A fully automatic cone barrel retracting and releasing device and method

Abstract

The present invention relates to the field of road construction safety ancillary facilities, and specifically discloses a cone barrel full-automatic folding and releasing device, including: a walking device, a cone barrel warehouse with a storage bin and a partition device, a recovery and guiding device with a to-be-grabbed portion, a guiding portion and a sensor, a grasping device with a mechanical arm and a grasping device, and a cone barrel full-automatic folding and releasing method implemented by the device. The present invention can realize horizontal stacking storage of cone barrels and increase its storage capacity through the cone barrel warehouse, and the storage separation is convenient; through the grasping device with a mechanical arm and a grasping device, the cone barrels can be placed and recycled into the warehouse with high precision, and the placement range is wide, and full coverage placement and position adjustment within the lane width can be achieved; through the recovery and guiding device, the cone barrels at any position within the lane range can be automatically guided to the to-be-grabbed portion, waiting for the grasping device to accurately grasp it, and the recovery efficiency is high, and the structure is simple, the reliability is high, the cost is low, and it is easy to maintain.

Description

Technical Field

[0001] The invention belongs to the field of road construction safety ancillary facilities, and in particular relates to a cone barrel full-automatic retracting and releasing device and method. Background Art

[0002] Cones are important warning facilities for implementing road maintenance and traffic control. By the end of 2020, the total maintenance mileage of highways nationwide has reached 5.144 million kilometers. With the continuous increase in highway maintenance mileage, the volume of traffic cone retraction and deployment operations has increased, and safety issues in the operation process have become increasingly prominent. At present, the retraction and deployment of traffic cones in road maintenance and control mainly rely on manual labor. Some advanced units use semi-automatic cone retraction and deployment machines, but there are still problems such as low operating efficiency, high danger, long traffic impact events, and insufficient standardization of cone deployment. These problems are particularly prominent in the maintenance process of highways. Therefore, the automation and intelligence of traffic cone retraction and deployment operations are the key guarantee for achieving efficient, economical, safe and reliable road management.

[0003] To this end, many scholars have developed an integrated automatic retrieval vehicle for traffic cones, such as the Chinese invention patent "Automatic retrieval and storage vehicle for traffic cones" with the authorization announcement number CN106320214B, and the Chinese invention patent "A fully automatic retrieval vehicle for traffic cones" with the application publication number CN110984021A. They all use a lateral gripping device to achieve the effect of automatic retrieval and storage. In terms of storage mode, the former uses a longitudinal multi-layer stacking rack, and the latter uses a rotating warehouse structure to improve space utilization. However, the inventions currently using the lateral retrieval scheme can generally only realize the recovery and placement of traffic cones in straight sections, and cannot adapt to curved section operations and handle abnormal offset cones. In order to meet the needs of curved section retrieval and placement operations, the Chinese invention patent "A placement vehicle for automatic retrieval and placement of traffic cones" with the application announcement number CN111945610A uses a six-axis robot for placement and recycling. Although the convenience is further enhanced, it requires the use of visual recognition and other technologies, and the reliability is not high in outdoor conditions. The Chinese invention patent with application announcement number CN111827162A, "A fully automatic storage vehicle and method for traffic cones", uses a tail conveyor belt device for placement and side recovery. Although it solves the problem of vehicle backing up, it cannot solve the problem of recovering diagonal cones. The Chinese invention patent with authorization announcement number CN103469740, "Special vehicle for fully automatic storage of traffic cones", and the Chinese invention patent with application publication number CN109868769A, "A traffic cone storage vehicle with left and right widening function", etc., use a rear conveyor belt grabbing device, which can flexibly adjust the lateral position to achieve adjustment according to the actual position of the traffic cones during the collection and release process, but the lateral position adjustment requires the operator or driver to align.

[0004] In summary, the current lateral retractable system is basically unable to achieve lateral position adjustment, and the tail retractable system requires manual alignment and recovery, or visual processing, which is not very reliable. Therefore, there are still some problems in the flexibility, safety and reliability of the current equipment. At the same time, improving the retractable speed and storage efficiency of traffic cones, as well as improving convenience are the current problems that need to be faced.

[0005] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0006] The purpose of the present invention is to provide a fully automatic cone barrel folding and unfolding device and method, so as to overcome the defects of the existing cone barrel automatic grasping device in the operation process, such as poor flexibility and convenience, low reliability, low folding and unfolding efficiency and low cone barrel storage rate.

[0007] To achieve the above-mentioned purpose, the present invention provides a fully automatic cone barrel storage and releasing device, comprising: a walking device, the walking device comprising a front end and a rear end, the walking device being able to move in the direction of the front end and the rear end; a cone barrel warehouse, which is arranged on the walking device, the cone barrel warehouse comprising a plurality of cone barrel warehouse units, the cone barrel warehouse unit being provided with a storage bin and a bay opening connected to the storage bin, the bay opening being towards the rear end, a partition device being provided in the storage bin, the partition device comprising a plurality of partitions spaced apart in the storage bin and a transmission assembly, the transmission assembly being able to drive the partition to move from the bay opening into the storage bin, the cone barrel warehouse unit being further provided with a first power source, the output end of the first power source being interconnected with the transmission assembly and providing power thereto; a recovery guide device, comprising a recovery frame, one end of the recovery frame being rotatably connected to the rear end, a plurality of to-be-grasped parts being arranged on the recovery frame, each of the to-be-grasped parts being arranged side by side along one side of the walking device toward the other side thereof, a guide part being provided at one end of the to-be-grasped part being away from the rear end, the guide part and the to-be-grasped part being arranged side by side A through opening is provided between the parts, a feeding opening is provided at one end of the guiding part away from the part to be grasped, the width of the feeding opening is greater than the width of the through opening, a sensor is provided at the through opening, and a plurality of rollers in contact with the ground are also provided on the recovery frame. When one end of the recovery frame rotates, the guiding part can be approached to the rear end and the rollers and the ground can be separated from each other; a grasping device, which is arranged between the cone barrel library and the recovery guiding device, the grasping device includes a mechanical arm and a gripping device, one end of the mechanical arm is rotatably connected to the walking device, and the other end of the mechanical arm can be rotated from the recovery guiding device to the cone barrel library and can be flexed and extended, the gripping device includes a first rotating seat, a second rotating seat and a movable finger, one end of the first rotating seat is rotatably connected to the other end of the mechanical arm, and the other end of the first rotating seat is rotatably connected to one end of the second rotating seat, there are two movable fingers and they are respectively rotatably arranged at the other end of the second rotating seat, the two movable fingers can approach or move away from each other, and the rotation axes at the two ends of the first rotating seat are perpendicular to each other.

[0008] Preferably, in the above technical solution, the walking device is provided with a walking wheel group, a power system and a controller, and the power system can drive the walking wheel group to rotate and provide electricity to the controller.

[0009] Preferably, in the above technical solution, the cone barrel storage unit is provided with a cone barrel rack, the cone barrel rack is fixed on the walking device, the storage bin is opened on the cone barrel rack, and the bin opening is opened at one end of the cone barrel rack.

[0010] Preferably, in the above technical solution, the transmission assembly also includes a first sprocket assembly, there are two groups of the first sprocket assemblies, the two groups of the first sprocket assemblies are arranged on both sides of the cone barrel frame, the first sprocket assembly includes a first sprocket and a first chain that cooperate with each other, the partition is arranged on the first chain, and the partitions on the two groups of the first sprocket assemblies are symmetrically arranged.

[0011] Preferably, in the above technical solution, the transmission assembly also includes a second sprocket assembly, the second sprocket assembly includes a second sprocket and a second chain that match each other, and there are two second sprockets, one of which is coaxially connected to the first sprocket in any group of the first sprocket assemblies, and the other second sprocket is coaxially connected to the output end of the first power source.

[0012] Preferably, in the above technical solution, the transmission assembly also includes a first gear and a second gear meshing with each other, the first gear is coaxially connected to the output end of the first power source, and the second gear is coaxially connected to the first sprocket in another group of the first sprocket assembly.

[0013] Preferably, in the above technical solution, the recovery guide device also includes a fixed seat, one end of which is fixedly connected to the rear end, and the other end of which extends outward from the rear end and is hinged to one end of the recovery frame.

[0014] Preferably, in the above technical solution, the recovery frame includes a first frame and a second frame, one end of the first frame is hinged to the other end of the fixed seat, the other end of the first frame is hinged to one end of the second frame, the hinge axes at both ends of the first frame are parallel to each other, the part to be grasped is arranged on the first frame, the guide part is arranged on the second frame, the through port is arranged at one end of the second frame, the feed port is arranged at the other end of the second frame, dividing corners are arranged between each of the feed ports, and the roller is arranged at the other end of the second frame.

[0015] Preferably, in the above technical solution, a fixed finger is provided at the other end of the second rotating seat, and an arc-shaped bayonet is provided in the middle of the fixed finger. One end of the two movable fingers are respectively rotatably connected to the two sides of the bayonet, and the other ends of the movable fingers can approach each other at the bayonet, thereby grasping the cone barrel.

[0016] On the other hand, in order to achieve the above-mentioned purpose, the present invention provides a method for automatically releasing and retracting a cone barrel, which is implemented by the automatic releasing and retracting device for the cone barrel as described above, and comprises the following steps:

[0017] To place the cone barrels, first fold the recovery frame so that the walking device moves toward the front end, and the cone barrel warehouse sends the cone barrels out from the warehouse opening one by one through the partition device and the transmission assembly. The gripper device in the grasping device is in a horizontal state, and the cone barrel is clamped from the warehouse opening under the drive of the mechanical arm, and then swung to a vertical state to place the cone barrel on a designated position on the road surface. When the cone barrels in one cone barrel warehouse unit are taken out, the grasping device takes the cone barrels from another cone barrel warehouse unit.

[0018] To recycle the cone barrel, first open the recovery frame and make the walking device move toward the rear end. The cone barrel randomly enters the feed port and moves to the part to be grasped through the guide part and the through port. The sensor on the through port can sense the entry of the cone barrel, so that the gripper device in the grasping device is in a vertical state, and moves to the top of the part to be grasped to grasp the cone barrel. Driven by the robotic arm, the cone barrel is swung to a horizontal state and placed from the warehouse port into the cone barrel warehouse, and the cone barrel is moved to the storage bin for storage through the partition device and the transmission assembly.

[0019] Compared with the existing technology, the present invention has the following beneficial effects:

[0020] 1. The cone barrel automatic folding and releasing device and method of the present invention can realize the horizontal stacking storage of cone barrels and improve the storage capacity through the cone barrel warehouse, and the storage separation is convenient; through the grasping device with a mechanical arm and a grasping device, the cone barrels can be placed and recycled into the warehouse with high precision, and the placement range is wide, and the full coverage placement and position adjustment within the lane width can be realized; through the recovery guiding device, the cone barrels at any position within the lane range can be automatically guided to the waiting part to wait for the grasping device to grasp them accurately, and the recovery efficiency is high, and the structure is simple, the reliability is high, the cost is low, and it is easy to maintain.

[0021] 2. The recovery frame in the recovery guide device of the present invention can be folded toward the rear end of the walking device, which can facilitate use and posture conversion during the process of retracting and releasing the cone barrel.

[0022] 3. The partition device in the cone barrel warehouse of the present invention is composed of a first sprocket assembly and a partition. The partition can be clamped on the outer edge of the stacked cone barrels and enable each cone barrel to be stacked horizontally. The first sprocket assembly can not only drive the partition to move in the storage bin, but also enable the partitions on the symmetrical side to flip toward each other at the bin opening, thereby engaging and releasing the cone barrels one by one. In cooperation with the grasping device, the loading and unloading actions of the cone barrels are realized.

[0023] 4. A sensor is provided at the passage opening of the recovery guide device in the present invention. When the device as a whole reverses backward, the cone barrel located in the lane can be randomly guided to any part to be grasped. When the cone barrel passes through the passage opening, the sensor can be triggered, so that the grasping device can accurately grasp the cone barrel.

[0024] 5. The recovery frame of the recovery guide device in the present invention is provided with rollers. When the recovery frame is opened, the rollers can contact the ground and make the recovery frame as a whole translate together with the walking device in a horizontal state.

[0025] 6. The recovery frame in the present invention is composed of a first frame and a second frame that can be folded together. By increasing the number of folding sections, the space occupied by the recovery frame after folding can be made smaller.

[0026] 7. The rotating seat of the gripping device in the present invention is provided with an arc-shaped bayonet, and two movable fingers are respectively installed on both sides of the bayonet. When the two movable fingers are close to each other, the contour of the clamping area formed by the bayonet and the bayonet can just match the outer contour of the cone barrel, thereby increasing the fitting area, thereby clamping the cone barrel more tightly and reducing the probability of the cone barrel falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural diagram of the fully automatic cone barrel retracting and releasing device in Example 1.

[0028] Figure 2 It is a structural diagram of the cone barrel library in Example 1.

[0029] Figure 3 It is a structural diagram of the recovery and guiding device in the first embodiment.

[0030] Figure 4 It is a structural diagram of the grabbing device in the first embodiment.

[0031] Description of main reference numerals:

[0032] 100-travel device, 101-front end, 102-rear end, 110-travel wheel set;

[0033] 200-cone barrel warehouse, 210-cone barrel warehouse unit, 211-storage warehouse, 212-warehouse opening, 213-cone barrel rack, 220-partition device, 221-partition, 230-transmission assembly, 231-first sprocket assembly, 232-first sprocket, 233-first chain, 234-second sprocket assembly, 235-second sprocket, 236-second chain, 237-first gear, 238-second gear, 240-first power source;

[0034] 300-recovery guide device, 310-recovery frame, 311-first frame, 312-second frame, 320-to-be-grasped portion, 330-guiding portion, 331-passing port, 332-feeding port, 333-dividing corners, 340-sensor, 350-roller, 360-fixed seat;

[0035] 400 - gripping device, 410 - mechanical arm, 420 - gripping device, 421 - first rotating seat, 422 - second rotating seat, 423 - movable finger, 424 - fixed finger, 425 - bayonet. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "top", "bottom", "top surface", "bottom surface", "inside", "outside", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0038] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of the embodiments of the present invention based on its overall structure.

[0040] Embodiment 1:

[0041] like Figures 1 to 4 As shown, the cone barrel automatic folding and unfolding device in this embodiment includes: a walking device 100, a front end 101, a rear end 102, a walking wheel group 110, a cone barrel warehouse 200, a cone barrel warehouse unit 210, a storage warehouse 211, a warehouse opening 212, a cone barrel rack 213, a partition device 220, a partition 221, a transmission assembly 230, a first sprocket assembly 231, a first sprocket 232, a first chain 233, a second sprocket assembly 234, a second sprocket 235, a second chain 236, a first gear 237, The second gear 238, the first power source 240, the recovery guide device 300, the recovery frame 310, the first frame 311, the second frame 312, the part to be grasped 320, the guide part 330, the through port 331, the feed port 332, the dividing corner 333, the sensor 340, the roller 350, the fixed seat 360, the grasping device 400, the robotic arm 410, the gripping device 420, the first rotating seat 421, the second rotating seat 422, the movable finger 423, the fixed finger 424, and the bayonet 425.

[0042] The walking device 100 includes a front end 101 and a rear end 102. A walking wheel group 110 is installed at the bottom of the walking device 100. A controller and a power system are installed inside the walking device 100. The power system is composed of a motor and a power battery. The powered walking device 100 can move in the direction of the front end 101 and the rear end 102.

[0043] The cone barrel warehouse 200 is installed on the walking device 100. The cone barrel warehouse 200 includes a plurality of cone barrel warehouse units 210. Each cone barrel warehouse unit 210 is arranged on the walking device 100 in the form of a rectangular array. A cone barrel rack 213 is provided in the cone barrel warehouse unit 210. The cone barrel rack 213 is fixedly arranged on the walking device 100. A storage bin 211 is provided on the cone barrel rack 213. A warehouse opening 212 is provided at one end of the cone barrel rack 213. The warehouse opening 212 faces the rear end 102. A partition device 220 is provided in the storage bin 211. The partition device 220 is composed of partitions. The plate 221 and the transmission assembly 230 are composed of a first sprocket assembly 231 and a second sprocket assembly 234. There are two groups of first sprocket assemblies. The two groups of first sprocket assemblies 231 are respectively disposed on both sides of the cone barrel frame 213. The first sprocket assembly 231 includes a first sprocket 232 and a first chain 233 that cooperate with each other. The first chain 233 is located on both sides of the storage bin 211. The partition 221 is installed on the first chain 233 at intervals along the first chain 233. The partitions 221 on the two groups of first sprocket assemblies 231 are arranged at the storage bin 211. 11 is centrally symmetrically arranged, and one end of the first chain 233 is flush with the warehouse opening 212. When the first chain 233 rotates, it can drive the partition 221 to move from the warehouse opening 212 into the storage warehouse 211 or move outward from the warehouse opening 212. The partition 221 and the first chain 233 are perpendicular to each other; the cone barrel storage unit 210 includes a first power source 240 formed by a driving motor, and the second sprocket assembly 234 includes a second sprocket 235 and a second chain 236 that match each other. There are two second sprockets 235, one of which is connected to the storage bin 211. The first sprocket 232 in any group of first sprocket assemblies 231 is coaxially connected, and another second sprocket 235 is coaxially connected to the output end of the first power source 240; the transmission assembly 230 also includes a first gear 237 and a second gear 238 that are meshed with each other, the first gear 237 is coaxially connected to the output end of the first power source 240, and the second gear 238 is coaxially connected to the first sprocket 232 in another group of first sprocket assemblies 231. When the first power source 240 rotates, it can drive the first chain 233 and the second chain 236 to transmit.

[0044] The recovery guide device 300 includes a recovery frame 310 and a fixed seat 360, one end of the fixed seat 360 is fixedly connected to the rear end 102, and the other end of the fixed seat 360 extends vertically from the rear end 102 to the rear of the walking device 100; the recovery frame 310 includes a first frame 311 and a second frame 312; one end of the first frame 311 is hinged to the other end of the fixed seat 360, and the other end of the first frame 311 is hinged to one end of the second frame 312, and the hinge axes at both ends of the first frame 311 are parallel to each other and at the same time perpendicular to the travel direction of the walking device 100, the to-be-grasped portion 320 is arranged on the first frame 311, which is a rectangular square hole structure, and the guide portion 330 is arranged on the second frame 312. 330 is a "V"-shaped channel, with a through port 331 and a feed port 332 respectively provided at both ends of the guide portion 330. The width of the feed port 332 is greater than the width of the through port 331. The through port 331 is opened at the end of the second frame 312 close to the first frame 311, and the feed port 332 is provided at the end of the second frame 312 away from the first frame 311. A dividing corner 333 is provided between each feed port 332. A sensor 340 is installed at the through port 331, and a plurality of rollers 350 in contact with the ground are also installed at the other end of the second frame 312. When the second frame 312 and the first frame 311 are folded, the guide portion 330 can be moved close to the rear end 102 and the rollers 350 and the ground can be separated from each other.

[0045] The grabbing device 400 is installed between the cone barrel library 200 and the recovery guide device 300. The grabbing device 400 includes a mechanical arm 410 and a gripping device 420. One end of the mechanical arm 410 is rotatably connected to the walking device 100, and the rotation axis is perpendicular to the travel direction of the walking device 100. The other end of the mechanical arm 410 can rotate from the recovery guide device 300 to the cone barrel library 200, and the two ends of the mechanical arm 410 can be flexed and extended; the gripping device 420 includes: a first rotating seat 421, a second rotating seat 422 and a movable finger 423. One end of the first rotating seat 421 is connected to the other end of the mechanical arm 410. The first rotating seat 421 is rotatably connected to the second rotating seat 422, and the other end of the first rotating seat 422 is rotatably connected to one end of the second rotating seat 422. A fixed finger 424 is provided at the other end of the second rotating seat 422. A circular arc-shaped bayonet 424 is provided in the middle of the fixed finger 424. There are two movable fingers 423. One end of the two movable fingers 423 is rotatably connected to the two sides of the bayonet 424 respectively. The body of the movable finger 423 is an arc-shaped structure. The other end of the movable finger 423 can rotate toward the bayonet 424 and approach each other, thereby forming an arc-shaped clamping area for grasping the cone barrel. The rotation axes at both ends of the first rotating seat 421 are perpendicular to each other.

[0046] Embodiment 2:

[0047] This embodiment discloses a method for automatically folding and unfolding a cone barrel. The method is implemented on the device for automatically folding and unfolding a cone barrel in the first embodiment. The method comprises the following steps:

[0048] During the cone barrel placement process, the first frame 311 and the second frame 312 in the recovery frame 310 are first folded onto the rear end 102, and the walking device 100 is started to move toward the front end 101. The cone barrel warehouse 200 is driven by the partition device 220 and the transmission assembly 230 to send the cone barrels out from the warehouse opening 212 one by one in a horizontal posture, with their tips facing outwards. The gripper device 420 in the gripping device 400 is in a horizontal state, and the cone barrel is clamped from the warehouse opening 212 under the drive of the mechanical arm 410, and then swung to a vertical state to place the cone barrel at a designated position on the road surface. When the cone barrels in one cone barrel unit 210 are taken out, the gripping device 400 takes the cone barrels from another cone barrel unit 210.

[0049] During the cone barrel recycling process, the first frame 311 and the second frame 312 in the recycling frame 310 are first opened simultaneously, so that the roller 350 is in contact with the ground foundation, and the walking device 100 is started to move toward the rear end 102. The cone barrels within the width range of the walking device 100 randomly enter the feed port 332, and are randomly moved to any part to be grasped 320 through the guide part 330 and the through port 331. The sensor 340 on the through port 331 corresponding to the part to be grasped 320 can sense the entry of the cone barrel. The controller issues an instruction to make the gripper device 420 in the gripping device 400 vertical, and moves the gripper device 420 to the top of the part to be grasped 320 to grasp the cone barrel. Driven by the robotic arm 410, the cone barrel is swung to a horizontal state and placed into the cone barrel warehouse 200 from the warehouse opening 212. The cone barrel is buckled and moved to the storage bin 211 for storage through the partition device 220 and the transmission assembly 230.

[0050] In summary, the device and method of the present invention can realize horizontal stacking storage of cone barrels and increase their storage capacity through the cone barrel warehouse, and the storage separation is convenient; through the grasping device with a mechanical arm and a grasping device, the cone barrels can be placed and recycled into the warehouse with high precision, and the placement range is wide, and full coverage placement and position adjustment within the lane width can be achieved; through the recovery guiding device, the cone barrels at any position within the lane range can be automatically guided to the part to be grasped, waiting for the grasping device to grasp them accurately, and the recovery efficiency is high, and the structure is simple, the reliability is high, the cost is low, and it is easy to maintain.

[0051] The foregoing descriptions of specific exemplary embodiments of the present invention are for the purpose of explanation and illustration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although an embodiment of the present invention has been shown and described, this specific embodiment is only an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can make modifications, substitutions, variations and various selections and changes to the embodiments without creative contribution as needed without departing from the principles and purpose of the present invention after reading this specification, but they are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A fully automatic cone barrel retracting and releasing device, characterized in that: include: A walking device (100), the walking device (100) comprising a front end (101) and a rear end (102), the walking device (100) being capable of moving in the direction of the front end (101) and the rear end (102); A cone barrel storehouse (200) is arranged on the walking device (100), the cone barrel storehouse (200) comprises a plurality of cone barrel storehouse units (210), the cone barrel storehouse unit (210) is provided with a storage bin (211) and a bay opening (212) connected to the storage bin (211), the bay opening (212) faces the rear end (102), a partition device (220) is provided in the storage bin (211), the partition device (220) comprises a plurality of partitions (221) arranged at intervals in the storage bin (211) and a transmission assembly (230), the transmission assembly (230) is capable of driving the partitions (221) to move from the bay opening (212) into the storage bin (211), the cone barrel storehouse unit (210) is further provided with a first power source (240), the output end of the first power source (240) is interconnected with the transmission assembly (230) and provides power to the transmission assembly (230); The recovery guide device (300) comprises a recovery frame (310), one end of the recovery frame (310) is rotatably connected to the rear end (102), a plurality of to-be-grasped parts (320) are provided on the recovery frame (310), each of the to-be-grasped parts (320) is arranged side by side along one side of the walking device (100) toward the other side thereof, a guide part (330) is provided at one end of the to-be-grasped part (320) which is away from the rear end (102), and a through opening (331) is provided between the guide part (330) and the to-be-grasped part (320). ), a feed port (332) is provided at one end of the guide portion (330) away from the portion to be grasped (320), the width of the feed port (332) is greater than the width of the through port (331), a sensor (340) is provided at the through port (331), and a plurality of rollers (350) in contact with the ground are also provided on the recovery frame (310), and when one end of the recovery frame (310) rotates, the guide portion (330) can be moved closer to the rear end (102) and the rollers (350) can be separated from the ground; The grabbing device (400) is arranged between the cone barrel storehouse (200) and the recovery guide device (300), the grabbing device (400) comprising a mechanical arm (410) and a gripping device (420), one end of the mechanical arm (410) is rotatably connected to the walking device (100), the other end of the mechanical arm (410) can be rotated from the recovery guide device (300) to the cone barrel storehouse (200) and can be flexed and extended, the gripping device (420) comprises a first rotating seat (421), a second rotating seat (422), and a second rotating seat (423). A movable seat (422) and a movable finger (423), one end of the first rotating seat (421) is rotatably connected to the other end of the robotic arm (410), the other end of the first rotating seat (421) is rotatably connected to one end of the second rotating seat (422), there are two movable fingers (423) which are rotatably arranged at the other end of the second rotating seat (422), the two movable fingers (423) can approach or move away from each other, and the rotation axes at both ends of the first rotating seat (421) are perpendicular to each other.

2. The fully automatic cone barrel storage and unfolding device according to claim 1 is characterized in that: The walking device (100) is provided with a walking wheel group (110), a power system and a controller, and the power system can drive the walking wheel group (110) to rotate and provide power to the controller.

3. The fully automatic cone barrel storage and unfolding device according to claim 1 is characterized in that: The cone barrel storage unit (210) is provided with a cone barrel rack (213), the cone barrel rack (213) is fixedly arranged on the walking device (100), the storage bin (211) is opened on the cone barrel rack (213), and the bin opening (212) is opened at one end of the cone barrel rack (213).

4. The fully automatic cone barrel storage and unfolding device according to claim 3 is characterized in that: The transmission assembly (230) further comprises a first sprocket assembly (231), wherein the first sprocket assembly (231) comprises two groups, the two groups of the first sprocket assembly (231) being arranged on both sides of the cone barrel frame (213), the first sprocket assembly (231) comprising a first sprocket (232) and a first chain (233) which cooperate with each other, the partition plate (221) being arranged on the first chain (233), and the partition plates (221) on the two groups of the first sprocket assembly (231) being arranged symmetrically.

5. The fully automatic cone barrel storage and unfolding device according to claim 4 is characterized in that: The transmission assembly (230) further comprises a second sprocket assembly (234), wherein the second sprocket assembly (234) comprises a second sprocket (235) and a second chain (236) that match each other, and there are two second sprockets (235) in total, wherein one of the second sprockets (235) is coaxially connected to the first sprocket (232) in any group of the first sprocket assemblies (231), and the other of the second sprockets (235) is coaxially connected to the output end of the first power source (240).

6. The fully automatic cone barrel storage and unfolding device according to claim 5 is characterized in that: The transmission assembly (230) further comprises a first gear (237) and a second gear (238) meshing with each other, wherein the first gear (237) is coaxially connected to an output end of the first power source (240), and the second gear (238) is coaxially connected to the first sprocket (232) in another set of the first sprocket assemblies (231).

7. The fully automatic cone barrel storage and unfolding device according to claim 1 is characterized in that: The recovery guide device (300) further comprises a fixing seat (360), one end of the fixing seat (360) being fixedly connected to the rear end (102), and the other end of the fixing seat (360) extending outward from the rear end (102) and being hinged to one end of the recovery frame (310).

8. The fully automatic cone barrel storage and unfolding device according to claim 7 is characterized in that: The recovery frame (310) comprises a first frame (311) and a second frame (312); one end of the first frame (311) is hinged to the other end of the fixing seat (360); the other end of the first frame (311) is hinged to one end of the second frame (312); the hinge axes at both ends of the first frame (311) are parallel to each other; the to-be-grasped portion (320) is arranged on the first frame (311); the guide portion (330) is arranged on the second frame (312); the through port (331) is arranged at one end of the second frame (312); the feed port (332) is arranged at the other end of the second frame (312); a dividing corner (333) is arranged between each of the feed ports (332); and the roller (350) is arranged at the other end of the second frame (312).

9. The fully automatic cone barrel storage and unfolding device according to claim 1 is characterized in that: A fixed finger (424) is provided at the other end of the second rotating seat (422), and an arc-shaped bayonet (425) is provided in the middle of the fixed finger (424). One end of the two movable fingers (423) are rotatably connected to the two sides of the bayonet (425) respectively, and the other ends of the movable fingers (423) can approach each other toward the bayonet (425), thereby grasping the cone barrel.

10. A method for automatically storing and placing a cone barrel, implemented by the device for automatically storing and placing a cone barrel as claimed in any one of claims 1 to 9, characterized in that: The steps include: The cone barrels are placed by first folding the recovery frame (310) so that the walking device (100) moves in the direction of the front end (101), and the cone barrel warehouse (200) sends the cone barrels out from the warehouse opening (212) one by one through the partition device (220) and the transmission assembly (230). The gripping device (420) in the grasping device (400) is in a horizontal state, and the cone barrel is clamped from the warehouse opening (212) under the drive of the mechanical arm (410), and then swung to a vertical state to place the cone barrel at a designated position on the road surface. When the cone barrels in one cone barrel warehouse unit (210) are taken out, the grasping device (400) takes the cone barrels from another cone barrel warehouse unit (210); To recycle the cone barrel, first, the recycling frame (310) is opened, and the walking device (100) is moved in the direction of the rear end (102). The cone barrel randomly enters the feed port (332) and moves to the waiting portion (320) through the guide portion (330) and the through port (331). The sensor (340) on the through port (331) can sense the entry of the cone barrel, so that the gripping device (420) in the gripping device (400) is in a vertical state, moved to the top of the waiting portion (320) to grip the cone barrel, and driven by the mechanical arm (410), the cone barrel is swung to a horizontal state and placed from the warehouse port (212) into the cone barrel warehouse (200), and the cone barrel is moved to the storage bin (211) for storage through the partition device (220) and the transmission assembly (230).

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