Roadway storage type full-automatic road cone collecting and placing device

Abstract

The invention relates to a roadway storage type full-automatic road cone collecting and releasing device which is characterized in that the fixed end of a vertical lifting mechanism is connected to the side face of a frame of a road cone in a sliding manner, and the movable end of the vertical lifting mechanism is connected with a clamping jaw; the clamping jaw is used for grabbing the road cones located in the horizontal tray and storing the road cones to the upper end of the recycling and storing transmission mechanism, the recycling and storing transmission mechanism is placed on the side face of the frame, and the slope conveying device is fixed to the side position of the front portion of the recycling and storing transmission mechanism. The road cone grabbing device is arranged on the upper portion of the slope conveying device on the side edge of the support and used for grabbing the road cones located at the upper end of the recycling and storing transmission mechanism, then the road cones are put into the slope conveying device, and the road cones are conveyed to the ground through the slope conveying device. According to the device, the road cones can be automatically placed, and the road cones can be accurately and efficiently placed without manual intervention in the whole process.

Description

Technical Field

[0001] The invention belongs to the technical field of road cone retracting and storing devices, and in particular relates to a lane storage type fully automatic road cone retracting and storing device. Background Art

[0002] At present, during maintenance work on highways, in order to achieve temporary closure of roads, it is often necessary to use road cones to block the roads. In order to change the problems of low efficiency of manual placement, great safety hazards in operation, and inconsistent spacing of traffic cones, some road cone vehicles have appeared on the market in recent years, but they are basically semi-manual and semi-automatic operation methods, and there are also problems such as complex structure, poor adaptability, high cost, and small storage capacity, which cannot meet people's needs for automation and efficiency. Therefore, based on the above social needs, we need to design a set of architectures that can be installed and disassembled on the corresponding vehicle models to realize the de-manualization of road cone placement, simplify its structure but at the same time achieve fully automated placement of road cones. Summary of the invention

[0003] In order to overcome the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a laneway storage type fully automatic road cone collection and release device, comprising a two-dimensional recovery and lifting mechanism, a recovery and storage transmission mechanism, a frame for storing road cones, a vertical lifting mechanism, a slope conveying device, a road cone grabbing device, and a horizontal tray for storing road cones fixed in the frame, the fixed end of the vertical lifting mechanism is slidably connected to the side of the frame of the road cone, the movable end of the vertical lifting mechanism is connected with a clamping claw, the clamping claw is used to grab the road cones located in the horizontal tray and store them in the upper end of the recovery and storage transmission mechanism, the recovery and storage transmission mechanism is placed on the side of the frame, the slope conveying device is fixed to the lateral position of the front part of the recovery and storage transmission mechanism, the road cone grabbing device is placed on the upper part of the slope conveying device on the side of the bracket, the road cone grabbing device is used to grab the road cones located at the upper end of the recovery and storage transmission mechanism, and then the road cones are put into the slope conveying device, and the road cones are conveyed to the ground by the slope conveying device.

[0004] Preferably, the device further includes: a seventh motor, a screw rod, and a pushing model, and a plurality of seventh motors are installed at equal intervals on the side of the upper end of each horizontal tray, the output end of the seventh motor is fixedly connected to one end of the screw rod, the screw rod is rotatably connected to a nut seat, and the other end of the screw rod is rotatably connected to the frame; the nut seat is fixedly connected to the pushing model.

[0005] Preferably, the vertical lifting mechanism includes: a vertical slide rail plus a motor module, a horizontal slide rail plus a motor module, the fixed end of the horizontal slide rail plus the motor module is fixedly connected to the side of the frame, the movable end of the horizontal slide rail plus the motor module is fixedly connected to the fixed end of the vertical slide rail plus the motor module, and the movable end of the vertical slide rail plus the motor module is fixedly connected to the clamp.

[0006] Preferably, the clamp comprises: a buckle, a stepper motor, a clamp front plate, a clamp rear plate, a first connecting rod, a third connecting rod, and a second connecting rod. The buckle is fixed on the frame at a certain height from the horizontal tray. One end of the first connecting rod is hingedly connected to the clamp rear plate, the second connecting rod is hingedly connected to the clamp front plate, the center of the third connecting rod is fixedly connected to the output shaft of the stepper motor, and the two ends of the third connecting rod are respectively hingedly connected to the first connecting rod and the second connecting rod.

[0007] Preferably, the recovery and storage transmission mechanism is at least a conveyor with a transmission function.

[0008] Preferably, the slope conveying device comprises: a first supporting limit body, a second supporting limit body, a sixth motor, a first pulley, a first shaft, a first roller, a second roller, and a conveying belt. The first supporting limit body is fixedly connected to the side of the second supporting limit body, the second supporting limit body is rotatably connected to the first shaft, the first shaft is externally fixedly connected to the first roller, the first shaft is transmission-connected to one end of the conveying belt, the other end of the conveying belt is transmission-connected to the second roller, the second roller is rotationally connected to the other end of the second supporting limit body, the fixed end of the sixth motor is fixedly connected to the side of the second supporting limit body, and the first shaft and the output shaft of the sixth motor are drivingly connected via the first pulley.

[0009] Preferably, the ramp conveying device also includes: a cross bar, a second connecting rod, a third connecting rod, and a fourth connecting rod, the cross bar is rotatably connected to the first support limiter, the end of the cross bar is rotatably connected to the other end of the second connecting rod, the end of the second connecting rod is rotatably connected to the third connecting rod, the end of the third connecting rod is rotatably connected to the second support limiter, one end of the fourth connecting rod is hingedly connected to the first support limiter, and the other end of the fourth connecting rod is hingedly connected to one end of the second connecting rod.

[0010] Preferably, the road cone grabbing device comprises: a support body, a fifth motor, a first gear, a first incomplete gear connecting rod, a second incomplete gear connecting rod, a base plate, a first connecting rod, and a mechanical claw, wherein the support body is fixedly connected to the base plate, the base plate is fixedly connected to the housing of the fifth motor, the output shaft of the fifth motor is fixedly connected to the first gear, the first gear is meshedly connected to the first incomplete gear connecting rod, the first incomplete gear connecting rod is meshedly connected to the second incomplete gear connecting rod, the first incomplete gear connecting rod and the second incomplete gear connecting rod are respectively hingedly connected to the two mechanical claws, the base plate is hingedly connected to one end of the two first connecting rods, and the other ends of the two first connecting rods are hingedly connected to one mechanical claw.

[0011] Preferably, the two-dimensional recovery lifting mechanism comprises: a first motor, a second motor, a third motor, a fourth motor, a first screw slide module, an x-axis movable pallet, a first movable pallet, a second screw slide module, a reducer rotation transmission module, and a first rotating pallet, the output shaft of the first motor is fixedly connected to the screw of the first screw slide module, the pallet of the first screw slide module is fixedly connected to the x-axis movable pallet, the x-axis movable pallet is fixedly connected to the pallet of the second screw slide module, the screw of the second screw slide module is rotationally connected to the first movable pallet, the first movable pallet is fixedly connected to the pallet of the reducer rotation transmission module, the third motor fixes the screw of the reducer rotation transmission module, the screw of the reducer rotation transmission module is rotationally connected to the pallet of the first rotating pallet, the first rotating pallet screw is rotationally connected to the pallet of the third screw slide module, the output shaft of the fourth motor is fixedly connected to the screw of the third screw slide module, and the screw of the third screw slide module is rotationally connected to the robot arm road cone grasping mechanism.

[0012] In summary, compared with the prior art, the beneficial effects of the present invention are:

[0013] The invention discloses a tunnel storage type fully automatic road cone collection and release device, which has a simple and reliable structure, and the road cones are placed automatically. An electric cylinder and a motor are used as power sources, which avoids the problems of leakage, noise and other environmental pollution caused by hydraulic or pneumatic drive. In the process of overall machine structure design, modular products, profile frames and the like are used as much as possible to realize functions, and common gear, rack transmission and other structural forms are used, aiming to reduce the production cost during actual processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is an overall structural diagram of the laneway storage type fully automatic road cone retracting and releasing device of the present invention;

[0015] Figure 2 It is a structural diagram of the road cone storage frame mechanism of the laneway storage type fully automatic road cone collection and placement device of the present invention;

[0016] Figure 3 It is a structural diagram of the vertical lifting mechanism of the laneway storage type fully automatic road cone retracting and releasing device of the present invention;

[0017] Figure 4 It is a structural diagram of the clamping claw of the laneway storage type fully automatic road cone retracting and releasing device of the present invention;

[0018] Figure 5 The structure of the slope conveying device of the lane storage type fully automatic road cone collection and release device of the present invention Figure 1 ;

[0019] Figure 6 The structure of the slope conveying device of the lane storage type fully automatic road cone collection and release device of the present invention Figure 2 ;

[0020] Figure 7 It is a partial structural diagram of the slope conveying device of the laneway storage type fully automatic road cone collecting and placing device of the present invention;

[0021] Figure 8 It is a structural diagram of the two-dimensional recovery and lifting mechanism of the laneway storage type fully automatic road cone collection and release device of the present invention;

[0022] Fig. 9 It is a split structural diagram of the two-dimensional recovery and lifting mechanism of the laneway storage type fully automatic road cone collection and release device of the present invention;

[0023] Fig.10 It is a structural diagram of a road cone grabbing device of a laneway storage type fully automatic road cone retracting and releasing device of the present invention. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0025] like Figure 1-10As shown, a tunnel storage type fully automatic road cone collection and release device of the present invention comprises a two-dimensional recovery and lifting mechanism 1, a recovery and storage transmission mechanism 2, a frame 3 for storing road cones, a vertical lifting mechanism 4, a slope conveying device 5, a road cone grabbing device 6, and two-layer horizontal trays 8 for storing road cones fixed in the frame 3, the fixed end of the vertical lifting mechanism 4 is slidably connected to the side of the frame 3 of the road cone, the movable end of the vertical lifting mechanism 4 is connected with a clamping claw 401, the clamping claw 401 is used to grab the road cones located in the horizontal tray 8 and store them in the upper end of the recovery and storage transmission mechanism 2, the recovery and storage transmission mechanism 2 is placed on the side of the frame 3, the slope conveying device 5 is fixed to the side position of the front part of the recovery and storage transmission mechanism 2, the road cone grabbing device 6 is placed on the upper part of the slope conveying device 5 on the side of the bracket, the road cone grabbing device 6 is used to grab the road cones located at the upper end of the recovery and storage transmission mechanism 2, and then put the road cones into the slope conveying device 5, and the road cones are transported to the ground through the slope conveying device 5.

[0026] As mentioned above, the frame 3 is formed by arranging and splicing profiles, and the periphery of the frame 3 is hollowed out. A cubic and hollowed-out frame 3 can be formed. The road cone grabbing device 6 is placed on the upper part of the ramp conveying device 5 on the side of the vehicle body to grab the road cone when performing the recycling work.

[0027] Furthermore, the device also includes: a seventh motor 15, a screw rod 16, and a pushing model 17. A plurality of seventh motors 15 are installed at equal intervals on the upper side of each horizontal tray 8. The output end of the seventh motor 15 is fixedly connected to one end of the screw rod 16, the screw rod 16 is rotatably connected to a nut seat 18, and the other end of the screw rod 16 is rotatably connected to the frame 3; the nut seat 18 is fixedly connected to the pushing model 17, and drives the pushing model 17 to move during the transmission process of the seventh motor 15.

[0028] Furthermore, the vertical lifting mechanism 4 includes: a vertical slide rail plus motor module 408, a horizontal slide rail plus motor module 409, the fixed end of the horizontal slide rail plus motor module 409 is fixedly connected to the side of the frame 3, the movable end of the horizontal slide rail plus motor module 409 is fixedly connected to the fixed end of the vertical slide rail plus motor module 408, and the movable end of the vertical slide rail plus motor module 408 is fixedly connected to the clamp 401.

[0029] Furthermore, the clamping jaw 401 includes: a buckle 14, a stepping motor 10, a clamping jaw front plate 29, a clamping jaw rear plate 30, a first connecting rod 31, a third connecting rod 32, and a second connecting rod 33. The buckle 14 is fixed on the frame 3 at a certain height from the horizontal tray 8. One end of the first connecting rod 31 is hingedly connected to the clamping jaw rear plate 30, and the second connecting rod 33 is hingedly connected to the clamping jaw front plate 29. The center of the third connecting rod 32 is fixedly connected to the output shaft of the stepping motor 10, and the two ends of the third connecting rod 32 are hingedly connected to the first connecting rod 31 and the second connecting rod 33 respectively; when the output shaft of the stepping motor 10 rotates, the third connecting rod 33 is driven to swing, and the third connecting rod 33 drives the first connecting rod 31 and the second connecting rod 33 to move, so that the clamping jaw front plate 29 and the clamping jaw rear plate 30 are close to each other to complete the function of clamping the bottom of the road cone, and then the buckle 14 clamps the road cone.

[0030] Furthermore, the recovery and storage transmission mechanism 2 is at least a conveyor with a transmission function, or a conveying device similar to a conveyor, which can drive the road cones thereon to move; for example, the recovery and storage transmission mechanism 2 can be a conveyor belt driven by a motor.

[0031] Furthermore, the slope conveying device 5 includes: a first supporting and limiting body 501, a second supporting and limiting body 502, a sixth motor 503, a first pulley 504, a first shaft 505, a first roller 506, a second roller 507, a conveying belt 508, a cross bar 509, a second connecting rod 510, a third connecting rod 511, and a fourth connecting rod 512. The first supporting and limiting body 501 is fixedly connected to the side of the second supporting and limiting body 502, and the second supporting and limiting body 502 is rotatably connected to the first shaft 505. The first shaft 505 is externally fixedly connected to the first roller 506. The first shaft 505 is transmission-connected to one end of the conveying belt 508, and the other end of the conveying belt 508 is transmission-connected to the second roller 507. The second roller 507 is rotatably connected to the other end of the second support and limit body 502, the fixed end of the sixth motor 503 is fixedly connected to the side of the second support and limit body 502, the first shaft 505 and the output shaft of the sixth motor 503 are driven and connected through the first pulley 504, the cross bar 509 is rotatably connected to the first support and limit body 501, the end of the cross bar 509 is rotatably connected to the other end of the second connecting rod 510, the end of the second connecting rod 510 is rotatably connected to the third connecting rod 511, the end of the third connecting rod 511 is rotatably connected to the second support and limit body 502, one end of the fourth connecting rod 512 is hingedly connected to the first support and limit body 501, and the other end of the fourth connecting rod 512 is hingedly connected to one end of the second connecting rod 510.

[0032] When in use, by energizing the sixth motor 503 and performing simple control, it can be achieved that: the sixth motor 503 drives the first shaft 505 to rotate through the first pulley 504, and the rotation of the first shaft 505 drives the first roller 506 and the second roller 507 to rotate, thereby realizing continuous transmission of the conveyor belt 508 and transporting the road cones thereon.

[0033] Further, the road cone grabbing device 6 includes: a support body 601, a fifth motor 602, a first gear 603, a first incomplete gear connecting rod 604, a second incomplete gear connecting rod 605, a base plate 606, a first connecting rod 607, and a mechanical claw 608. The support body 601 is fixedly connected to the base plate 606, the base plate 606 is fixedly connected to the housing of the fifth motor 602, the output shaft of the fifth motor 602 is fixedly connected to the first gear 603, the first gear 603 is meshedly connected to the first incomplete gear connecting rod 604, the first incomplete gear connecting rod 604 is meshedly connected to the second incomplete gear connecting rod 605, the first incomplete gear connecting rod 604 and the second incomplete gear connecting rod 605 are respectively hingedly connected to two mechanical claws 608, the base plate 606 is hingedly connected to one end of two first connecting rods 607, and the other end of each first connecting rod 607 is hingedly connected to one mechanical claw 608.

[0034] When in use, by energizing the fifth motor 602 and performing simple control, it can be achieved that: the fifth motor 602 drives the first gear 603 to rotate, the rotation of the first gear 603 drives the first incomplete gear connecting rod 604 to rotate, and the rotation of the first incomplete gear connecting rod 604 drives the second incomplete gear connecting rod 605, thereby realizing the opening and closing of the two mechanical claws 608.

[0035] Furthermore, the two-dimensional recovery lifting mechanism 1 includes: a first motor 101, a second motor 102, a third motor 103, a fourth motor 104, a first lead screw slide module 105, an x-axis movable pallet 106, a first movable pallet 107, a second lead screw slide module 108, a reducer rotation transmission module 109, and a first rotating pallet 110. The output shaft of the first motor 101 is fixedly connected to the lead screw of the first lead screw slide module 105, the pallet of the first lead screw slide module 105 is fixedly connected to the x-axis movable pallet 106, the x-axis movable pallet 106 is fixedly connected to the pallet of the second lead screw slide module 108, and the second lead screw The screw of the lever slide module 108 is rotationally connected to the first movable pallet 107, the first movable pallet 107 is fixedly connected to the pallet of the reducer rotation transmission module 109, the third motor 103 fixes the screw of the reducer rotation transmission module 109, the screw of the reducer rotation transmission module 109 is rotationally connected to the pallet of the first rotating pallet 110, the screw of the first rotating pallet 110 is rotationally connected to the pallet of the third screw slide module 111, the output shaft of the fourth motor 104 is fixedly connected to the screw of the third screw slide module 111, and the screw of the third screw slide module 111 is rotationally connected to the robot arm road cone grasping mechanism 6.

[0036] When using the device, the upper row of road cones is pushed as a whole to the position of the buckle 14, and the stepper motor 10 starts to work, so that the front plate 29 of the clamping jaw and the rear plate 30 of the clamping jaw are close to each other to complete the function of clamping the bottom of the road cone, and the clamping jaw 401 connected to the moving end of the vertical lifting mechanism 4 clamps the edge of the road cone and moves it down to the recovery and storage transmission mechanism 2, and the recovery and storage transmission mechanism 2 allows the road cone to fall into the slope conveying device 5.

[0037] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A tunnel storage type fully automatic road cone retracting and releasing device, characterized in that: The invention comprises a two-dimensional recovery and lifting mechanism (1), a recovery and storage transmission mechanism (2), a frame (3) for storing road cones, a vertical lifting mechanism (4), a slope transmission device (5), a road cone grabbing device (6), and a horizontal tray (8) for storing road cones fixed in the frame (3); the fixed end of the vertical lifting mechanism (4) is slidably connected to the side of the frame (3) for storing road cones; the movable end of the vertical lifting mechanism (4) is connected to a clamping claw (401), and the clamping claw (401) is used to grab the road cones located in the horizontal tray (8). The cones are stored at the upper end of the recovery and storage transmission mechanism (2), the recovery and storage transmission mechanism (2) is placed on the side of the frame (3), the slope conveying device (5) is fixed to the side position of the front part of the recovery and storage transmission mechanism (2), the road cone grabbing device (6) is placed on the upper part of the slope conveying device (5) on the side of the bracket, and the road cone grabbing device (6) is used to grab the road cones located at the upper end of the recovery and storage transmission mechanism (2), and then put the road cones into the slope conveying device (5), and then convey the road cones to the ground through the slope conveying device (5).

2. The device according to claim 1, characterized in that Also includes: A seventh motor (15), a screw rod (16), and a pushing model (17), wherein a plurality of seventh motors (15) are installed at equal intervals on the upper side of each horizontal tray (8), the output end of the seventh motor (15) is fixedly connected to one end of the screw rod (16), the screw rod (16) is rotatably connected to a nut seat (18), and the other end of the screw rod (16) is rotatably connected to the frame (3); the nut seat (18) is fixedly connected to the pushing model (17).

3. The device according to claim 1, characterized in that The vertical lifting mechanism (4) comprises: a vertical slide rail plus motor module (408) and a horizontal slide rail plus motor module (409); the fixed end of the horizontal slide rail plus motor module (409) is fixedly connected to the side of the frame (3); the movable end of the horizontal slide rail plus motor module (409) is fixedly connected to the fixed end of the vertical slide rail plus motor module (408); and the movable end of the vertical slide rail plus motor module (408) is fixedly connected to the clamping claw (401).

4. The device according to claim 1, characterized in that The clamping jaw (401) comprises: a buckle (14), a stepper motor (10), a clamping jaw front plate (29), a clamping jaw rear plate (30), a first connecting rod (31), a third connecting rod (32), and a second connecting rod (33). The buckle (14) is fixed on the frame (3) at a certain height from the horizontal tray (8). One end of the first connecting rod (31) is hingedly connected to the clamping jaw rear plate (30), and the second connecting rod (33) is hingedly connected to the clamping jaw front plate (29). The center of the third connecting rod (32) is fixedly connected to the output shaft of the stepper motor (10), and the two ends of the third connecting rod (32) are respectively hingedly connected to the first connecting rod (31) and the second connecting rod (33).

5. The device according to claim 1, characterized in that The recovery and storage transmission mechanism (2) is at least a conveyor with a transmission function.

6. The device according to claim 1, characterized in that The slope conveying device (5) comprises: a first support and limiter (501), a second support and limiter (502), a sixth motor (503), a first pulley (504), a first shaft (505), a first roller (506), a second roller (507), and a conveying belt (508), wherein the first support and limiter (501) is fixedly connected to the side of the second support and limiter (502), the second support and limiter (502) is rotatably connected to the first shaft (505), and the first shaft (505) is externally fixedly connected to the first pulley (504). The first shaft (505) is connected to the first roller (506), the first shaft (505) is transmission-connected to one end of a transmission belt (508), the other end of the transmission belt (508) is transmission-connected to the second roller (507), the second roller (507) is rotationally connected to the other end of the second support and limiter (502), the fixed end of the sixth motor (503) is fixedly connected to the side of the second support and limiter (502), and the first shaft (505) and the output shaft of the sixth motor (503) are drivingly connected via the first pulley (504).

7. The device according to claim 6, characterized in that The slope conveying device (5) also includes: a cross bar (509), a second connecting rod (510), a third connecting rod (511), and a fourth connecting rod (512), wherein the cross bar (509) is rotatably connected to the first supporting and limiting body (501), the end of the cross bar (509) is rotatably connected to the other end of the second connecting rod (510), the end of the second connecting rod (510) is rotatably connected to the third connecting rod (511), the end of the third connecting rod (511) is rotatably connected to the second supporting and limiting body (502), one end of the fourth connecting rod (512) is hingedly connected to the first supporting and limiting body (501), and the other end of the fourth connecting rod (512) is hingedly connected to one end of the second connecting rod (510).

8. The device according to claim 1, characterized in that The road cone grabbing device (6) comprises: a support body (601), a fifth motor (602), a first gear (603), a first incomplete gear connecting rod (604), a second incomplete gear connecting rod (605), a bottom plate (606), a first connecting rod (607), and a mechanical claw (608), wherein the support body (601) is fixedly connected to the bottom plate (606), the bottom plate (606) is fixedly connected to the housing of the fifth motor (602), and the output shaft of the fifth motor (602) is fixedly connected to the first gear (603). ), the first gear (603) is meshedly connected to the first incomplete gear connecting rod (604), the first incomplete gear connecting rod (604) is meshedly connected to the second incomplete gear connecting rod (605), the first incomplete gear connecting rod (604) and the second incomplete gear connecting rod (605) are respectively hingedly connected to the two mechanical claws (608), the bottom plate (606) is hingedly connected to one end of the two first connecting rods (607), and the other end of each of the first connecting rods (607) is hingedly connected to one of the mechanical claws (608).

9. The device according to claim 1, characterized in that The two-dimensional recovery lifting mechanism (1) comprises: a first motor (101), a second motor (102), a third motor (103), a fourth motor (104), a first lead screw slide module (105), an x-axis movable pallet (106), a first movable pallet (107), a second lead screw slide module (108), a reducer rotation transmission module (109), and a first rotating pallet (110), wherein the output shaft of the first motor (101) is fixedly connected to the lead screw of the first lead screw slide module (105), the pallet of the first lead screw slide module (105) is fixedly connected to the x-axis movable pallet (106), the x-axis movable pallet (106) is fixedly connected to the pallet of the second lead screw slide module (108), and the second The lead screw of the lead screw slide module (108) is rotatably connected to the first movable support plate (107), the first movable support plate (107) is fixedly connected to the support plate of the reducer rotation transmission module (109), the third motor (103) fixes the lead screw of the reducer rotation transmission module (109), the lead screw of the reducer rotation transmission module (109) is rotatably connected to the support plate of the first rotating support plate (110), the lead screw of the first rotating support plate (110) is rotatably connected to the support plate of the third lead screw slide module (111), the output shaft of the fourth motor (104) is fixedly connected to the lead screw of the third lead screw slide module (111), and the lead screw of the third lead screw slide module (111) is rotatably connected to the robot arm road cone grasping mechanism (6).

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