An automatic collecting device and method for traffic cones and sleeve rods

Abstract

The present invention discloses an automatic collection device and method for traffic cones and sleeve rods. The rotating and grasping sleeve rod robotic arm clamps the middle section of the sleeve rod, and the transfer robotic arm rotates to a designated position to grasp the middle section of the sleeve rod, and places the sleeve rod in the groove of the collection conveyor device. The traffic cone grasping jaw clamps the bottom of the traffic cone to lift the traffic cone, and the top of the traffic cone passes through the notch of the trolley platform and enters the palletizing device housing. The conical robotic arm jacks up the traffic cone from bottom to top and jacks it into the palletizing device housing. The large arm of the handling mechanism rotates backward, places the palletizing device housing above the slider, and the upward protruding enclosure on the slider enters the palletizing device housing and acts on the limiting cone. The limiting cone retracts, and the traffic cones in the palletizing device housing fall on the slider. The motor of the collection conveyor device operates, and the slider and the traffic cones thereon are rotated away through the conveyor belt. The present invention uses a palletizing device to automatically palletize traffic cones in a certain quantity, autonomously completes the collection of traffic cones and sleeve rods, and reduces the risk of manual collection.

Description

Technical Field

[0001] The present invention belongs to the technical field of road administration warning, and relates to a collecting device for road signs, specifically a device for collecting road signs such as traffic cones and sleeve rods. Background Art

[0002] Traffic cones, also known as conical traffic road signs and ice cream cones, are commonly called road cones and are generally temporary road signs in the shape of a cone or a cylinder. Traffic cones are usually placed on the road during engineering construction or accidents to remind passing vehicles and pedestrians, ensuring the personal safety of engineering personnel and road users. They can also be used for traffic diversion, separating or converging traffic flows and vehicle groups. Generally, a sleeve rod is connected between two traffic cones to block the passage of vehicles and pedestrians.

[0003] Currently, in the work of road maintenance, traffic cones are mainly collected manually. Due to the large traffic flow on highways or ordinary roads, this collection method exposes construction workers to a dangerous traffic environment, increasing the working risks of workers. The document with the Chinese patent application number 201710686518.9 and the name "Automatic Road Cone Releasing and Collecting Vehicle" discloses a road cone releasing and collecting vehicle that can realize the placement and collection of traffic cones. However, it needs to be installed on an additional vehicle platform and cannot move by itself. During the process of collecting traffic cones, the transport vehicle needs to be controlled by the driver to move and align with the traffic cones, and it can only release and collect traffic cones and cannot release and collect the sleeve rods between two traffic cones. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic collecting device for traffic cones and sleeve rods that can solve the above problems, which does not require an additional vehicle platform and manual operation and can collect traffic cones and sleeve rods simultaneously.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions for an automatic collecting device for traffic cones and sleeve rods: At the rear part above the trolley platform is a collecting conveyor device. On the upper left and right sides of the collecting conveyor device are grooves for collecting sleeve rods, and in the middle above is a conveyor belt for transporting traffic cones; in the middle of the front part above the trolley platform is a traffic cone handling mechanism that can convey traffic cones to the collecting conveyor device; on the left and right sides of the middle part of the trolley platform, close to the front, are each provided with a transfer robotic arm, and on the left and right sides below the front end of the trolley platform are each provided with a sleeve rod grasping robotic arm. After the sleeve rod grasping robotic arm grasps the sleeve rod, it conveys it to the transfer robotic arm, and the transfer robotic arm places the sleeve rod in the groove; above the front end of the trolley platform is an intelligent camera, and directly in the middle below the front end of the trolley platform is a traffic cone grasping robotic arm, and directly in the middle below the middle of the trolley platform is a conical robotic arm. After the traffic cone grasping robotic arm grasps the traffic cone, it conveys it to the bottom of the traffic cone handling mechanism, and the conical robotic arm pushes the traffic cone at the bottom of the traffic cone handling mechanism upward into the traffic cone handling mechanism.

[0006] Further, the bottom of the collection and transfer device is a horizontal base fixedly connected to the trolley platform. Grooves are formed in the guardrails on both the left and right sides of the base, and a waist-shaped slot is formed in the middle of the base. Below the front end of the waist-shaped slot, a collection and transfer device motor vertically upward passes through the waist-shaped slot and is fixedly connected to the driving wheel. The driving wheel is connected to the driven wheel through a transmission belt, and the driven wheel is connected to the base through a bearing and a driven shaft. Two horizontally arranged sliders are fixedly connected to the outer side wall of the transmission belt, and the two sliders cooperate with the waist-shaped track below them. The track surrounds the outer periphery of the waist-shaped slot in the middle of the base. Around the upper surface of each slider, there is an upward protruding fence, and traffic cones can be placed between the fences.

[0007] Further, the top of the traffic cone grasping robotic arm is a rotating base fixed on the trolley platform. Inside the rotating base, there is a vertically arranged motor that drives the top rotating joint to rotate. The lower end of the top rotating joint is hinged to the upper end of the robotic arm's large arm. The lower end of the robotic arm's large arm is hinged to the rear end of the robotic arm's small arm. The front end of the robotic arm's small arm is sequentially hinged to the wrist joint and the traffic cone grasping jaw. The top rotating joint, the robotic arm's large arm, the robotic arm's small arm, and the wrist joint are all driven by horizontally arranged motors to rotate in the vertical plane. The traffic cone grasping jaw is driven by the motor inside it to clamp or release the traffic cone.

[0008] Furthermore, the traffic cone handling mechanism has a rotating base and a palletizing device housing. The palletizing device housing is placed on the trolley platform, and a notch is formed in the trolley platform directly below the bottom of the palletizing device housing. The rotating base is fixed on the trolley platform through the rotating base. Inside the rotating base, there is a vertically upward arranged motor, and the motor shaft is fixedly connected to the large arm. The large arm is inclined forward and upward and hinged to the first rotating joint. The motor inside the large arm drives the first rotating joint to rotate around the hinge. The upper and lower ends of the small arm are respectively hinged to the first rotating joint and the second rotating joint. The first rotating joint and the second rotating joint are respectively driven by motors inside the upper and lower ends of the small arm to rotate around their respective hinges. A horizontally backward motor is arranged inside the rear wall of the palletizing device housing, and the motor shaft is fixedly connected to the second rotating joint. The palletizing device housing is cylindrical, and two horizontal blind holes are provided on both sides of the inner wall bottom. Limiting springs are installed in the blind holes, and the limiting springs are fixedly connected to the limiting cones extending out of the blind holes.

[0009] Furthermore, the top of the conical robotic arm is a base fixed on the trolley platform. Below the base, a horizontally and transversely arranged conical robotic arm motor is provided to drive the upper end of the conical robotic arm's large arm to rotate. The lower end of the conical robotic arm's large arm is fixedly connected to a hollow cone body having the same shape as the traffic cone.

[0010] The technical solution adopted by the method for automatically collecting traffic cones and sleeve rods in the present invention is as follows: Rotate the mechanical arm for grasping the sleeve rod to clamp the middle section of the sleeve rod, lift the sleeve rod away from the traffic cone, rotate backward to a specified position, the transfer mechanical arm rotates to the specified position to grasp the middle section of the sleeve rod, and after the mechanical arm for grasping the sleeve rod releases, it returns to the initial position; the transfer mechanical arm rotates backward, places the sleeve rod in the groove of the collection conveyor device, and completes one collection of the sleeve rod.

[0011] The mechanical arm for grasping the traffic cone rotates, the clamping jaws of the traffic cone gripper clamp the bottom of the traffic cone to lift the traffic cone, move it directly below the housing of the palletizing device, and the top of the traffic cone passes through the notch of the trolley platform and enters the housing of the palletizing device.

[0012] The conical mechanical arm moves upward to make the cone body face upward, and jacks up the traffic cone from bottom to top; the clamping jaws of the traffic cone gripper release the traffic cone simultaneously and then return to the original position; the traffic cone is jacked upward by the conical mechanical arm and enters the housing of the palletizing device. When passing through the limiting cone, the limiting spring is compressed, and after the traffic cone passes, the limiting cone pops out to prevent the traffic cone from falling; then the conical mechanical arm returns to the initial position, and one collection of the traffic cone is completed.

[0013] The motor of the collection conveyor device rotates to drive an empty slider to rotate to the front end of the track under the drive of the conveyor belt. The large arm of the handling mechanism rotates backward, places the housing of the palletizing device above the slider, and the upward protruding enclosure on the slider enters the housing of the palletizing device and acts on the limiting cone, causing the limiting cone to retract. The traffic cones in the housing of the palletizing device fall onto the slider; the traffic cone handling mechanism returns to the initial position, and the motor of the collection conveyor device operates to transfer the slider and the traffic cones on it away through the conveyor belt.

[0014] Advantages of the present invention:

[0015] 1. After the present invention is remotely controlled by an operator to the vicinity of the traffic cones, it can automatically collect traffic cones and sleeve rods without manual operation, reducing the workload of collecting traffic cones and sleeve rods, having a low cost, being easy to operate, and effectively reducing the work risk of road maintenance personnel.

[0016] 2. The present invention uses a palletizing device to automatically palletize traffic cones in a certain quantity and has the function of collecting sleeve rods, which most existing traffic cone collection devices do not have, further reducing the manual workload.

[0017] 3. When the present invention is performing the collection work, it can move relying on its own power without the need for an additional vehicle platform, and can independently complete the collection of traffic cones and sleeve rods, greatly reducing the manual collection risk. Description of the Drawings

[0018] Figure 1 It is an axonometric schematic diagram of an automatic traffic cone and sleeve rod collection device of the present invention;

[0019] Figure 2is Figure 1 front view of

[0020] Figure 3 is Figure 1 enlarged axonometric schematic diagram of transfer robot arm 1 in

[0021] Figure 4 is Figure 1 enlarged rotating top view of collection conveyor 3 in

[0022] Figure 5 is Figure 4 explosion schematic diagram of

[0023] Figure 6 is Figure 4 rotating sectional view of

[0024] Figure 7 is Figure 1 enlarged sectional view of traffic cone handling mechanism 4 in

[0025] Figure 8 is Figure 1 enlarged left view of grasping sleeve robot arm 5 in

[0026] Figure 9 is Figure 1 enlarged axonometric schematic diagram of traffic cone grasping robot arm 7 in

[0027] Figure 10 is Figure 2 enlarged view of conical robot arm 8 in

[0028] Figure 11 is Figure 1 partial axonometric view of the working state of the grasping sleeve of grasping sleeve robot arm 5 in the automatic collection device shown in

[0029] Figure 12 is Figure 1 partial sectional view of the working state of collecting traffic cones by the automatic collection device shown in

[0030] In the figure: 1. Transfer robotic arm; 1a. Rotating base of the transfer robotic arm; 1b. First section of the transfer robotic arm; 1c. Second section of the transfer robotic arm; 1d. Third section of the transfer robotic arm; 1e. Fourth section of the transfer robotic arm; 1f. Transfer gripper; 2. Cart platform; 3. Collection and conveying device; 3a. Motor of the collection and conveying device; 3b. Driving wheel; 3c. Slide block; 3d. Guardrail; 3e. Cover plate; 3f. Transmission belt; 3g. Driven wheel; 3h. Track; 3i. Driven shaft; 3j. Bearing; 3k. Base of the collection and conveying device; 4. Traffic cone handling mechanism; 4a. Rotating base of the handling mechanism; 4b. Big arm of the handling mechanism; 4c. Second rotating joint; 4d. Small arm of the handling mechanism; 4e. First rotating joint; 4f. Housing of the palletizing device; 4g. Limiting cone; 4h. Limiting spring; 5. Gripping sleeve rod robotic arm; 5a. Rotating rod of the gripping sleeve rod robotic arm; 5b. Telescopic cylinder of the gripping sleeve rod robotic arm; 5c. Telescopic rod of the gripping sleeve rod robotic arm; 5d. Gripper of the gripping sleeve rod robotic arm; 6. Intelligent camera; 7. Traffic cone gripping robotic arm; 7a. Top rotating base; 7b. Top rotating joint; 7c. Big arm of the traffic cone gripping robotic arm; 7d. Small arm of the traffic cone gripping robotic arm; 7e. Wrist joint; 7f. Traffic cone gripping gripper; 8. Conical robotic arm; 8a. Base of the conical robotic arm; 8b. Motor of the conical robotic arm; 8c. Big arm of the conical robotic arm; 8d. Hollow cone body. Detailed implementation mode

[0031] For ease of understanding, it is defined that Figure 1 in the traffic cone gripping robotic arm 7 is "front", and its opposite direction is "rear", and the position of the intelligent camera 6 relative to the traffic cone gripping robotic arm 7 is "up", and its opposite direction is "down".

[0032] As Figure 1 and Figure 2 shown, an automatic traffic cone collection device of the present invention includes a transfer robotic arm 1, a cart platform 2, a collection and conveying device 3, a traffic cone handling mechanism 4, a gripping sleeve rod robotic arm 5, an intelligent camera 6, a traffic cone gripping robotic arm 7, and a conical robotic arm 8.

[0033] The cart platform 2 is equipped with four wheels to move on the ground, and each wheel is driven by a horizontally and transversely arranged motor, and the wheel motors turn through the speed difference between the left and right sides.

[0034] At the rear above the cart platform 2 is the collection and conveying device 3. There are grooves for collecting sleeves on the left and right sides above the collection and conveying device 3, and a transmission belt for conveying traffic cones is provided at the middle position above the collection and conveying device 3. In the middle of the front above the cart platform 2, a traffic cone handling mechanism 4 is arranged. The traffic cone handling mechanism 4 is directly in front of the collection and conveying device 3 and can convey traffic cones to the collection and conveying device 3 at the rear.

[0035] On the left and right sides of the front part of the middle of the trolley platform 2, a transfer robotic arm 1 is provided respectively. The transfer robotic arm 1 is directly in front of the grooves on the left and right sides of the collection conveyor 3. Under the front end of the trolley platform 2, on the left and right sides respectively, a grasping sleeve rod robotic arm 5 is provided. One grasping sleeve rod robotic arm 5 is located directly below and in front of one transfer robotic arm 1. These four robotic arms, namely the two transfer robotic arms 1 and the two grasping sleeve rod robotic arms 5, jointly form a sleeve rod collection system. The grasping sleeve rod robotic arm 5 is used to grasp the sleeve rod, then convey the sleeve rod backward to the transfer robotic arm 1, and the transfer robotic arm 1 conveys it backward again to place the sleeve rod in the grooves on the left and right sides of the collection conveyor 3.

[0036] Above the front end of the trolley platform 2 is an intelligent camera 6. The intelligent camera 6 is directly in front of the traffic cone handling mechanism 4. The intelligent camera 6 is hinged to the front end of the trolley platform 2 and is equipped with a motor to adjust the depression angle of the camera. The intelligent camera 6 is used to identify the traffic cone features in the obtained image. The trolley platform 2 moves to the set collection position according to the traffic cone features in the image.

[0037] In the middle directly below the front end of the trolley platform 2 is a traffic cone grasping robotic arm 7. In the middle directly below the middle of the trolley platform 2 is a conical robotic arm 8. The conical robotic arm 8 is arranged behind the bottom of the traffic cone handling mechanism 4, and the traffic cone grasping robotic arm 7 is in front of the bottom of the traffic cone handling mechanism 4. The traffic cone grasping robotic arm 7, the conical robotic arm 8 and the traffic cone handling mechanism 4 jointly form a traffic cone collection system. The traffic cone grasping robotic arm 7 is used to grasp the traffic cone and convey the traffic cone to the bottom of the traffic cone handling mechanism 4 behind. The conical robotic arm 8 pushes the traffic cone at the bottom of the traffic cone handling mechanism 4 upward so that the traffic cone enters the traffic cone handling mechanism 4 and is stacked one by one in the traffic cone handling mechanism 4.

[0038] Such as Figure 3As shown, the structures of the two transfer robotic arms 1 are the same, symmetrically arranged left and right along the trolley platform 2, and both are L-shaped. The bottom of the transfer robotic arm 1 is a rotating base 1a, the central axis of the rotating base 1a is horizontal left and right, the rotating base 1a is fixedly connected to the front left and right sides of the middle part of the trolley platform 2, and the inside of the rotating base 1a contains a robotic arm motor arranged horizontally left and right. The rotating shaft of the robotic arm motor is fixedly connected to the lower end of the first section 1b of the robotic arm. In the initial position, the first section 1b of the robotic arm is vertically arranged. The upper end of the first section 1b of the robotic arm is hinged to the rear end of the second section 1c of the robotic arm arranged horizontally in the front-rear direction. The first section 1b of the robotic arm can be driven by the robotic arm motor to rotate around the center of the rotating base 1a in the vertical plane. The front end of the second section 1c of the robotic arm is successively hinged to the third section 1d and the fourth section 1e of the robotic arm arranged horizontally in the front-rear direction. Among them, each section of the robotic arm has its own motor inside. The first section 1b of the robotic arm has a motor arranged vertically upward, the second section 1c of the robotic arm has a motor arranged horizontally left and right, the third section 1d of the robotic arm has a motor arranged vertically upward, and the fourth section 1e of the robotic arm is driven by the motors arranged vertically upward, horizontally left and right, and vertically upward inside the first section 1b, the second section 1c, and the third section 1d of the robotic arm to rotate around the hinge rotating shaft. At the front end of the fourth section 1e of the robotic arm, a transfer gripper 1f is hinged. The transfer gripper 1f has two grippers on the left and right. The two grippers are connected by a clamping mechanism to a clamping motor. The clamping motor is fixed to the front end of the fourth section 1e of the robotic arm. The two grippers can be driven by the clamping motor to clamp and release. Each of the two grippers is provided with an arc-shaped groove on the opposite side for clamping the traffic cone sleeve rod.

[0039] As Figure 4 , Figure 5 and Figure 6 shown, the collection and transfer device 3 is located at the rear part above the trolley platform 2. Its bottom is a horizontal base 3k, and the base 3k is fixedly connected to the upper surface of the trolley platform 2. A U-shaped guardrail 3d is surrounded at the rear side and the left and right sides of the base 3k. Grooves are opened on the guardrails 3d on the left and right sides, and the traffic cone sleeve rod can be placed into the grooves from above. A waist-shaped groove is opened in the middle of the base 3k, and the lower part of the waist-shaped groove is closed and not penetrated. A motor 3a is arranged below the front end of the waist-shaped groove. The motor 3a vertically passes through the waist-shaped groove and is coaxially fixedly connected to a driving wheel 3b. The driving wheel 3b is connected to a driven wheel 3g through a transmission belt 3f. The driven wheel 3g is located at the rear side of the driving wheel 3b. The driven wheel 3g is connected to a driven shaft 3i through a driven bearing 3j. The driven shaft 3i is vertically installed at the rear end of the waist-shaped groove of the base 3k. When the motor 3a works, the driving wheel 3b and the transmission belt 3f drive the driven wheel 3g to rotate in the horizontal plane.

[0040] On the outer sidewall of the transmission belt 3f, two horizontally arranged sliders 3c are fixedly connected. Below the two sliders 3c, there is a waist-shaped track 3h. The track 3h surrounds the outer periphery of the waist-shaped groove in the middle of the base 3k and is arranged on the upper surface of the base 3k. The two sliders 3c cooperate with the track 3h and can slide along the track 3h. At the same time, the sides of the two sliders 3c are fixedly connected to the transmission belt 3f. Therefore, when the two sliders 3c rotate with the conveyor belt 3f, they slide along the track 3h at the same time. Around the upper surface of each slider 3c, there are upwardly protruding baffles. The distance between the baffles is slightly larger than the diameter of the traffic cone. The traffic cone can be placed between the baffles, so that the traffic cone is placed on the slider 3c in a balanced manner and moves with the slider 3c. Above the driving wheel 3b, the transmission belt 3f and the driven wheel 3g, a cover plate 3e is installed. The cover plate 3e is fixed on the base 3k and does not move.

[0041] As Figure 8 shown, the grasping sleeve rod manipulator 5 can clamp and loosen the traffic cone sleeve rod. Above it is the rotating rod 5a. The initial position of the rotating rod 5a is horizontally obliquely backward and outward. One end of the rotating rod 5a is hinged to the trolley platform 2 by a vertically upward hinge. Inside the trolley platform 2, there is a vertically downward arranged motor (the motor is omitted in the figure), which can drive the rotating rod 5a to rotate in the horizontal plane. The other end of the rotating rod 5a is vertically downward hinged to the telescopic cylinder 5b by a vertically arranged rotating shaft. Inside the telescopic cylinder 5b, there is a vertically upward arranged motor, which drives the telescopic cylinder 5b to rotate around the vertical rotating shaft. The output end of the telescopic cylinder 5b is connected to the telescopic rod 5c. The telescopic rod 5c can be driven by the telescopic cylinder 5b to move up and down. The lower end of the telescopic rod 5c is fixedly connected to the grasping sleeve rod jaw 5d. Inside the telescopic rod 5c, there is a motor. During operation, it drives the fingers of the grasping sleeve rod jaw 5d to move. The grasping sleeve rod jaw 5d is clamped by a mechanism driven by the motor inside the telescopic rod 5c. The inner contour of the grasping sleeve rod jaw 5d is the same as the outer contour of the traffic cone sleeve rod and is used to clamp or loosen the sleeve rod.

[0042] As Figure 9As shown, the traffic cone grasping robotic arm 7 can drive the clamping, releasing, and conveying of traffic cones. Its top is a rotating base 7a, which is fixed to the lower surface of the front part of the trolley platform 2. A rotating joint 7b is connected directly below the rotating base 7a. Inside the rotating base 7a, there is a vertically downward arranged motor that can drive the top rotating joint 7b to rotate around the motor shaft. The lower end of the top rotating joint 7b is hinged to the upper end of the robotic arm's large arm 7c. The initial position of the robotic arm's large arm 7c is in the vertical direction. The lower end of the robotic arm's large arm 7c is hinged to the rear end of the robotic arm's small arm 7d. The front end of the robotic arm's small arm 7d is successively hinged to the wrist joint 7e and the traffic cone grasping jaw 7f. The initial position of the robotic arm's small arm 7d is horizontally forward. The top rotating joint 7b, the robotic arm's large arm 7c, the robotic arm's small arm 7d, and the wrist joint 7e are all connected by horizontally arranged hinges and are all driven by horizontally arranged motors to rotate in the vertical plane. The initial position of the wrist joint 7e is horizontally forward. Inside the wrist joint 7e, there is a horizontally forward arranged motor. The traffic cone grasping jaw 7f is fixed to the motor shaft inside the wrist joint 7e and can be driven by the motor to rotate around the motor shaft. The inner side of the traffic cone grasping jaw 7f is arc-shaped and is the same as the horizontal outer circular surface shape of the bottom of the traffic cone. Inside the traffic cone grasping jaw 7f, there is a motor that can drive the traffic cone grasping jaw 7f to clamp or release the traffic cone.

[0043] As Figure 2 and Figure 10 shown, the top of the conical robotic arm 8 is a base 8a, which is fixed to the lower surface of the trolley platform 2. A horizontally arranged motor 8b is fixed below the base 8a. The initial position of the large arm 8c of the conical robotic arm is vertical. Its upper end is hinged to the base 8a by a horizontally arranged hinge. The large arm 8c of the robotic arm can be driven by the motor 8b to rotate around the hinge in the vertical plane. The lower end of the large arm 8c of the conical robotic arm is fixedly connected to a hollow cone body 8d, and the shape of the hollow cone body 8d is the same as that of the traffic cone. The initial position is horizontally forward.

[0044] As Figure 7As shown, the traffic cone handling mechanism 4 has a rotating base 4a and a palletizing device housing 4f. The rotating base 4a is fixed to a position near the front of the upper surface of the trolley platform 2 through the rotating base 4a. The rotating base 4a contains a vertically upward arranged motor, and the motor shaft is fixedly connected to the boom 4b, which can drive the boom 4b to rotate in the horizontal plane. The boom 4b is inclined forward and upward, and its upper end is connected to the first rotating joint 4e by a horizontally forward arranged hinge. The motor inside the boom 4b can drive the first rotating joint 4e to rotate around the hinge. The initial position of the forearm 4d is inclined downward, and its upper and lower ends are respectively connected to the first rotating joint 4e and the second rotating joint 4c by horizontally transverse arranged hinges. There is a motor at each of the upper and lower ends inside the forearm 4d. The first rotating joint 4e and the second rotating joint 4c can respectively rotate around their respective hinges driven by the motors at the upper and lower ends inside the forearm 4d. The palletizing device housing 4f is provided with a horizontally backward motor inside the rear wall of the palletizing device housing 4f. The motor shaft is fixedly connected to the second rotating joint 4c, which can drive the palletizing device housing 4f to rotate around the hinge. The palletizing device housing 4f is cylindrical and placed on the trolley platform 2. At the same time, a notch that penetrates up and down and is the same size as the palletizing device housing 4f is opened on the trolley platform 2 directly below the bottom of the palletizing device housing 4f, so that the palletizing device housing 4f communicates with the lower part of the trolley platform 2 through the notch. The internal length and width are slightly larger than the diameter of the traffic cone and also slightly larger than the outer dimension of the slider 3c protruding from the enclosure. The traffic cones inside the palletizing device housing 4f can be neatly stacked under the constraint of the palletizing device housing 4f. On both sides of the bottom of the inner wall of the palletizing device housing 4f, there are two horizontal blind holes, and two horizontal limiting springs 4h are installed in the blind holes. The limiting springs 4h are fixedly connected to the limiting cones 4g. The limiting cones 4g extend out of the blind holes towards the center of the housing and can be pressed into the palletizing device housing 4f when the traffic cone enters from below. After the traffic cone passes, the limiting springs 4h rebound to prevent the traffic cone from falling.

[0045] During use, first manually guide or remotely control the trolley platform 2 to reach near the traffic cone and make the trolley platform 2 face the traffic cone. When the trolley platform 2 recognizes the target traffic cone through the intelligent camera 6, adjust the position of the trolley platform 2 according to the recognition result and work requirements. The trolley platform 2 will move towards the traffic cone and continuously adjust its direction until it stops when the traffic cone is within the working range of the traffic cone grasping robotic arm 7. Next, the operator remotely controls and selects the collection sleeve rod mode or the collection traffic cone mode as needed.

[0046] As Figure 11As shown, when the device enters the sleeve rod collection process, the mobile trolley platform 2 positions the traffic cone to the left or right of the front of the trolley platform 2. Rotate the sleeve rod manipulator 5 so that the grasping sleeve rod jaw 5d is above the middle section of the sleeve rod. Then its telescopic rod 5c extends downward. When the jaw 5d touches the middle section of the sleeve rod, the telescopic rod 5c stops moving. The jaw 5d clamps the middle section of the sleeve rod, and the manipulator telescopic rod 5c contracts upward to the highest position, lifting the sleeve rod away from the traffic cone. Next, control the rotation rod 5a of the grasping sleeve rod manipulator to rotate backward to a specified position diagonally backward. The joints of the transfer manipulator 1 rotate to the specified positions so that the transfer jaw 1f grabs the middle section of the sleeve rod. The grasping sleeve rod manipulator jaw 5d releases, and the grasping sleeve rod manipulator 5 rotates back to the initial position to complete the transfer. Then the joints of the transfer manipulator 1 rotate backward, and the sleeve rod is placed in the groove of the guardrail 3d in the collection conveyor 3 for placing the traffic cone sleeve rod, completing one sleeve rod collection process.

[0047] As Figure 12 shown, when the device enters the traffic cone collection process, adjust the position of the trolley platform 2 so that the traffic cone stops moving when it is about 400 mm backward under the intelligent camera 6. The traffic cone grasping manipulator 7 rotates so that the traffic cone grasping jaw 7f clamps the bottom of the traffic cone. After grasping, the traffic cone is lifted, and while keeping the traffic cone upright, it is moved directly below the palletizing device housing 4f. The top of the traffic cone passes through the notch of the trolley platform 2 and enters the palletizing device housing 4f. Then, the conical manipulator 8 slowly rotates upward by 90°, making the cone body 8d face upward, and pushing the traffic cone upward from the bottom. At the same time as the traffic cone contacts the cone body 8d, the traffic cone grasping jaw 7f releases the traffic cone, and then the traffic cone grasping manipulator 7 returns to its original position. The traffic cone is pushed upward by the conical manipulator 8 into the palletizing device housing 4f of the traffic cone handling mechanism 4. When the bottom of the traffic cone passes through the limit cone 4g, the limit spring 4h is compressed, and the limit cone 4g retracts into the palletizing device housing 4f to allow the traffic cone to pass. After the traffic cone passes, the limit cone 4g pops out to prevent the traffic cone from falling, completing the collection of one traffic cone. After completing the above work, the conical manipulator 8 returns to the initial position for the collection of the next traffic cone. When the next traffic cone is pushed into the palletizing device housing 4f, the previous traffic cone will be pushed upward. Since the internal length and width of the palletizing device housing 4f are the same as the diameter of the traffic cone, the traffic cones entering the palletizing device housing 4f are neatly stacked up and down under the constraint. The designed quantity of traffic cones collected by the traffic cone handling mechanism 4 at one time is 10.

[0048] When the number of traffic cones in the traffic cone handling mechanism 4 reaches 10, the device enters the handling process. The motor 3a of the collection and conveying device rotates to make an empty slider 3c rotate to the front end of the track 3h driven by the conveyor belt 3f. The boom 4b of the handling mechanism rotates backward driven by the internal motor of the handling mechanism rotating base 4a. At the same time, each robotic arm joint adjusts its position, and the palletizing device housing 4f is placed above the slider 3c of the collection and conveying device 3. The palletizing device housing 4f and the traffic cones therein fall downward under the action of gravity. The surrounding plates protruding around the slider 3c enter the palletizing device housing 4f. The surrounding plates act on the limit cone 4g, pressing the limit cone 4g back and retracting it into the palletizing device housing 4f, so that the traffic cones in the palletizing device housing 4f fall on the slider 3c. After the traffic cones have fallen, the joint motors of the traffic cone handling mechanism 4 lift the palletizing device housing 4f upward to a sufficient height so that it does not touch the traffic cones, and the traffic cone handling mechanism 4 returns to its initial position. At the same time, the motor 3a of the collection and conveying device works, and the slider 3c and the traffic cones thereon are rotated away through the conveyor belt 3f, completing one handling process.

Claims

1. An automatic collection device for traffic cones and rods, comprising a trolley platform (2), characterized by: At the rear above the trolley platform (2) is the collection and conveying device (3). On the left and right sides above the collection and conveying device (3), there are grooves for collecting sleeve rods, and in the middle above, there is a conveyor belt for conveying traffic cones; in the middle of the front part above the trolley platform (2), there is a traffic cone handling mechanism (4) that can convey traffic cones to the above-mentioned collection and conveying device (3). On the left and right sides near the front of the middle part of the trolley platform (2), there is a transfer robotic arm (1) respectively. Below the left and right sides of the front end of the trolley platform (2), there is a grasping sleeve rod robotic arm (5) respectively. After the grasping sleeve rod robotic arm (5) grasps the sleeve rod, it conveys it to the transfer robotic arm (1), and the transfer robotic arm (1) places the sleeve rod in the above-mentioned groove. Above the front end of the trolley platform (2) is the intelligent camera (6). Exactly in the middle below the front end of the trolley platform (2) is the traffic cone grasping robotic arm (7). Exactly in the middle below the middle of the trolley platform (2) is the conical robotic arm (8). After the traffic cone grasping robotic arm (7) grasps the traffic cone, it conveys it to the bottom of the traffic cone handling mechanism (4), and the conical robotic arm (8) pushes the traffic cone at the bottom of the traffic cone handling mechanism (4) upward into the traffic cone handling mechanism (4). At the bottom of the collection and conveying device (3) is a horizontal base (3k) fixedly connected to the trolley platform (2). On the guardrails (3d) on the left and right sides of the base (3k), there are grooves. In the middle of the base (3k), there is a kidney-shaped slot. Below the front end of the kidney-shaped slot, there is a collection and conveying device motor (3a) that vertically passes through the kidney-shaped slot and is fixedly connected to the driving wheel (3b). The driving wheel (3b) is connected to the driven wheel (3g) through a conveyor belt (3f), and the driven wheel (3g) is connected to the base (3k) through a bearing (3j) and a driven shaft (3i); on the outer sidewall of the conveyor belt (3f), two horizontally arranged sliders (3c) are fixedly connected. The two sliders (3c) cooperate with the kidney-shaped track (3h) below them, and the track (3h) surrounds the outside of the kidney-shaped slot in the middle of the base (3k); around the upper surface of each slider (3c), there is an upward protruding fence, and traffic cones can be placed between the fences.

2. The automatic collecting device for traffic cones and sleeve rods according to claim 1, characterized in that: Above the grasping sleeve rod robotic arm (5) is a rotating rod (5a) that can rotate on a horizontal plane. One end of the rotating rod (5a) is hinged to the trolley platform (2), and the other end is hinged to a telescopic cylinder (5b). The output end of the telescopic cylinder (5b) is connected to a telescopic rod (5c). Inside the telescopic rod (5c), there is a telescopic rod motor that drives the grasping sleeve rod jaw (5d) to clamp or release the sleeve rod.

3. The automatic collecting device for traffic cones and sleeve rods according to claim 2, characterized in that: The bottom of the transfer robot arm (1) is a rotating base (1a) fixedly connected to the trolley platform (2). The rotating base (1a) is connected to the lower end of the first section (1b) of the robot arm through the robot arm motors arranged horizontally on the left and right sides inside the rotating base (1a). The upper end of the first section (1b) of the robot arm is hinged to the rear end of the second section (1c) of the robot arm horizontally in front and back. The front end of the second section (1c) of the robot arm is hinged to the third section (1d) of the robot arm horizontally in front and back and the fourth section (1e) of the robot arm in turn. The fourth section (1e) of the robot arm is rotated by the motors provided in the first section (1b), the second section (1c) of the robot arm and the third section (1d) of the robot arm respectively. The front end of the fourth section (1e) of the robot arm is hinged to the transfer clamp (1f). A clamping motor is provided at the front end of the fourth section (1e) of the robot arm to drive the transfer clamp (1f) to clamp or release the sleeve rod.

4. A traffic cone and sleeve rod automatic collection device according to claim 1, characterized in that: traffic The top of the cone grabbing robot arm (7) is a rotating base (7a) fixed on the trolley platform (2). The rotating base (7a) contains a vertically arranged motor, which drives the top rotating joint (7b) to rotate. The lower end of the top rotating joint (7b) is hinged to the upper end of the robot arm (7c), and the lower end of the robot arm (7c) is hinged to the rear end of the robot arm (7d). The front end of the robot arm (7d) is hinged to the wrist joint (7e) and the traffic cone grabbing claw (7f) in turn. The top rotating joint (7b), the robot arm (7c), the robot arm (7d), and the wrist joint (7e) are all driven by a horizontally arranged motor to rotate in a vertical plane. The traffic cone grabbing claw (7f) is driven by its internal motor to clamp or release the traffic cone.

5. The automatic collection device for traffic cones and rods according to claim 4, characterized in that: The traffic cone transport mechanism (4) comprises a rotating base (4a) and a stacking device shell (4f), wherein the stacking device shell (4f) is placed on the trolley platform (2), and a notch is provided on the trolley platform (2) directly below the bottom of the stacking device shell (4f); the rotating base (4a) is fixed to the trolley platform (2) through the rotating base (4a), and the rotating base (4a) contains a motor arranged vertically upward, and the motor shaft is fixedly connected to the arm (4b), and the arm (4b) is tilted forward and upward to hinge the first rotating joint (4e), and the motor inside the arm (4b) drives the first rotating joint (4e) to rotate around the hinge. The chain rotates, and the upper and lower ends of the small arm (4d) are respectively hinged to the first rotating joint (4e) and the second rotating joint (4c). The first rotating joint (4e) and the second rotating joint (4c) are respectively driven by the motors at the upper and lower ends inside the small arm (4d) to rotate around their respective hinges. A horizontally backward motor is provided inside the rear wall of the stacking device housing (4f), and the motor shaft is fixedly connected to the second rotating joint (4c). The stacking device housing (4f) is cylindrical, and two horizontal blind holes are provided on both sides of the bottom of the inner wall. The blind holes are equipped with limit springs (4h), and the limit springs (4h) are fixedly connected to the limit cones (4g) extending out of the blind holes.

6. The automatic collecting device for traffic cones and sleeves according to claim 5, characterized in that: At the top of the conical robotic arm (8) is a base (8a) fixed to the trolley platform (2). Below the base (8a), a conical robotic arm motor 8b is horizontally and transversely arranged to drive the upper end of the large arm 8c of the conical robotic arm to rotate. The lower end of the large arm 8c of the conical robotic arm is fixedly connected to a hollow cone body 8d having the same shape as a traffic cone.

7. A method for automatically collecting traffic cones and sleeve rods using the device according to claim 6, characterized in that: The rotation and grasping sleeve rod robotic arm (5) clamps the middle section of the sleeve rod, takes the sleeve rod away from the traffic cone, rotates backward to a specified position, the transfer robotic arm (1) rotates to the specified position to grasp the middle section of the sleeve rod, and the grasping sleeve rod robotic arm (5) returns to the initial position after loosening; the transfer robotic arm (1) rotates backward and places the sleeve rod in the groove in the collection conveyor device (3), completing the collection of one sleeve rod. The traffic cone grasping robotic arm (7) rotates, and the traffic cone grasping jaw (7f) clamps the bottom of the traffic cone to lift the traffic cone, moves to directly below the palletizing device housing (4f), and the top of the traffic cone passes through the notch of the trolley platform (2) and enters the palletizing device housing (4f). The conical robotic arm (8) makes the cone body (8d) face upward and jacks up the traffic cone from bottom to top; the traffic cone grasping jaw (7f) simultaneously releases the traffic cone and returns to its original position; the traffic cone is jacked upward into the palletizing device housing (4f) by the conical robotic arm (8). When passing through the limit cone (4g), the limit spring (4h) is compressed, and after the traffic cone passes, the limit cone (4g) pops out to prevent the traffic cone from falling; then the conical robotic arm (8) returns to the initial position, completing the collection of one traffic cone. The collection conveyor device motor (3a) rotates to drive an empty slider (3c) to rotate to the front end of the track (3h) under the drive of the conveyor belt (3f). The large arm (4b) of the handling mechanism rotates backward and places the palletizing device housing (4f) above the slider (3c). The upward protruding fence on the slider (3c) enters the palletizing device housing (4f) and acts on the limit cone (4g), and the limit cone (4g) retracts. The traffic cone in the palletizing device housing (4f) falls on the slider (3c); the traffic cone handling mechanism (4) returns to the initial position, and the collection conveyor device motor (3a) operates to turn the slider (3c) and the traffic cone thereon away through the conveyor belt (3f).

8. The method for automatically collecting traffic cones and sleeve rods according to claim 7, characterized in that: When the next traffic cone is jacked into the palletizing device housing (4f), the previous traffic cone is jacked up, and the traffic cones entering the palletizing device housing (4f) are neatly stacked up and down.

9. The method for automatically collecting traffic cones and rods according to claim 7, characterized in that: The trolley platform (2) identifies the traffic cone through the intelligent camera (6) and adjusts the position of the trolley platform (2) until the traffic cone is within the working range of the traffic cone grasping robotic arm (7).

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