Sandbag counterweight type 90 road cone automatic placing and recycling system

Abstract

The invention discloses a sandbag balance weight type 90 road cone automatic placing and recycling system which comprises an automatic storage mechanism, a sandbag and road cone separating and combining mechanism, a shifting and righting mechanism, an automatic retracting and releasing mechanism, a rotary conveying mechanism, a mechanical arm and other auxiliary mechanisms, and the rotary conveying mechanism comprises a motor, a key, a shaft, a gear meshing mechanism, a rotary disc and a conveying belt. The rotary conveying mechanism is mainly used for rotating the road cones to the designated position after the road cones are taken out of a warehouse, the motor is a power source of the rotary mechanism and provides power for rotation of the rotary disc, the motor is started, rotating force is transmitted to the gear meshing mechanism through the transmission shaft, and then the conveying belt rotates to achieve the conveying function. According to the sandbag balance weight type 90 road cone automatic placing and recycling system, a sandbag and road cone combination body is placed on the road surface, recycling work on the road is completed, automatic work is achieved, the placing efficiency is improved, manpower is liberated, and the operation content is achieved in a circulating and reciprocating mode.

Description

Technical Field

[0001] The invention relates to the technical field of placing road cones, and in particular to an automatic placing and recycling system for sandbag-balanced 90-degree road cones. Background Art

[0002] With the needs of social production and people's daily life and travel, the passenger volume of highways in my country is also very large. Due to the long-term wear and impact of private cars and trucks on the roads, as well as the damage caused by natural factors such as heavy rain and sun exposure, the quality of highways has been declining year by year with the use of time, and many highways built in the early days have also entered the peak maintenance period. In order to ensure the smooth flow of roads, roads must be frequently maintained and maintained. Therefore, people pay more and more attention to highway maintenance.

[0003] The current placement and recycling methods rely on manual operations, which are labor-intensive and time-consuming. Manual operations are prone to errors, resulting in uneven placement of road cones, affecting the traffic guidance effect. Accidents are prone to occur during manual placement and recycling, posing a threat to the safety of workers. However, traditional road cones are prone to falling over or even deviating from their original positions in extremely bad weather or strong winds, affecting traffic and may even cause traffic accidents. Summary of the invention

[0004] The invention discloses a sandbag counterweight type 90° road cone automatic placement and recovery system, aiming to solve the technical problems in the background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A sandbag counterweight type 90 road cone automatic placement and recovery system comprises an automatic storage mechanism, a sandbag road cone separation and combination mechanism, a knocking down and straightening mechanism, an automatic retracting and releasing mechanism, a rotating transmission mechanism, a mechanical arm and other auxiliary mechanisms. The rotating transmission mechanism comprises a motor, a key, a shaft, a gear meshing mechanism, a turntable and a conveyor belt, and the rotating transmission mechanism is mainly used to complete the rotation of the road cone to a specified position after it is taken out from the warehouse. The motor is the power source of the rotating mechanism and provides power for the rotation of the turntable. When the motor is started, the rotation force is transmitted to the gear meshing mechanism through the transmission shaft, and then the conveyor belt rotates to realize the transmission function. The mechanical arm comprises a motor, an internal gear meshing mechanism and a nut screw mechanism, which cooperate with each other to complete the lifting, grasping and placing actions of the mechanical claw on the road cone. The mechanical arm comprises linear lifting motion and rotational motion. The linear motion is provided by the motor as the power source, and the rotational force of the motor is converted into linear motion through the screw nut to meet the linear motion of the mechanical arm. The rotational motion of the mechanical arm is completed by the cooperation of the motor at the bottom of the support rod and the internal meshing gear. The various components cooperate with each other to complete the rotation and linear motion of the mechanism arm.

[0007] In a preferred embodiment, the body parameter design includes the following steps:

[0008] S1: Structural design of the rotary transmission mechanism;

[0009] S2: Structural design of the road cone transmission mechanism;

[0010] S3: Structural design of the robot arm lifting mechanism;

[0011] S4: Design of the tilting and righting frame;

[0012] S5: Overall 3D modeling.

[0013] In a preferred solution, the structural design of the rotating transmission mechanism includes a driving scheme structural design and a transmission scheme structural design, the driving scheme structural design includes calculating the torque and the motor torque, the transmission scheme structural design includes calculating gear parameters, designing gears, designing pinions, calculating the tooth surface contact fatigue strength, calculating the gear transmission mechanism size and verifying gears, the road cone transmission mechanism design: after the road cone is transferred to a specified position by the rotating mechanism, the road cone is transferred to the knocking down and straightening area and to the road cone collection bin by a conveyor belt, the conveyor belt is composed of a chain, a gear and a sprocket, and the road cone transmission mechanism design includes selecting a chain, calculating the chain size and designing a sprocket.

[0014] In a preferred solution, the structural design of the robotic arm lifting mechanism includes a drive scheme structural design, a nut and screw mechanism structural design, and a linear guide rail structural design. The drive scheme structural design includes determining motor parameters and verifying motor overload conditions. The knockdown and righting frame is responsible for righting the road cone from a fallen state or knocking it down for placement and recovery. When the road cone is in a fallen state, the knockdown and righting frame can right it, which is the righting function. When the road cone needs to be recovered, the knockdown and righting frame can knock the road cone down, which is the knockdown function.

[0015] In a preferred embodiment, the sprocket design includes the method of designing the sprocket and selecting the sprocket tooth profile, the structural design of the nut screw mechanism includes designing the nut screw, calculating the outer diameter of the nut screw shaft, determining the nut screw accuracy, selecting the nut screw stroke, determining the nut screw model and calculating the buckling load, and the linear guide rail structural design includes involving guide rail components, calculating the rated life L and selecting the linear guide rail pair.

[0016] As can be seen from the above, the sandbag counterweight type 90 road cone automatic placement and recovery system provided by the present invention has the following technical effects:

[0017] 1. Place the sandbag and road cone combination on the road surface and complete the recovery work on the highway to realize automation, improve placement efficiency, and free up manpower. Repeat the operation to complete the work content. It should be able to operate normally during the operation, not prone to failure, and improve the practicality of the entire design. A good solution to the sandbag set on the road cone to realize automatic placement and recovery functions, reduce labor intensity, and improve work efficiency. It can achieve the stability and accuracy of the placement and recovery of road cones during the vehicle's uniform speed.

[0018] 2. Based on the traditional automatic placement and recycling system of road cones, the design structure is innovated in combination with the actual situation. The existing methods of automatic placement and recycling of road cones are analyzed to find the existing problems of road cone placement and recycling, and the optimal solution is designed. This design is in line with the concept of economic and environmental protection design. There are two principles: first, it effectively improves the production efficiency of the equipment; second, it effectively saves many resources.

[0019] 3. Design the lifting and rotating mechanism of the sandbag counterweight 90-degree cone automatic placement and recovery system, and ensure that the rotating mechanism can work stably and efficiently through the cooperation of components such as motors, shafts, and gear meshing mechanisms. In addition, the robot arm lifting mechanism components are mainly calculated. The robot arm can not only complete complex motion tasks and operations, but also complete the grabbing of road cones and move them to the required placement position through precise control and coordination.

[0020] 4. The original intention of the design of this sandbag counterweight 90 road cone automatic placement and recycling system is to reduce manual labor, improve work efficiency, reduce the damage rate of road cones and thus achieve a sustainable development strategy. This design can reduce the risks brought by manual operation. In addition, the automation system can improve the efficiency of road cone placement and recycling, reduce traffic congestion caused by construction, and thus reduce fuel consumption and automobile emissions. Finally, the automation equipment of this design can reduce the demand for traditional road cones. Because the accuracy of the automation equipment can reduce the damage rate of road cones, thereby reducing the use of materials such as plastic or rubber.

[0021] The designed rotating transmission mechanism is more practical, with simple structure, strong adaptability and high mechanical strength. Finally, a device for automatically placing and recovering counterweight traffic cones is designed, which has the advantages of accurate and reliable transmission, easy manufacturing, simple operation, convenient maintenance and high transmission efficiency.

[0022] 5. The motor in the rotating transmission mechanism is the power source of the rotating mechanism, providing power for the rotation of the turntable. When the motor starts, the rotational force is transmitted to the gear meshing mechanism through the transmission shaft, and then the conveyor belt rotates to realize the transmission function. The function of the rotating transmission mechanism is completed; the linear motion in the robot arm moving mechanism is powered by the motor, and the rotational force of the motor is converted into linear motion through the lead screw to meet the linear motion of the robot arm. The rotation of the robot arm is completed by the cooperation of the motor at the bottom of the support rod and the meshing structure inside the gear. The various components cooperate with each other to complete the rotation and linear motion of the robot arm. In order to ensure the stability and safety of the equipment, the relevant parameters of the core components need to be determined. Finally, verification work is required for safety reasons. The three-dimensional model of the road cone retracting and releasing system is completed using SolidWorks, which provides a certain entity foundation for simulation analysis and provides good technical support for subsequent processing entities. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a road cone size and appearance diagram of a sandbag counterweight type 90 road cone automatic placement and recovery system proposed by the present invention.

[0024] Figure 2 This is a side view of the preliminary design of the overall mechanism layout of a sandbag counterweight type 90 road cone automatic placement and recovery system proposed by the present invention.

[0025] Figure 3 This is a structural diagram of the mechanical arm lifting mechanism of the sandbag counterweight type 90 road cone automatic placement and recovery system proposed by the present invention.

[0026] Figure 4 This is a structural diagram of a knocking-down and righting frame of a sandbag-counterweight 90-degree road cone automatic placement and recovery system proposed by the present invention.

[0027] Figure 5 This is a three-dimensional overall assembly diagram of a sandbag counterweight type 90 road cone automatic placement and recovery system proposed by the present invention. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] Reference Figure 1-Figure 5, a sandbag counterweight type 90 road cone automatic placement and recovery system, including an automatic storage mechanism, a sandbag road cone separation and combination mechanism, a knocking down and straightening mechanism, an automatic retracting and releasing mechanism, a rotating transmission mechanism, a mechanical arm and other auxiliary mechanisms, the rotating transmission mechanism includes a motor, a key, a shaft, a gear meshing mechanism, a turntable and a conveyor belt, and the rotating transmission mechanism is mainly used to complete the road cone after being taken out from the warehouse and rotated to a specified position, the motor is the power source of the rotating mechanism, and provides power for the rotation of the turntable. When the motor is started, the rotational force is transmitted to the gear meshing mechanism through the transmission shaft, and then the conveyor belt rotates to realize the transmission function, the mechanical arm includes a motor, an internal gear meshing mechanism and a nut screw mechanism, which cooperate with each other to complete the lifting, grasping and placing actions of the mechanical claw on the road cone, the mechanical arm includes linear lifting motion and rotational motion, the linear motion is provided by the motor The power source, the rotational force of the motor is converted into linear motion through the screw nut to meet the linear motion of the mechanical arm, the rotational motion of the mechanical arm is completed by the cooperation of the motor at the bottom of the support rod and the internal meshing gear, and the various components cooperate with each other to complete the rotation and linear motion of the mechanism arm.

[0030] In a preferred embodiment, in order to meet the design requirements of the sandbag counterweight type 90 road cone automatic placement and recovery system, according to the industry standard requirements, the specific design parameters are as follows;

[0031] Traffic cone specifications

[0032] 1. Traffic cones can be placed and recovered on both the left and right sides;

[0033] 2. Placement of road cones at different intervals (2m, 4m, 6m);

[0034] 3. The working speed is between 5-10km / h;

[0035] 4. The road cone uses Ansera 90 rubber road cone, model 1B00532, size 900*460mm, weight 4.5kg;

[0036] Sandbag Specifications

[0037] 1. The material of the sandbag should be easily damaged; [Hard rubber ring]

[0038] 2. The number of sandbags stored should match the number of road cones stored;

[0039] 3. The time for assembling sandbags and traffic cones should be as small as possible;

[0040] 4. The shape and material of the sandbag should be easy to grab (mechanical structure grabbing or cylinder suction cup grabbing);

[0041] 5. The diameter of the sandbag is 380mm, with a hollow structure of 50mm inner diameter, 70mm outer diameter, and 10mm wall thickness. It is equipped with two openings to facilitate sand injection and discharge as well as fixation between sandbags;

[0042] 6. Taking the average value of coarse and fine yarn, the weight of sand is 1500kg per cubic meter, and the designed sand bag capacity is about 342.26cm 3 , can hold sand between 0.5-0.6kg.

[0043] In a preferred embodiment, when designing the mechanical equipment, J-GK6089-6AC61-RB is finally used as the motor model, and the specific parameters of the motor are calculated by the following steps:

[0044] The motor uses N to represent its output working speed, which is greater than 60r / min. 10 kg is its total weight, and a force of 10 kg is applied. The initial estimate is 0.6 kilowatts is its approximate rated power, and its power is determined through a series of calculations. This design ensures that the equipment meets the use requirements, and then the smallest possible structural size should be adopted to achieve the purpose of simplifying the structural size of the equipment.

[0045] Pw represents the motor capacity:

[0046] Pw=FV / 1000=10*60 / 1000=0.6

[0047] F——Required driving force; N

[0048] V——movement speed of the device, m / s;

[0049] The safety factor should be taken into account and 0.75 kW should be used as its rated power.

[0050] 1. Calculate the running speed of the motor output

[0051] Calculate its maximum speed: n 电机 =1000rpm, p n =0.75KW, T 输出(动) =550nm

[0052] Calculate the total transmission ratio, the formula is:

[0053]

[0054] n 电机 =1000rpm, substituting into the formula we get:

[0055]

[0056] Through calculation, it can be obtained that its operating speed should exceed 0.3r / s. Only in this way can it be guaranteed to work normally and the requirements of this design are met.

[0057] 2. Calculate torque

[0058] The total transmission efficiency is represented by η,

[0059] The transmission efficiency of the motor, key, and gear meshing gear is expressed as η 1 η 2 η 3 To express.

[0060] η 1 η 2 η 3 The values ​​are 0.99, 0.97, and 0.98;

[0061] By calculation, we can get:

[0062] η=η 1 η 2 η 3 =0.941

[0063]

[0064] T 电机输出 — output torque;

[0065] Because the type used is a servo motor with a rated torque of 31.5Nm, It is the safety factor obtained through calculation. Finally, by analyzing a series of parameters, it can be concluded that the motor is suitable for use and is in line with the design of this mechanical equipment.

[0066] 3. Motor torque

[0067] When the equipment is running, the motor will be powered off as the equipment is powered off. At this time, the axial load may reach 320,000N. Therefore, this indicator should be used as a reference for selecting the motor.

[0068] Calculate the nut preload according to the following formula:

[0069] F 0 =0.06·[C a ]=0.06×577.1×10 3 ≈34626N

[0070] The static axial load is calculated according to the following formula:

[0071] F a静max =F a静 -F 0 =320000-34626=285374N

[0072] Calculate the static load T of the screw pair according to the following formula 丝杠(静) :

[0073]

[0074] Calculate the servo motor output shaft load torque T according to the following formula 电机(静) :

[0075]

[0076] Because the type used is a servo motor with a rated torque of 36N.m, It is the safety factor obtained through calculation, and finally a series of parameters are analyzed to determine that the motor is suitable for use.

[0077] In a preferred embodiment, the gear parameters are calculated:

[0078] Based on the actual design requirements, m = 2.5 is finally used as the actual gear module. We know that: Z 1 =40, Z 2 =160, a=20°, n=10~20r / min, 25N.m is its transmission torque. Mechanical equipment should work for more than eight hours a day and have a service life of more than 5 years. When processing and producing gears, the final material used is 40Cr. After the machining is completed, the first step is to temper the small gear with a tooth surface hardness of 280HBS; the material used for processing and manufacturing large gears is 45 steel. After the machining is completed, the first step is to temper the large gear with a tooth surface hardness greater than 240HBS, so that there is a hardness difference of 40HBS between them. Only in this way can their service life not differ too much. Otherwise, some serious failures will occur. Therefore, this solution is very good in terms of economy.

[0079] In a preferred embodiment, the pinion is designed

[0080] (1) When designing the pinion, the structural scheme adopted is the spur gear structure, and α = 20° is the actual pressure angle value.

[0081] (2) The small gear can achieve a level 7 machining accuracy.

[0082] (3) The material used in the processing and production of small gears is 40Cr. The first step after production is to temper the small gears so that the tooth surface hardness of the small gears is 280HBS. The material used in the processing and manufacturing of large gears is 45 steel. After machining, the first step is to temper the large gears so that the tooth surface hardness of the large gears is greater than 240HBS, so that there is a hardness difference of 40HBS between them.

[0083] (4) Z 1=40 is the number of teeth on the pinion gear, substitute it into the following formula Z 2 =Z 1 ×i=40×4=160.

[0084] In a preferred embodiment, the tooth contact fatigue strength is calculated

[0085] (1) The pinion pitch circle diameter is calculated using the following formula:

[0086] We know that:

[0087]

[0088] The final value is: K Ht =1.3

[0089] (2) Calculate the torque transmitted by the pinion according to the following formula:

[0090]

[0091] The final value of the tooth width coefficient is The final value of the zone coefficient is ZH = 2.49

[0092] Then the elastic influence coefficient of the processed material can be calculated: ZE = 189.8√MPa

[0093] (3) Calculate the overlap coefficient Zε according to the following formula:

[0094]

[0095] (4) According to the following formula, the contact fatigue allowable stress [σ H ]The calculation process of the two gears is as follows:

[0096] σ Hlim1 =600Mpa,σ Hlim2 =550Mpa

[0097] The number of stress cycles is calculated according to the following formula:

[0098] N L1 =60njL h =60×1440×1×16×300×8=3.318×10 9

[0099]

[0100] Based on the actual situation, the contact fatigue coefficient of the pinion is calculated. Substituting it into the formula, we can get: K HN1 =0.98, K HN2 =0.98

[0101] The failure probability base is: 1%, S = 1, substituting into the formula we get:

[0102]

[0103] The value of contact fatigue allowable stress is [σ H1 ]、[σ H2 ]The smaller of these two values, then we can get:

[0104] [σ H ]=539MPa

[0105] (5) Calculate the pitch circle diameter of the pinion according to the following formula

[0106] We know that:

[0107]

[0108] The value was finally determined to be 100 mm.

[0109] ① Calculate a series of parameters

[0110] The peripheral speed ν is calculated according to the following formula:

[0111]

[0112] Calculate the tooth width b according to the following formula:

[0113]

[0114] ②The load factor KH is calculated according to the following formula: K A =1.25, v=2.94m / s, machining accuracy level is 7, Kv=1.056 Calculate the circumferential force according to the following formula:

[0115]

[0116] K A ×Ft / b=1.25×286.5 / 30=11.9N / mm<100N / mm

[0117] We know: K Hα =1.2, K Hβ =1.309, and finally we get:

[0118] K H =K A K V K Hα K Hβ =1.25×1.056×1.2×1.309=2.073

[0119] ③Calculate the pitch circle diameter

[0120] We know that:

[0121]

[0122] ④ Calculate the modulus

[0123] We know that:

[0124] Take m=2.5mm.

[0125] 5. Calculate the size of the gear transmission mechanism

[0126] We know: Z 1 =40, Z 2 =160, m = 2.5, ha * =1, c * =0.25; α=20°;

[0127] Calculate the tooth addendum:

[0128] ha=ha * m=5mm

[0129] Calculate tooth root height:

[0130] hf=(ha * +c * )m=(1+1.5)×2.5=6.25mm

[0131] Calculate tooth height:

[0132] h=ha+hf=5+6.25=11.25mmCalculate the pitch circle diameter:

[0133] d 1 =mz 1 =2.5×40=100mm

[0134] d 2 =mz 2 =2.5×160=400mm

[0135] Calculate the tip diameter:

[0136] da1=d 1 +2ha=105mm

[0137] da2=d 2 +2ha=405mm

[0138] Calculate the root diameter:

[0139] df1 = d1 -2hf=93.75mm

[0140] df2 = d 2 -2hf=393.75mm

[0141] Calculate the tooth pitch:

[0142] P=πm=3.14×2.5=7.85mmTooth thickness calculation:

[0143] S=4πm=30mmCalculate the standard center distance:

[0144] a=m(z 1 +z 2 ) / 2=2.5×(40+160) / 2=250mm.

[0145] In a preferred embodiment, the check gear

[0146]

[0147] Verify the bending strength. The steps for verification are as follows:

[0148]

[0149] ∴

[0150] Then it can be concluded that:

[0151]

[0152] We know that: Therefore, the gears meet the requirements and are sufficient for the operation of the transmission mechanism.

[0153] In a preferred embodiment, the size of the chain is calculated by calculating the center distance size according to the following formula and steps:

[0154] a=l 总长 -d 1 / 2-d 2 / 2=250-30-30=190mm

[0155] Festival

[0156] Finally, the number of chain links is calculated: L p =66 sections;

[0157] Calculate the center distance according to the following formula and steps:

[0158]

[0159] Calculate the center distance according to the following formula and steps:

[0160] We know that: a'=a–Δa;

[0161] Finally, it is determined that Δa = (0.002-0.004)a;

[0162] Then we can calculate that: a'=186.84mm;

[0163] We know that the value of average weight is q = 1kg / m;

[0164] The value of the total weight is calculated to be G = Lq = 5.77 kg;

[0165] Then finally substitute it into the following formula to get: 1 =M 1 n / 9550=0.023kw.

[0166] In a preferred embodiment, the nut and screw are designed:

[0167] (1) Calculate the nut screw pitch according to the following formula

[0168] The pitch of the nut screw is determined based on two data. The first is the maximum motor speed n4, and the second is the maximum value of the lifting mechanism moving speed V1, which is calculated according to the following formula:

[0169]

[0170] Therefore, using a nut screw with a pitch L of not less than 4 mm can meet the requirements. The lead of the nut screw used this time is 5 mm.

[0171] (2) Calculate the outer diameter of the nut screw shaft

[0172] The lead of the nut screw, the outer diameter of the screw shaft, and the stroke table can be seen from the table below. If the lead is more than 4 mm, the value range of the screw shaft outer diameter dz is 6 to 50 mm. Because the screw has a relatively long stroke, the rigidity must be good, so the final value of the nut screw dz is determined to be 32 mm.

[0173] (3) Determine the accuracy of the nut and screw

[0174] When determining the nut screw, the basis for use is the occasion of use and the detailed requirements for the equipment. Because its accuracy is not described in detail in some materials, when selecting the nut screw accuracy level, it is mainly based on Table 4.1. According to Table 4.2, in terms of accuracy level, the range of values ​​for industrial orthogonal coordinate robots is C5-Ct10. Finally, it was determined to be C5 level accuracy, 0 mm axial clearance, and Z clearance is preloaded.

[0175] (4) Select the nut and screw travel

[0176] 1200 mm is the required motion stroke. When requiring the total length of the nut and screw, the nut length and space margin should be taken into consideration. The strength should be guaranteed. The span of the arm base should be 200 mm. The length of the nut and screw should be determined in advance and should be based on a certain stroke.

[0177] The thread length should be calculated in detail, and the calculation formula is: L 0 =420+80+2×10=520mm

[0178] The final calculation result shows that the screw mechanism has a length of 520 mm.

[0179] The detailed calculation process of thread length is: L = 500 + 350 + 20 = 870 mm

[0180] The final calculation result shows that the screw mechanism has a length of 890 mm.

[0181] Finally, the value of the shaft neck dz is determined based on the lead, the outer diameter of the screw shaft, and the length of the connecting section at the shaft end. The value is finally determined to be 20 mm, 5 mm is the final value of the lead L, and 520 mm is the final value of the optional stroke S, which can meet the maximum stroke value of 1200 mm.

[0182] (5) Determine the nut and screw model.

[0183] (6) Calculation of buckling load

[0184] The force along the screw shaft can only be borne during use. The main reason is that it is determined by the function of the nut screw, and the slender structure is the main structure of the nut screw. Therefore, the axial load of the screw must be checked. The only indicator for checking the axial load of the screw shaft is the buckling load, which is checked according to the following formula:

[0185]

[0186] Where:

[0187] D r--Screw shaft groove bottom diameter (mm);

[0188] P--Axial permissible compression load N;

[0189] L a --Installation distance mm, take 1590;

[0190] m--The coefficient determined by the installation method of the ball screw shaft;

[0191] The following results can be obtained: P = 643.5N, L a =1590mm, m=10.0

[0192] So we can get it by plugging it into the following formula:

[0193]

[0194] Finally, after using the data in the table as a reference, it can be concluded that the value of dr is 29.2 mm, so it meets the actual requirements.

[0195] In a preferred embodiment, the service life of the screw mechanism is verified: after comparing with the rolling bearing, it is found that the nut screw has the same service life as it, which is the fatigue life, and the basis for its calculation is the basic rated dynamic load Ca. The axial load of fatigue failure will not occur in most nuts and screws when it reaches 1 million revolutions. Calculation is based on the following formula:

[0196]

[0197] In the formula

[0198] L--rated fatigue life rev;

[0199] F a --Axial load N;

[0200] f w --load factor;

[0201] C a --Basic rated load N;

[0202] Finally, the value of Fa is determined to be 643.5N, the value of fw is determined to be 1.2, and the value of Ca is determined to be 14200N. The service life of the Z axis nut screw is calculated according to the following formula

[0203]

[0204] Substituting into the formula we get

[0205]

[0206] In a preferred embodiment, the linear guide structure is designed as follows: the linear guide pair is composed of many components, which include sliders, rolling elements, guide rails, and reversers. During operation, the guide rails and sliders move relative to each other, and the rolling elements have a starting position on the reverser. The rolling elements move from the working load area to the non-working load area, and then work in a cycle. Relative motion exists in the guide rails and sliders, and they are converted to the needs of sliding motion based on actual needs. Reverse conversion can also be achieved. The working principle of the linear rolling guide pair is the content introduced above:

[0207] 1. Guide rail components involved: Based on actual needs, the linear guide rail mechanism is designed on the X and Z workbenches. The number of guide rails and sliders designed is 2 and 4, respectively. The moving mechanism only uses a small force, and the load on the mechanism is relatively balanced during the actual working process. Therefore, the linear guide model used in the final design is JSA-LG15. The length of the guide rail component is determined based on the actual design needs, and the final size is determined to be 1450mm.

[0208] 2. Calculate the rated life L: In the actual working process, the load on the mechanism is relatively balanced, so the linear guide model used in the final design is JSA-LG15. The hardness of the raceway of the guide mechanism is greater than 60HRC, and the precision level when processing the component is level 4. We know that f h =0.9, f t =1.0,f c =0.81, f r =1.0,f w =1.5, then substitute it into the following formula to get:

[0209]

[0210] The moving mechanism only needs a very small force, and the load on the mechanism in the actual working process is relatively balanced. Therefore, the linear guide model used in the final design is JSA-LG15, and the service life of the final design meets the requirements.

[0211] 3. Select the linear guide pair: We know that 80 kg is the mass of the moving part, so we can know: G = 800N; F = F z =486N.

[0212] The radial working load parameter Fm is calculated according to the following formula:

[0213] F max =686N=0.686kN

[0214] The moving mechanism only needs a small force. In actual work, the load borne by the mechanism is relatively balanced. Therefore, the linear guide type used is JSA-LG15. We know that: C a =7.94kN, C 0a =9.5kN.

[0215] If the slider is fully loaded, that is, the mechanism is in a dangerous state, then we can get:

[0216] The mutually satisfying relationship is:

[0217]

[0218] The linear guide type is JSA-LG15, we know: F x =1408N,F y =320N, F z =486N, G=800N, influence coefficient K=1.1, μ=0.005.

[0219] (1) Calculate the maximum value of the workload according to the following formula:

[0220] Fm=KF x +μ(F z +F y +G)=[1.1×1408+0.005×(486+320+800)]N≈155N

[0221] The value of the axial working load FQ is calculated according to the following formula:

[0222] We know: v = 400mm / min, Ph = 5mm

[0223] In normal operation, the speed is calculated according to the following formula:

[0224] n=v / Ph=80r / min

[0225] We know: T = 15000h, L 0 =60Nt / 10 6 ; L 0 =72×10 6 r;f w =1.2, f H =1.0;

[0226] Then substituting into the following formula we can get:

[0227]

[0228] (2) Calculate the transmission efficiency η

[0229] We know: nominal diameter d 0 =37mm, lead Ph = 5mm, λ = arctan[Ph / (Πd 0 )], helix angle λ = 4°33′, friction angle ψ = 10′.

[0230] η=tanλ / tan(λ+ψ)

[0231] Then: η = 96.4%.

[0232] (3) Calculate the stiffness of the linear guide pair

[0233] We know: a = 500mm; E = 2.1х10 5 Mpa, Dw = 3.175 mm, d 2 =16.2mm.

[0234] The cross-sectional dimensions are calculated using the following formula:

[0235]

[0236] (4) Calculate the tensile and compressive deformation according to the following formula:

[0237] We know that:

[0238] δ 1 =F m a / (ES)=[1557×500 / (2.1×10 5 ×206.12)]mm=0.0180mm.

[0239] We know that: Z = (πd 0 / D W )-3, Z=20, Z ∑ =Z×number of circles×number of columns, then we can get: Z ∑ =60, so balls need to be installed inside the mechanism, and the number of balls to be installed is 60.

[0240] The preload force in the axial direction is calculated according to the following formula:

[0241] F YJ =F m / 3 = 519N

[0242] We have already calculated δ 2 ≈0.0024mm, so the actual value of this mechanism is δ 2 =0.0012mm.

[0243] We know that: 总 =δ1 +δ 2 , then we can conclude that: 总 =0.0192mm=19.2μm

[0244] The effective stroke of the ball screw pair mechanism was determined based on the requirements of this design, and the final value was determined to be 330mm. The processing accuracy of the component was determined based on the actual situation, and the final processing accuracy was determined to be level 5. Only in this way can the design requirements be met. A deviation of about 5μm is reasonable.

[0245] Follow the steps below to calculate the screw stability performance of a linear guide pair:

[0246] FK is the critical load, we can know: f k =1,d 2 =16.2mm;

[0247] (5) Calculate the section inertia moment of the linear guide pair according to the following formula:

[0248] We know that: k = 3, a = 500mm, and through the calculation steps mentioned above, we can get: F K =1557N.

[0249] Therefore, in order to meet the stability requirements of the pressure rod, it can be known that the design of the linear guide pair mechanism meets the requirements.

[0250] When the retracting and releasing system starts working, the first thing is to put the road cone out of the warehouse on the turntable, and the turntable rotates. Next, the turntable rotates and transmits the road cone forward. Then, the road cone encounters the straightening mechanism during the forward movement, and the road cone is straightened. The mechanical arm descends and grabs the road cone. The mechanical arm then rotates and descends to put the road cone on the ground. In the last action F, the mechanical arm rotates and rises to return to its original position, waiting for the next work.

[0251] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A sandbag counterweight type 90° road cone automatic placement and recovery system, comprising an automatic storage mechanism, a sandbag road cone separation and assembly mechanism, a knocking down and righting mechanism, an automatic retracting and releasing mechanism, a rotating transmission mechanism, a mechanical arm and other auxiliary mechanisms, characterized in that: The rotary transmission mechanism comprises a motor, a key, a shaft, a gear meshing mechanism, a turntable and a conveyor belt, and the rotary transmission mechanism is mainly used to complete the rotation of the road cone to a specified position after it is taken out of the warehouse. The motor is the power source of the rotary mechanism and provides power for the rotation of the turntable. When the motor is started, the rotational force is transmitted to the gear meshing mechanism through the transmission shaft, and then the conveyor belt rotates to realize the transmission function. The mechanical arm comprises a motor, an internal gear meshing mechanism and a nut screw mechanism, which cooperate with each other to complete the lifting, grasping and placing actions of the mechanical claw on the road cone. The mechanical arm includes linear lifting motion and rotational motion. The linear motion is provided with a power source by the motor, and the rotational force of the motor is converted into linear motion through the screw nut to meet the linear motion of the mechanical arm. The rotational motion of the mechanical arm is completed by the cooperation of the motor at the bottom of the support rod and the internal meshing gear. The various components cooperate with each other to complete the rotation and linear motion of the mechanism arm.

2. The sandbag counterweight type 90° road cone automatic placement and recovery system according to claim 1, characterized in that: The specific parameter design includes the following steps: S1: Structural design of the rotary transmission mechanism; S2: Structural design of the road cone transmission mechanism; S3: Structural design of the robot arm lifting mechanism; S4: Design of the tilting and righting frame; S5: Overall 3D modeling.

3. The sandbag counterweight type 90° road cone automatic placement and recovery system according to claim 2, characterized in that: The structural design of the rotating transmission mechanism includes a drive scheme structural design and a transmission scheme structural design. The drive scheme structural design includes calculating torque and motor torque. The transmission scheme structural design includes calculating gear parameters, designing gears, designing pinions, calculating tooth surface contact fatigue strength, calculating gear transmission mechanism dimensions and calibrating gears.

4. The sandbag counterweight type 90° road cone automatic placement and recovery system according to claim 3, characterized in that: The design of the road cone transmission mechanism: after the road cone is rotated to the designated position by the rotating mechanism, the road cone is transmitted to the knocking-down and straightening area and to the road cone collection bin by the conveyor belt, the conveyor belt is composed of a chain, a gear and a sprocket, and the design of the road cone transmission mechanism includes the selection of the chain, the calculation of the chain size and the design of the sprocket.

5. The sandbag counterweight type 90° road cone automatic placement and recovery system according to claim 4, characterized in that: The structural design of the robot arm lifting mechanism includes a drive scheme structural design, a nut screw mechanism structural design and a linear guide rail structural design. The drive scheme structural design includes determining motor parameters and checking motor overload conditions.

6. The sandbag counterweight type 90° road cone automatic placement and recovery system according to claim 2, characterized in that: The knocking-down and righting frame is responsible for righting the road cone from a fallen position or knocking it down for placement and recovery. When the road cone is in a fallen position, the knocking-down and righting frame can right it, which is the righting function. When the road cone needs to be recovered, the knocking-down and righting frame can knock the road cone down, which is the knocking-down function.

7. The sandbag counterweight type 90° road cone automatic placement and recovery system according to claim 5, characterized in that: The sprocket design includes the method of designing the sprocket and selecting the sprocket tooth profile, and the structural design of the nut screw mechanism includes designing the nut screw, calculating the outer diameter of the nut screw shaft, determining the nut screw accuracy, selecting the nut screw stroke, determining the nut screw model and calculating the buckling load.

8. The sandbag counterweight type 90° road cone automatic placement and recovery system according to claim 7, characterized in that: The linear guide rail structural design includes the guide rail components, the calculation of the rated life L and the selection of the linear guide rail pair.

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