An automatic roadblock placement device and method

Abstract

The present invention discloses an automatic roadblock placement device and method. The roadblocks are stacked and placed on the slider. The conveyor motor is started, the drive belt runs, and the slider moves along the circular conveyor track to the front of the roadblock placement robotic arm. The roadblock placement robotic arm operates, clamps the base of the roadblock, places the roadblock into the U-shaped opening of the placement channel, releases the roadblock, and the roadblock falls to the ground along the placement channel. The trolley moves forward, and the roadblock passes through the rectangular opening. The sleeve rod placement robotic arm operates, extends into the groove of the guardrail, grabs the sleeve rod and moves the sleeve rod to the rear of the placement channel, adjusts the sleeve rod above the roadblock and parallel to the ground. When the distance sensor detects that the distance between the axes of two adjacent roadblocks is equal to the length of the sleeve rod, the sleeve rod placement robotic arm places the sleeve rod and slews the front and rear ends of the sleeve rod on the roadblock. The present invention integrates roadblock placement and sleeve rod placement, has a high degree of automation, and improves the placement efficiency of roadblocks and sleeve rods.

Description

Technical Field

[0001] The present invention relates to the technical field of road safety protection equipment, and particularly relates to an automatic placement device for reflective roadblocks. Background Art

[0002] After a highway is put into use, it will be in a process of being worn out due to natural corrosion or damage caused by other factors. In order to ensure the normal use of the highway, the maintenance and upkeep of the highway are essential tasks. When carrying out various constructions such as highway construction and maintenance, it is usually necessary to place roadblocks. Roadblocks remind passing vehicles and pedestrians during engineering projects or accidents to ensure the personal safety of engineering personnel and road users, or are used for traffic diversion, separation or convergence of pedestrians and vehicle groups. In addition, sometimes it is also necessary to use a sleeve rod to fix the relative position of the roadblock. At present, the automatic roadblock placement device has developed relatively maturely, and can realize the automation of the automatic transportation, storage, placement and recycling system of roadblocks. However, this kind of automatic roadblock collection and placement device has a high cost and needs to be carried by a specific vehicle.

[0003] The document with the Chinese patent publication number CN45757674A discloses an automatic roadblock retracting and placing device, which requires the driver to drive and the staff to cooperate to place the roadblocks, with a low degree of automation, a high cost, and it cannot place the sleeve rods. The document with the Chinese patent publication number CN111305104A discloses an automatic roadblock retracting and placing device, which uses a six-axis robotic arm to realize the automatic placement of roadblocks. However, neither of these two automatic roadblock retracting and placing devices can automatically place the sleeve rods. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic roadblock placement device with a low cost, high efficiency and no need to be carried by a specific vehicle, as well as a method for automatically placing roadblocks.

[0005] To achieve the above purpose, the technical solution adopted by an automatic roadblock placement device of the present invention is as follows: A collection and transmission device is arranged at the rear part above the trolley. Roadblocks and sleeve rods are placed on the collection and transmission device. There is a placement channel perpendicular to the ground on each of the left and right sides of the collection and transmission device. On the upper surface of the rear part of the collection and transmission device, a sleeve rod placement robotic arm is arranged on each of the left and right sides behind the placement channel. A roadblock placement robotic arm is arranged in the middle of the collection and transmission device. The roadblock placement robotic arm takes a roadblock from the collection and transmission device and sends it into the placement channel. The roadblock falls from the placement channel and then passes through the opening of the placement channel as the trolley moves forward and is placed on the ground. A distance sensor for detecting the distance of the roadblock behind the placement channel is arranged on the placement channel. When the distance between two adjacent roadblocks is the same as the length of the sleeve rod, the sleeve rod placement robotic arm takes a sleeve rod and sleeves it on the two roadblocks.

[0006] Furthermore, the bottom of the collection and conveying device is a conveying base fixed to the trolley. A guardrail is provided on each of the left and right sides of the conveying base. A rectangular groove parallel to the ground for storing the sleeve rod is opened on each guardrail. Below the front part of the conveying base, there is a conveying motor perpendicular to the ground. The output shaft of the conveying motor penetrates through the trolley and the conveying base from bottom to top and is coaxially fixedly connected to the driving wheel. The driving wheel is connected to the driven wheel through a transmission belt. A cover plate fixedly connected to the conveying base covers the driving wheel and the driven wheel. An annular conveying track is fixedly arranged on the upper surface of the conveying base. The bottom of the slider is matched with the annular conveying track, and the side of the slider is fixedly connected to the transmission belt.

[0007] Furthermore, the roadblock placing robotic arm is successively composed of a rotating base, three sections of robotic arms, and a U-shaped robotic gripper. The rotating base is rotatably connected to the lower end of the vertical robotic arm. The upper end of the vertical robotic arm is hinged to one end of the first robotic forearm. One end of the first robotic forearm is hinged to one end of the second robotic forearm. The other end of the second robotic forearm is hinged to one end of the U-shaped robotic gripper. A motor is provided at each hinged part to drive the corresponding next section of the arm to rotate.

[0008] Furthermore, the U-shaped robotic gripper includes an upper gripper, a lower gripper, a rubber gasket, a fixed cover plate, and two springs. The other end of the second robotic forearm is hinged to the lower gripper. The upper gripper and the lower gripper have the same structure, both being horizontal U-shaped structures. A limiting groove is also provided at the rear of the U-shaped bottom of the lower gripper. A protruding structure is provided at the U-shaped bottom of the upper gripper. The protruding structure is matched with the limiting groove. The lower end of the spring is fixedly connected to the protruding structure, and the upper end of the spring is fixedly connected to the fixed cover plate. The fixed cover plate is fixedly connected to the U-shaped bottom of the lower gripper.

[0009] Furthermore, the vertical gap between the front parts of the U-shaped openings of the upper gripper and the lower gripper is greater than the vertical thickness of the bottom of the roadblock, and the vertical gap between the middle and rear parts of the U-shaped openings of the upper gripper and the lower gripper is less than the thickness of the bottom of the roadblock.

[0010] Furthermore, the placing channel is fixed to the guardrail and penetrates up and down. An upper section has a U-shaped opening on the side wall facing the guardrail. The left and right widths of the U-shaped opening are the same as the left and right widths of the front parts of the U-shaped openings of the upper gripper and the lower gripper. A rectangular opening communicating with the ground is opened on the rear wall of the lower section of the placing channel. The size of the rectangular opening is just right for the roadblock to pass through the inside of the placing channel. A distance sensor is provided on the rear wall of the placing channel above the rectangular opening.

[0011] The technical solution adopted by the method for automatically placing roadblocks in the present invention is as follows: Stack the roadblocks and place them on the slider. Start the conveyor motor, and the conveyor belt runs. The slider moves along the circular conveyor track to the front of the roadblock placement robotic arm. The roadblock placement robotic arm works, keeping the lower jaw horizontal. The lower jaw aligns with the base of the uppermost roadblock and advances horizontally forward. The upper jaw is lifted by the roadblock base and clamps the roadblock base. Then, the roadblock is placed into the U-shaped opening of the placement channel, and the roadblock is released. The roadblock falls to the ground along the placement channel. The trolley moves forward, and the roadblock passes through the rectangular opening. The trolley continues to move forward, and the distance sensor detects the distance between the trolley and the first roadblock. The roadblock placement robotic arm repeats the operation and places the second roadblock into the placement channel until all the roadblocks on the slider are placed.

[0012] Further, the sleeve rod placement robotic arm works, extends into the groove of the guardrail, grabs the sleeve rod, and then moves the sleeve rod to the rear of the placement channel. The sleeve rod is adjusted above the roadblock and parallel to the ground. When the distance sensor detects that the distance between the axes of the front and rear roadblocks is equal to the length of the sleeve rod, the sleeve rod placement robotic arm places the sleeve rod and slews the front and rear ends of the sleeve rod onto the roadblock.

[0013] The beneficial effects of the present invention are as follows:

[0014] 1. The roadblock automatic placement device of the present invention can not only automatically place roadblocks in the road area where roadblocks need to be set according to a pre-set program, but also automatically place sleeve rods through the sleeve rod placement robotic arm while placing roadblocks. It integrates roadblock placement and sleeve rod placement, with a high degree of automation, improving the placement efficiency of roadblocks and sleeve rods.

[0015] 2. The designed conveyor and collection device of the present invention can not only temporarily store the collected roadblocks, but also collect and store sleeve rods, realizing simple and efficient integrated storage of roadblocks and sleeve rods.

[0016] 3. The roadblock placement robotic arm of the present invention grabs the roadblock. The used U-shaped mechanical jaw for roadblock placement can not only accurately grab the roadblock, but also rely only on the spring to provide the clamping force without the need for additional driving force.

[0017] 4. The present invention determines the interval of roadblock placement through the distance sensor, and can freely adjust and accurately control the spacing of the placed roadblocks. Description of the Drawings

[0018] Figure 1 is an isometric schematic view of a roadblock automatic placement device of the present invention;

[0019] Figure 2 is Figure 1 the side view of

[0020] Figure 3 isFigure 1 The top view of the rotation magnification of the collection and transmission device 3;

[0021] Figure 4 is Figure 3 the right sectional view of;

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

[0023] Figure 6 is Figure 5 the enlarged axonometric schematic diagram of the transmission base 3i in;

[0024] Figure 7 is Figure 1 the enlarged axonometric schematic diagram of the roadblock placement robotic arm 1 in;

[0025] Figure 8 is Figure 7 the enlarged explosion schematic diagram of the mechanical gripper part in;

[0026] Figure 9 is Figure 1 the enlarged axonometric schematic diagram of the placement channel 4 in;

[0027] Figure 10 is Figure 1 the side view of the placement channel 4 near the trolley side in;

[0028] Figure 11 is the state diagram of the roadblock when it is placed into the placement channel 4 at the upper entrance;

[0029] Figure 12 is Figure 1 the enlarged axonometric schematic diagram of the sleeve rod placement robotic arm 2 in;

[0030] Figure 13 is the schematic diagram of the working state of the roadblock and sleeve rod clamping;

[0031] Figure 14 is the schematic diagram of the roadblock clamping state;

[0032] Figure 15 is the schematic diagram of the working state of the roadblock and sleeve rod placement.

[0033] In the figure: 1. Roadblock placement robotic arm; 1a. Roadblock placement robotic arm base; 1b. Vertical robotic arm; 1c. First robotic forearm; 1d. Second robotic forearm; 1e. Fixed cover plate; 1f. Upper gripper; 1g. Lower gripper; 1h. Spring; 1i. Rubber gasket;

[0034] 2. Sleeve rod placement robotic arm; 2a. Base of sleeve rod placement robotic arm; 2b. First section of sleeve rod placement robotic arm; 2c. Second section of sleeve rod placement robotic arm; 2d. Third section of sleeve rod placement robotic arm; 2e. Fourth section of sleeve rod placement robotic arm; 2f. Sleeve rod placement mechanical gripper;

[0035] 3. Roadblock collection and conveying device; 3a. Guardrail; 3b. Cover plate; 3c. Transmission belt; 3d. Driven wheel; 3e. Ring-shaped conveying track; 3f. Driven shaft; 3g. Bearing; 3h. Bearing base; 3i. Conveying base; 3j. Conveying motor; 3k. Driving wheel; 3l. Slide block;

[0036] 4. Placement channel; 4a. Rectangular opening; 4b. U-shaped opening;

[0037] 5. Distance sensor; 6. Cart; 7. Roadblock; 8. Sleeve rod. Detailed implementation manners

[0038] Now, the spatial orientation of the roadblock automatic placement device of the present invention is specified. The initial state is as Figure 1 shown. Taking the orientation of the initial state of the roadblock placement robotic arm 1 as "front", the orientation where the sleeve rod placement robotic arm 2 is located as "rear", the sleeve rod placement robotic arm 2 as "upper", and the ground as "lower". The present invention will be further described below with reference to the accompanying drawings.

[0039] As shown in FIGS. 1, Figure 2 the roadblock automatic placement device of the present invention includes a cart 6, a sleeve rod placement robotic arm 2, a collection and conveying device 3, a placement channel 4, and a distance sensor 5. The cart 6 travels on the road surface with four wheels, and each wheel is equipped with a servo motor and is controlled by a vehicle controller. The vehicle controller integrates GPS and realizes the path planning of the cart through a high-precision map. The collection and conveying device 3 is arranged at the rear part above the cart 6, and both the roadblocks and the sleeve rods are placed on the collection and conveying device 3. There is a placement channel 4 perpendicular to the ground on each of the left and right sides of the collection and conveying device 3, and the placement channel 4 is fixedly connected to the left and right side surfaces of the collection and conveying device 3 by screws. On the upper surface of the rear part of the collection and conveying device 3, a sleeve rod placement robotic arm 2 is arranged on each of the left and right sides. The sleeve rod placement robotic arm 2 is located behind the placement channel 4. A roadblock placement robotic arm 1 is arranged in the middle of the collection and conveying device 3. The roadblock placement robotic arm 1 takes a roadblock from the collection and conveying device 3 and sends it into the placement channel 4. The roadblock falls from the placement channel 4 and, as the cart 6 moves forward, passes through the corresponding opening opened on the placement channel 4 and is stably placed on the ground. A distance sensor 5 is arranged on the placement channel 4 to detect the distance of the roadblock already placed on the road behind the placement channel 4. When the distance between two adjacent roadblocks is the same as the length of the sleeve rod, the sleeve rod placement robotic arm 2 takes a sleeve rod from the collection and conveying device 3 and slews it over the two roadblocks.

[0040] As shown in FIGS. 3, 4, 5, Figure 6 and Figure 7 as shown, the bottom of the collection and transfer device 3 is a transfer base 3i, and the transfer base 3i is fixed on the trolley 6. A guardrail 3a is provided on each of the left and right sides of the transfer base 3i. The guardrail 3a vertically protrudes above the left and right sides of the transfer base 3i. The two guardrails 3a have the same structure and are symmetric about the left and right of the trolley 6. Each guardrail 3a is provided with a rectangular groove parallel to the ground. The length direction of the rectangular groove is the front-back direction and is used for storing the sleeve rod.

[0041] A transfer motor 3j perpendicular to the ground is provided below the front part of the transfer base 3i. The output shaft of the transfer motor 3j penetrates the trolley 6 and the transfer base 3i from bottom to top and is coaxially fixedly connected to the driving wheel 3k. The driving wheel 3k is connected to the driven wheel 3d through a transmission belt 3c. The driven wheel 3d is located at the rear part of the transfer base 3i and is fixed on the driven shaft 3f. The driven shaft 3f is perpendicular to the ground and is connected to the bearing base 3h through the driven bearing 3g. The bearing base 3h is fixedly embedded in the transfer base 3i. A cover plate 3b is covered above the driving wheel 3k and the driven wheel 3d. The cover plate 3b is fixed on the transfer base 3i through a support structure on each of the left and right sides.

[0042] An annular transfer track 3e is fixedly arranged on the upper surface of the transfer base 3i. The annular transfer track �e surrounds the periphery of the driving wheel 3k, the driven wheel 3d and the transmission belt 3c and is located outside the transmission belt 3c. The bottom of the slider 3l is matched with the annular transfer track 3e and can slide along the annular transfer track 3e. The number of sliders 3l is at least one. In the initial state as Figure 3 shown, the side of the slider 3l is fixedly connected to the transmission belt 3c, and the transmission belt 3c can drive the slider 3l to slide along the annular transfer track 3e.

[0043] As Figure 7 , Figure 8 , Figure 9 shown, the roadblock placement robotic arm 1 is sequentially composed of a rotating base 1a, three sections of robotic arms and a U-shaped robotic gripper. The rotating base 1a and the three sections of robotic arms can jointly act to move the U-shaped robotic gripper to a set position. The bottom of the roadblock placement robotic arm 1 is the rotating base 1a. The rotating base 1a is divided into upper and lower parts. The lower part is fixedly welded at the center position of the upper end of the cover plate 3b. The upper part is rotatably connected to the lower end of the vertical robotic arm 1b. The upper part is internally provided with a motor to realize the rotation of the vertical robotic arm 1b in the horizontal plane. The upper end of the vertical robotic arm 1b is hinged to one end of the first robotic forearm 1c. The other end of the first robotic forearm 1c is hinged to one end of the second robotic forearm 1d. The other end of the second robotic forearm 1d is hinged to one end of the U-shaped robotic gripper. Motors are provided at the hinge joints of the vertical robotic arm 1b, the first robotic forearm 1c, the second robotic forearm 1d and the U-shaped robotic gripper to drive the rotation of the corresponding next section of the arm.

[0044] The U-shaped mechanical gripper includes an upper gripper 1f, a lower gripper 1g, a rubber gasket 1i, a fixed cover plate 1e and two springs 1h. The other end of the mechanical arm 2 1d is hinged to the lower gripper 1g. The lower gripper 1g is a horizontal U-shaped structure with the U-shaped opening facing forward. The mechanical arm 2 1d is hinged at the middle position of the U-shaped bottom of the lower gripper 1g. The upper surface of the U-shaped bottom of the lower gripper 1g is a rubber gasket 1i. A limiting groove is also provided at the rear of the U-shaped bottom of the lower gripper 1g. Above the rubber gasket 1i is the upper gripper 1f of the U-shaped structure. The upper gripper 1f and the lower gripper 1g have the same structure and are bonded together directly above the lower gripper 1g via a rubber gasket 1i. A protrusion is provided at the U-shaped base of the upper clamping jaw 1f. This protrusion is located in a retaining groove behind the U-shaped base of the lower clamping jaw 1g. This retaining groove engages with the upper and lower clamping jaws 1f and 1g, allowing them to be locked together at the U-shaped base via the protrusion and the retaining groove. Two springs 1h are positioned above the protrusion, one on the left and one on the right. The lower ends of the springs 1h are fixedly connected to the protrusion, while the upper ends of the springs 1h are fixedly connected to a fixed cover plate 1e. The fixed cover plate 1e fits over the U-shaped bases of the upper and lower clamping jaws 1f and 1g, and is fixedly connected to the U-shaped base of the lower clamping jaw 1g.

[0045] The vertical clearance between the front of the U-shaped opening of the upper and lower jaws 1f and 1g is slightly larger than the thickness of the barrier's bottom. The vertical clearance between the middle and rear of the U-shaped opening of the upper and lower jaws 1f and 1g is slightly smaller than the thickness of the barrier's bottom. When the upper and lower jaws 1f and 1g are clamped together, the force of the barrier's bottom compresses the spring 1h, causing the upper jaw 1f to open upward relative to the lower jaw 1g. When the upper and lower jaws 1f and 1g release, the spring 1h returns the upper jaw 1f to its original position.

[0046] like Figure 2 、 Figure 9 and Figure 10 As shown, the outer side of each guardrail 3a is a placement channel 4 perpendicular to the ground. The placement channel 4 is fixed to the guardrail 3a by screws and is located in the center of the left and right sides of the guardrail 3a. The placement channel 4 is through-through, and the upper section of the placement channel 4 has a U-shaped opening 4b on the side wall facing the guardrail 3a. Figure 11 As shown, the left-right width of the U-shaped opening 4b is consistent with the left-right width of the front portion of the U-shaped opening of the upper clamping jaw 1f and the lower clamping jaw 1g.

[0047] A rectangular opening 4a is formed in the lower rear wall of the placement passage 4. The rectangular opening 4a communicates with the ground, and its size is exactly large enough to allow the roadblock to pass through from the inside of the placement passage 4, so that the roadblock is placed on the ground. A distance sensor 5 is arranged above the rectangular opening 4a. The distance sensor 5 is fixed on the rear wall of the placement passage 4 and is used to detect the distance from the placement passage 4 to the previous roadblock.

[0048] As Figure 1 shown, the sleeve rod placement robotic arms 2 are arranged on the upper surface of the rear end of the guardrail 3a, with one on each side. The two sleeve rod placement robotic arms 2 have the same structure. Figure 12 As shown, the sleeve rod placement robotic arm 2 is composed of a sleeve rod placement robotic arm base 2a, four robotic arms, and a sleeve rod placement robotic gripper 2f. The bottom of the sleeve rod placement robotic arm 2 is the sleeve rod placement robotic arm base 2a. The structure of the sleeve rod placement robotic arm base 2a is similar to that of the roadblock placement robotic arm rotating base 1a, and it is divided into upper and lower parts. The lower part is fixed to the upper surface of the rear end of the guardrail 3a, and the upper part is fixedly connected to one end of the first section 2b of the sleeve rod placement robotic arm. The other end of the first section 2b of the sleeve rod placement robotic arm is hinged to one end of the second section 2c of the sleeve rod placement robotic arm. The other end of the second section 2c of the sleeve rod placement robotic arm is hinged to one end of the third section of the sleeve rod placement robotic arm. The other end of the third section 2d of the sleeve rod placement robotic arm is hinged to one end of the fourth section of the sleeve rod placement robotic arm. The other end of the fourth section 2e of the sleeve rod placement robotic arm is hinged to the sleeve rod placement robotic gripper 2f. Corresponding motors are arranged at the hinge joints of the four robotic arms and the sleeve rod placement robotic gripper 2f to drive the next robotic arm and the sleeve rod placement robotic gripper 2f to rotate, so that the sleeve rod placement robotic gripper 2f moves to the set position. Driven by the corresponding motor, the sleeve rod placement robotic gripper 2f can clamp and release the sleeve rod.

[0049] As Figures 1 to 15 shown, before starting work, stack the roadblocks 7 on the slider 3l, and use manual remote control or a tractor to guide the trolley 6 to the area near where the roadblocks 7 need to be placed, and use a high-precision map to plan the path for the trolley 6 to place the roadblocks. The initial state is as Figure 1 shown. When the device enters the roadblock placement mode, the trolley 6 enters the planned area and keeps moving forward at a constant and slow speed. The collection conveyor 3 starts to operate. Start the conveyor motor 3j to drive the driving wheel 3k to rotate. The driving wheel 3k drives the driven wheel 3d to rotate, and the transmission belt 3c runs. The conveyor belt 3c drives the slider 3l to start moving along the annular conveyor track 3e. According to the preset program, the slider 3l moves to the position directly in front of the roadblock placement robotic arm 1.

[0050] The roadblock placement robotic arm 1 starts to move, keeping the lower gripper 1g horizontal. The roadblock placement robotic arm 1 automatically aligns the lower gripper 1g with the position of the uppermost roadblock base according to the preset program. When the roadblock placement robotic arm 1 moves forward horizontally, the lower gripper 1g is always kept horizontal. Since the gap between the rear parts of the upper gripper 1f and the lower gripper 1g is smaller than the thickness of the roadblock base, as the roadblock placement robotic arm 1 advances, the upper gripper 1f will be lifted by the roadblock base. As shown in Figure 8 , Figure 14 , the upper gripper 1f rotates relative to the lower gripper 1g, and one end of the upper gripper 1f is connected to a spring 1h. The elastic force generated by the spring 1h inhibits this rotation, thereby realizing the automatic clamping of the roadblock base. Then, the rotating base of the roadblock placement robotic arm 1 rotates and the three robotic arms move, and the roadblock is automatically placed at the entrance of the U-shaped opening 4b at the upper end of the placement channel 4 according to the preset program.

[0051] As shown in Figure 10 , Figure 11 , the upper gripper 1f and the lower gripper 1g of the roadblock placement robotic arm 1 can just extend into the U-shaped opening 4b. The roadblock placement robotic arm 1 automatically releases the roadblock 7 according to the program. The upper gripper 1f and the lower gripper 1g of the roadblock placement robotic arm 1 are horizontally withdrawn from the U-shaped opening 4b of the placement channel 4. As shown in Figure 11 , Figure 14 , the structure of the U-shaped opening 4b restricts the horizontal movement of the roadblock 7. Therefore, when the upper gripper 1f and the lower gripper 1g are completely withdrawn from the U-shaped opening 4b at the upper end of the placement channel 4, the roadblock 7 immediately detaches from the upper gripper 1f and the lower gripper 1g, and then falls to the ground along the placement channel 4 due to gravity. The trolley 6 continues to move forward, and the roadblock 7 passes through the rectangular opening 4a at the rear of the placement channel 4. At the same time, the roadblock placement robotic arm 1 returns to its initial state, completing the placement of the first roadblock.

[0052] The trolley 6 continues to move forward. The distance sensor 5 detects the distance between the trolley 6 and the first roadblock. When it detects that the distance between the trolley 6 and the first roadblock reaches the set distance, the roadblock placement robotic arm 1 repeats the operation and places the second roadblock into the placement channel 4 until the roadblocks 7 on the first slider 3l are all placed. At this time, the collection and conveying device 3 is started again, and the next slider 3l stacked with roadblocks 7 is moved to the position of the first slider 3l at the front, and then the roadblocks 7 are placed again in the same way.

[0053] As shown in Figure 13 , Figure 15As shown, the sleeve rod placement robotic arm 2 automatically extends the sleeve rod placement robotic gripper 2f into the groove of the guardrail 3a according to a pre-set program. The collected sleeve rods 8 are stored in the groove. The motor built into the sleeve rod placement robotic arm 2 drives the sleeve rod placement robotic gripper 2f to automatically grasp the sleeve rod 8 and lift the sleeve rod 8 horizontally. The base 2a of the sleeve rod placement robotic arm rotates, driving the four-section robotic arm to move the sleeve rod 8 behind the placement channel 4. The sleeve rod placement robotic arm 2 adjusts the sleeve rod 8 to a certain height above the roadblock and parallel to the ground. When the distance sensor 5 detects that the distance between the axes of the two roadblocks 7 is equal to the length of the sleeve rod 8, the sleeve rod placement robotic arm 2 automatically places the sleeve rod 8 according to the pre-set program, slipping the front and rear ends of the sleeve rod 8 onto the roadblocks 7. Then, the sleeve rod placement robotic arm 2 returns to its initial state and repeats the above sleeve rod 8 placement process according to the program control.

Claims

1. An automatic roadblock placement device, including a trolley (6), characterized in that: A collection and transfer device (3) is arranged at the rear part above the trolley (6). The roadblocks and the sleeve rods are placed on the collection and transfer device (3). There is a placement channel (4) perpendicular to the ground on each of the left and right sides of the collection and transfer device (3). On the upper surface of the rear part of the collection and transfer device (3), a sleeve rod placement robotic arm (2) is arranged on each of the left and right sides behind the placement channel (4). A roadblock placement robotic arm (1) is arranged in the exact middle of the collection and transfer device (3). The roadblock placement robotic arm (1) picks up a roadblock from the collection and transfer device (3) and sends it into the placement channel (4). When the roadblock falls from the placement channel (4), it passes through the opening of the placement channel (4) and is placed on the ground as the trolley (6) moves forward. A distance sensor (5) for detecting the distance of the roadblock behind the placement channel (4) is arranged on the placement channel (4). When the distance between two adjacent roadblocks is the same as the length of the sleeve rod, the sleeve rod placement robotic arm (2) picks up a sleeve rod and puts it on the two roadblocks. The bottom of the collection and transfer device (3) is a transfer base (3i) fixed on the trolley (6). A guardrail (3a) is arranged on each of the left and right sides of the transfer base (3i). Each guardrail (3a) is provided with a rectangular groove parallel to the ground for storing sleeve rods. A transfer motor (3j) perpendicular to the ground is arranged below the front part of the transfer base (3i). The output shaft of the transfer motor (3j) penetrates the trolley (6) and the transfer base (3i) from bottom to top and is coaxially and fixedly connected to a driving wheel (3k). The driving wheel (3k) is connected to a driven wheel (3d) through a transmission belt (3c). A cover plate (3b) fixedly connected to the transfer base (3i) is arranged above the driving wheel (3k) and the driven wheel (3d). An annular transfer track (3e) is fixedly arranged on the upper surface of the transfer base (3i). The bottom of the slider (3l) is matched with the annular transfer track (3e), and the side of the slider (3l) is fixedly connected to the transmission belt (3c).

2. The automatic roadblock placement device according to claim 1, characterized in that: The roadblock placement robotic arm (1) is composed of a rotating base (1a), three sections of robotic arms and a U-shaped robotic gripper connected in sequence. The rotating base (1a) is rotatably connected to the lower end of a vertical robotic arm (1b). The upper end of the vertical robotic arm (1b) is hinged to one end of a first robotic forearm (1c). The other end of the first robotic forearm (1c) is hinged to one end of a second robotic forearm (1d). The other end of the second robotic forearm (1d) is hinged to one end of the U-shaped robotic gripper. A motor is arranged at each hinged part to drive the corresponding next section of the arm to rotate.

3. The automatic roadblock placement device according to claim 2, characterized in that: The U-shaped robotic gripper includes an upper gripper (1f), a lower gripper (1g), a fixed cover plate (1e) and two springs (1h). The other end of the second robotic forearm (1d) is hinged to the lower gripper (1g). The upper gripper (1f) and the lower gripper (1g) have the same structure, both being horizontal U-shaped structures. A limiting groove is arranged behind the U-shaped bottom of the lower gripper (1g). A protruding structure is arranged at the U-shaped bottom of the upper gripper (1f). The protruding structure is matched with the limiting groove. The lower end of the spring (1h) is fixedly connected to the protruding structure, and the upper end of the spring (1h) is fixedly connected to the fixed cover plate (1e). The fixed cover plate (1e) is fixedly connected to the U-shaped bottom of the lower gripper (1g).

4. The automatic roadblock placement device according to claim 3, characterized in that: The vertical gap between the front U-shaped openings of the upper gripper (1f) and the lower gripper (1g) is greater than the vertical thickness of the bottom of the roadblock, and the vertical gap between the middle and rear parts of the U-shaped openings of the upper gripper (1f) and the lower gripper (1g) is less than the thickness of the bottom of the roadblock.

5. The automatic roadblock placement device according to claim 4, characterized in that: The placement channel (4) is fixed on the guardrail (3a) and runs through vertically. There is a U-shaped opening (4b) on the upper section facing the side wall of the guardrail (3a). The left-right width of this U-shaped opening (4b) is the same as the left-right width of the front U-shaped openings of the upper gripper (1f) and the lower gripper (1g); there is a rectangular opening (4a) communicating with the ground on the rear wall of the lower section of the placement channel (4). The size of the rectangular opening (4a) is exactly such that the roadblock can pass through from the inside of the placement channel (4). A distance sensor (5) is provided on the rear wall of the placement channel (4) above the rectangular opening (4a).

6. The automatic roadblock placement device according to claim 1, characterized in that: The sleeve rod placement robotic arm (2) is arranged on the upper surface of the rear end of the guardrail (3a) and is successively hinged by a sleeve rod placement robotic arm base (2a), four robotic arms, and a sleeve rod placement robotic gripper (2f). A corresponding motor is provided at each hinge to drive the next robotic arm and the sleeve rod placement robotic gripper (2f) to rotate. The sleeve rod placement robotic gripper (2f) can clamp and release the sleeve rod under the drive of the corresponding motor.

7. A method for placing roadblocks using the roadblock automatic placement device according to claim 5, characterized in that: Stack the roadblocks and place them on the slider (3l). Start the conveyor motor (3j), and the conveyor belt (3c) runs. The slider (3l) moves along the annular conveyor track (3e) to the front of the roadblock placement robotic arm (1); The roadblock placement robotic arm (1) works. Keep the lower gripper (1g) horizontal. The lower gripper (1g) aligns with the bottom of the uppermost roadblock and advances horizontally forward. The upper gripper (1f) is lifted by the bottom of the roadblock, clamps the bottom of the roadblock, puts the roadblock into the U-shaped opening (4b) of the placement channel (4), releases the roadblock, and the roadblock falls to the ground along the placement channel (4). The trolley (6) moves forward, and the roadblock passes through from the rectangular opening (4a); The trolley (6) continues to move forward, and the distance sensor (5) detects the distance between the trolley (6) and the first roadblock; The roadblock placement robotic arm (1) repeats the work and puts the second roadblock into the placement channel (4) until all the roadblocks on the slider (3l) are placed.

8. The method of placing roadblocks according to claim 7, characterized in that: The sleeve rod placement robotic arm (2) works, extends into the groove of the guardrail (3a), grabs the sleeve rod and moves the sleeve rod to the rear of the placement channel (4), adjusts the sleeve rod above the roadblock and parallel to the ground. When the distance sensor (5) detects that the distance between the axes of the front and rear roadblocks is equal to the length of the sleeve rod, the sleeve rod placement robotic arm (2) places the sleeve rod and sleeves the front and rear ends of the sleeve rod on the roadblock.

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