the controller 38 sends a stop signal to the rotary power head 8, and the left arm conveying arm 4.1 and the connected manipulator 36 completes a 90-degree clockwise rotation to reset the left arm manipulator;

[0061] (1.7) Conveyor cone in counterclockwise direction

[0062] When the current-controlled cone clamping recognition signal in step (1.5) overlaps with the stop signal (reset signal) sent by the controller 38 to the rotary power head 8 in step (1.6), the controller 38 controls the chain 1 to rotate counterclockwise according to the program, and the manipulator 36 slides down on the left conveyor arm 4.1, while the robot 35 Slide upward on the right arm conveyor arm 4.2; when the induction probe of the right arm 17Sensing the robot The signal of 35 is transmitted to the controller 38, and the controller 38 sends a stop signal to the chain motor 10; at this time, the robot 36 has stopped at the lower end of the right arm conveying arm 4.2;

[0063] Repeat the above steps to complete the cone collection and stacking work in a cycle.

[0064] Example 2

[0065] 2. Steps for placing cones

[0066] (2.1) Automatic reset at power on

[0067] like Figure 1 As shown, after the power is turned on, click the placement button 41, the controller 38 automatically controls the dual-arm manipulator to automatically run to the placement standby reset state: the manipulator 35 stops at the upper end of the right arm conveyor arm 4.2, the robot 36 stops at the lower end of the left arm conveyor arm 4.1, the robot 36 Figure 1 State shown, robot 35 Figure 2 Status shown.

[0068] (2.2) The right arm grips the cone

[0069] Guide the cone in the carriage into the right arm manipulator In the manipulator clamp 24 of 35, the induction probe IV 28 transmits the signal that the cone cylinder touches the contact rod 29 to the controller 38, and the controller 38 starts the electric push-pull rod 26. The piston rod 33 of the electric push-pull rod 26 is retracted to make the scissors structure of the manipulator clamp 24 contract and clamp the cone cylinder. The current-controlled clamping cone cylinder identification signal is transmitted to the controller 38. When the current reaches the set value, it means that the clamping cone cylinder has been reinforced and stabilized.

[0070] When the current-controlled clamping cone stable identification signal overlaps with the clockwise rotation signal sent by the controller 38 to the rotary power head 8 of the right arm conveying arm 4.2, the rotary power head 8 drives the connected right arm conveying arm 4.2 and the connected probe sensor sheet 3 and the manipulator 35 The right arm conveying arm 4.2 is rotated clockwise. When the right arm conveying arm 4.2 rotates 90 degrees, the sensing probe 2 The signal sensed by the probe sensor 3 is transmitted to the controller 38, and the controller 38 sends a stop signal to the rotary power head 8, and the right arm conveying arm 4.2 and the connected manipulator 35 Complete a 90 degree clockwise rotation.

[0071] (2.3) Conveyor cone in clockwise direction

[0072] When the controller 38 sends a stop signal to the rotary power head 8 in step (2.2), the controller 38 controls the chain 1 to rotate clockwise according to the program, and the manipulator 36 slides upward on the left conveyor arm 4.1, while the robot 35 Slide down on the right arm conveyor arm 4.2; when the left arm's sensor probe 17Sensing the robot The signal of 36 is transmitted to the controller 38, and the controller 38 sends a stop signal to the chain motor 10; at this time, the robot 35 has stopped at the lower end of the right arm conveying arm 4.2;

[0073] (2.4) Deployment of cones

[0074] When the stop signal sent by the controller 38 to the chain motor 10 in step (2.3) overlaps with the counterclockwise rotation transmission signal sent by the controller 38 to the rotary power head 8 of the left arm conveying arm 4.1, the rotary power head 8 drives the connected left arm conveying arm 4.1 and the connected probe sensor sheet 3 and the manipulator. 36 rotates counterclockwise with the left transport arm 4.1 as the axis. When the left transport arm 4.1 rotates 90 degrees, the sensor probe III 19 senses the signal of the sensor sheet 3 and transmits it to the controller 38. The controller 38 sends a stop signal to the rotary power head 8. The stop signal and the controller 38 send a stop signal to the manipulator. When the cone release signal 35 is overlapped, the electric push-pull rod 26 pushes the manipulator 35 releases the cone, and the cone stands upright on the road in the guide adjustment mechanism 32, completing the cone automatic placement working procedure.

[0075] (2.5) The left arm manipulator grasps the cone

[0076] Left arm manipulator 36 The steps of grasping the cone are the same as those of (2.2) when the right arm manipulator grasps the cone; when the left arm manipulator When the stable identification signal of the clamping cone controlled by the current 36 overlaps with the clockwise rotation signal sent by the controller 38 to the rotary power head 8 of the left arm conveying arm 4.1, the rotary power head 8 drives the connected left arm conveying arm 4.1 and the connected probe sensor sheet 3 and the manipulator 36 The left arm conveying arm 4.1 is rotated clockwise. When the left arm conveying arm 4.1 rotates 90 degrees, the sensing probe 2 The signal sensed by the probe sensor 3 is transmitted to the controller 38, and the controller 38 sends a stop signal to the rotary power head 8, and the left arm conveying arm 4.1 and the connected manipulator 36 Complete a 90 degree clockwise rotation.

[0077] (2.6) Conveyor cone in counterclockwise direction

[0078] When the controller 38 sends a stop signal to the rotary power head 8 in step (2.5), the controller 38 controls the chain 1 to rotate counterclockwise according to the program, and the manipulator 36 slides down on the left arm conveyor arm 6, while the robot 35 Slide upward on the right arm conveyor arm 4.2; when the induction probe of the right arm 17Sensing the robot The signal of 35 is transmitted to the controller 38, and the controller 38 sends a stop signal to the chain motor 10; at this time, the robot 36 has stopped at the lower end of the right arm conveying arm 4.2;

[0079] Repeat the above steps to complete the cone placement work in a cycle.

Claims

1. A double-arm retractable cone robot, characterized in that: It comprises a walking device and a mechanical body (14) mounted on the walking device via a frame bearing device, wherein the mechanical body (14) comprises at least two conveying arms (4) and a first driving device, at least two manipulators and a second driving device, and a servo driving system; The at least two conveying arms (4) are mounted in parallel at both ends of the mechanical body (14); the bottom of the conveying arms (4) is connected to the mechanical body (14) via a first driving device; the first driving device can drive the conveying arms (4) to rotate around the central axis of the first driving device in the same plane; The at least two manipulators are respectively mounted on at least two conveying arms (4); the second drive device is mounted on the mechanical body (14) and connected to the manipulators; the second drive device can drive the manipulators to move on the conveying arms (4); The servo drive system is connected to the first drive device and the second drive device respectively; The second driving device comprises a chain (1), a chain guide groove (13), a main transmission sprocket (15), a steering sprocket (18), a fastening sprocket (16) and a chain motor (10), wherein the chain guide groove (13) is parallel to the machine body (14) and is fixedly mounted on the machine body (14), the chain (1) is arranged in the chain guide groove (13), wherein the steering sprocket (18) is fixedly mounted on four corners of the machine body (14), the main transmission sprocket (15) and the fastening sprocket (16) are fixedly arranged on the machine body (14), the chain (1) is sleeved on the main transmission sprocket (15), the steering sprocket (18) and the fastening sprocket (16) for transmission, and the fastening sprocket (16) is rotationally connected to the chain motor (10).

2. According to claim 1, a dual-arm retractable cone robot is characterized in that: The upper and lower ends of the mechanical body (14) are both provided with connecting plates (9), and both ends of the conveying arm (4) are connected to the connecting plates (9) via bearing seats, wherein one end of the conveying arm (4) is connected to a first driving device, and the other end is fixedly provided with a probe sensor sheet (3); the first driving device comprises a rotating power head (8) and a power motor connected to each other, and the power motor drives the rotating power head (8) to drive the conveying arm (4) to rotate.

3. According to claim 2, a dual-arm retractable cone robot is characterized in that: The conveying arm (4) is connected to the robot arm via a first bearing sleeve (5); a second bearing sleeve (6) is sleeved on the surface of the first bearing sleeve (5); a bearing (7) is sleeved on the surface of the second bearing sleeve (6); the bearing (7) is connected to the chain guide groove (13) via a chain connecting plate (11); one end of the chain connecting plate (11) extends into the chain guide groove (13) and is connected to the chain (1).

4. According to claim 3, a double-arm retractable cone robot is characterized in that: The at least two manipulators are respectively a manipulator (35) and a manipulator (36), wherein the manipulator (35) is mounted on one of the conveying arms (4), and the manipulator (36) is mounted on the other conveying arm (4), wherein the manipulator (35) and the manipulator (36) have the same structure; The manipulator (35) or manipulator (36) comprises a manipulator arm (22), a manipulator support (27), a manipulator clamp (24) and a guide adjustment mechanism (32); one end of the manipulator arm (22) is connected to the manipulator support (27), and the other end is provided with a detachable connection port (20) and a connection lock (21); one end of the manipulator support (27) away from the manipulator arm (22) is connected to the manipulator clamp (24), and the bottom of the manipulator support (27) is also connected to the guide adjustment mechanism (32).

5. According to claim 4, a double-arm retractable cone robot is characterized in that: It also includes an electric push-pull rod (26), a piston rod (33), and a clamp connecting rod (23). The manipulator clamp (24) is arranged in a pair, including a long arm and a short arm, the long arm and the short arm are connected at an angle of 90 degrees, and the connection between the long arm and the short arm is connected to the manipulator bracket (27) through a bolt (37), wherein one end of the clamp connecting rod (23) is cross-arranged and connected to the piston rod (33), and the other end is connected to the short arm through a connecting screw (25), and the piston rod (33) is also connected to the electric push-pull rod (26), and by driving the clamp connecting rod (23) to move, the connected manipulator clamp (24) is controlled to adjust the opening angle to clamp or release the cone, and the angle between the manipulator clamp (24) is 45° to 60°.

6. A double-arm retractable cone robot according to claim 5, characterized in that: The guide adjustment mechanism (32) comprises a connecting arm connected to the bottom of the manipulator support (27) and an opening mechanism arranged on the connecting arm, the connecting arm is provided with a plurality of positioning adjustment holes (31) arranged in a vertical direction, the guide adjustment mechanism (32) and the manipulator support (27) are connected via positioning pins (30) passing through the positioning adjustment holes (31), the opening mechanism is arranged in a scissor structure, and the angle between the opening mechanisms is 80° to 100°; It also includes a contact rod (29), wherein the contact rod (29) is arranged to penetrate the robot support (27), and a return spring (34) is arranged between the contact rod (29) and the robot support (27).

7. A dual-arm retractable cone robot according to any one of claims 1 to 6, characterized in that: The machine also includes a sensing system, the sensing system including a sensing probe (2), a sensing probe (17), a sensing probe III (19) and a sensing probe IV (28), the sensing probe (2) and the sensing probe III (19) being mounted on a connecting plate (9) at the upper end of the machine body (14), wherein the sensing probe (2) and the sensing probe III (19) are mounted at an angle of 90°, and the viewing directions of the sensing probe (2) and the sensing probe III (19) are both perpendicular to a horizontal plane; The sensing probe (17) is symmetrically mounted on the conveying arm (4), and the viewing direction of the sensing probe (17) is parallel to the horizontal plane; The induction probe IV (28) is mounted at the bottom of the manipulator bracket (27) and is positioned higher than the contact rod (29). The induction probe IV (28) is arranged so as to be aligned with the contact rod (29) in its viewing direction.

8. The double-arm retractable cone robot according to claim 7, characterized in that: The servo drive system comprises a controller (38), and the controller (38) is also provided with a collection button (40) and a placement button (41) for collecting cones and placing cones respectively. The controller (38) is respectively connected to the induction system, the rotary power head (8), the chain motor (10), and the electric push-pull rod (26); It also includes a power supply, which is provided with a power switch (39) for controlling the power supply, and the power supply is respectively connected to the controller (38) and the induction system.

9. The double-arm retractable cone robot according to claim 8, characterized in that: The frame bearing device comprises a carriage fixing frame (12) connected to a machine body (14); the carriage fixing frame (12) is in an inverted "U"-shaped structure, wherein the carriage fixing frame (12) is threadedly fixedly connected to the traveling device.

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