Three-wheeled road cone mobile robot

Abstract

The utility model relates to a three -wheel type road cone mobile robot, including chassis, cabin and cone barrel clamping device, the cabin is located at the top of chassis, and the inside cabin forms the cavity of airtight, be equipped with control panel, battery pack and heat abstractor in the cavity, control panel is used to receive control host computer instruction and control whole robot action, heat abstractor is used for the heat dissipation of cavity inside, the cone barrel clamping device is located at the top of cabin, the utility model uses the robot to remove and carry road cone, and the risk of carrying road cone in the traffic of worker is avoided completely.

Description

Technical Field

[0001] This utility model relates to the field of road cone mobile robot technology, specifically to a three-wheeled road cone mobile robot. Background Technology

[0002] When temporary road traffic control is needed, relying on manual placement of traffic cones is not timely or controllable, and can easily lead to safety accidents. For example, on expressways with heavy traffic, manually placing traffic cones for temporary control is problematic because there is a time gap between transporting and placing each cone. If following vehicles cannot react in time, they may run into the controlled area. In other words, the risk borne by the workers is directly proportional to the time required for control. Therefore, a rapid-response, flexible, and easily controllable device is needed to assist in control and fully ensure the personal safety of relevant personnel. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a three-wheeled traffic cone mobile robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: Three-wheeled traffic cone mobile robot, including chassis, cabin and cone clamping device; The chassis includes a bottom frame, with casters connected to the rear end of the bottom frame and drive wheels symmetrically connected to both sides of the front end of the bottom frame. The drive wheels on both sides are driven to rotate by a first geared motor located inside the bottom frame and independent of each other. The cabin is located on top of the chassis, and the interior of the cabin forms a sealed cavity; the cavity houses a control board, a battery pack, and a heat dissipation device. The control board is used to receive commands from the control host and control the movements of the entire robot; the battery pack is used to power the entire robot. The heat dissipation device is used to dissipate heat inside the cavity. The heat dissipation device includes two fans located on both sides inside the cavity and two independent air ducts. One end of each air duct is connected to a corresponding interface on the side wall of the engine compartment via a flexible air duct. The other end of each air duct is directly connected to the fan on the corresponding side via an adapter. The fans on both sides rotate in different directions, so that one air duct is for air intake and the other air duct is for air exhaust. Each of the two air ducts is equipped with a sealing seat. The two sealing seats are driven by an opening and closing drive mechanism to open or close the corresponding air duct. The cone clamping device is located at the top of the cabin.

[0005] Furthermore, the axle of the drive wheel is sleeved on a bearing seat fixed to the side of the bottom frame and is connected to the output shaft of the first geared motor via a plum blossom coupling.

[0006] Furthermore, a skeleton oil seal and a sealing end cap are fitted on the outer side of the connection between the wheel axle and the bearing housing.

[0007] Furthermore, an encoder is connected to the tail end of the first geared motor.

[0008] Furthermore, the cabin is formed by a bottom plate, a front sealing plate, a rear sealing plate, and a cover plate, and each joint surface is provided with a sealing rubber gasket.

[0009] Furthermore, the cover plate has slots on both sides corresponding to the drive wheels for robot stacking, and wheel stops are fixed at the front and rear ends of the slots respectively.

[0010] Furthermore, the control board communicates with the control host and other robots via a communication antenna.

[0011] Furthermore, the two air ducts are jointly fixed to an air duct base plate, which is fixed to the bottom plate of the nacelle using an air duct bracket. The opening and closing drive mechanism includes a second reduction motor, a lead screw, and a movable plate. The second reduction motor is fixed to the air duct base plate, and the output end of the second reduction motor is connected to one end of the lead screw, while the other end of the lead screw is connected to a nut seat on the movable plate. The sealing seats in the two air ducts are fixed with guide rods and connecting rods at their tails. The guide rods are slidably sleeved with guide sleeves on the air duct base plate. The guide rods and connecting rods extend out of the air ducts and are fixedly connected to the adapter plates. The adapter plates on both sides are floatingly connected to the two sides of the movable plate.

[0012] Furthermore, the cone clamping device includes a cone clamp seat, the center of which is hinged to a first pin fixed to the top of the nacelle via a first bushing; the outer periphery of the cone clamp seat is provided with support arms at equal intervals along the circumferential direction, each support arm having a first connecting rod hinged to its free end, each first connecting rod having a second connecting rod hinged to its free end, and each second connecting rod having a clamping block fixed to its free end; the middle part of each second connecting rod is hinged to a second pin fixed to the top of the nacelle via a second bushing; and tension springs are also connected between the middle part of each support arm and the top of the nacelle.

[0013] Furthermore, both fans are axial flow fans.

[0014] By adopting the above technical solution, the beneficial effects of this utility model are as follows: 1. This utility model uses a robot to move and transport traffic cones, completely avoiding the risks of workers carrying traffic cones in traffic. 2. The cone clamping device uses connecting rods and tension springs to achieve automatic centering and clamping, which can adapt to different specifications of road cones, and can automatically disengage when impacted, with a "weak connection" protection function to prevent the robot from being overturned; 3. The enclosed cabin ensures the robot's reliability in harsh weather conditions. A unique openable / closable cooling system effectively solves the heat dissipation problem, guaranteeing the long-term stable operation of internal electronic components.

[0015] 4. The slots and wheel chocks on the top of the cabin enable stable stacking of the robots, greatly saving transportation and storage space and improving portability. Attached Figure Description

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Figure 1 This is a schematic diagram of the overall structure of the three-wheeled traffic cone mobile robot of this utility model; Figure 2 This is a schematic diagram of the chassis structure; Figure 3 A schematic diagram of the interior of the cabin cavity; Figure 4 This is a diagram showing robots stacked together. Figure 5 This is a schematic diagram of a cone clamping device; Figure 6 A schematic diagram of a cone clamping device holding a road cone. Figure 7 This is a schematic diagram of a heat dissipation device; Figure 8 This is a schematic diagram showing the air duct when it is open. Figure 9 This is a schematic diagram showing the air duct when it is closed. Figure 10 This is a flowchart illustrating the deployment process of a three-wheeled traffic cone mobile robot. Detailed Implementation

[0017] like Figure 1-9 As shown, the present invention is a three-wheeled traffic cone mobile robot, comprising a chassis 1, a cabin 2, and a cone clamping device 3.

[0018] The chassis 1 is a three-wheeled chassis structure, specifically including a bottom frame 11. The rear end of the bottom frame 11 is connected to casters 12, and the front two sides of the bottom frame 11 are symmetrically connected to drive wheels 13. The drive wheels 13 on both sides are driven by independent first reduction motors 14 located inside the bottom frame 11. The three-wheel structure ensures that each wheel can fully contact the ground, avoiding slippage and displacement errors. Steering is achieved by the speed difference between the two drive wheels 13, giving the robot sufficient flexibility. The axle 131 of the drive wheels 13 is sleeved on a bearing seat 16 fixed to the side of the bottom frame 11 and connected to the output shaft of the first reduction motor 14 via a perforated coupling 15. A skeleton oil seal 17 and a sealing end cap 18 are fitted on the outer side of the axle 131 connected to the bearing seat 16 to prevent external moisture and mud from entering the machine through the axle. The first reduction motor 14 is mounted on the frame plate 111 of the bottom frame 11 using a mounting base 19. An encoder 141 connected to the tail of the first reduction motor 14 can be used to provide feedback on its operating data. The bottom frame 11 has an approximately triangular frame structure formed by connecting plates 112 between two adjacent frame plates 111, which serves as the carrier of the whole machine components and connects the casters 12 to the caster brackets 121.

[0019] The cabin 2 is located on top of the chassis 1. Cabin 2 is formed by a base plate, front sealing plate, rear sealing plate, and cover plate, with sealing rubber gaskets at each joint surface, thus creating a closed cavity inside the cabin 2, achieving a high level of protection. Inside the cavity are a control board 4, a battery pack 5 (24V), and a heat dissipation device 6. The control board 4 receives commands from the control host and controls the entire robot's movements. The control board 4 communicates with the control host and other robots via a communication antenna 7. The battery pack 5 powers the entire robot. Externally, cabin 2 is also equipped with aviation connectors and other external components, primarily used for charging the battery pack 5 and providing output ports for other external alarm devices.

[0020] The top (cover) of the cabin 2 has slots 21 on both sides corresponding to the drive wheels 13 for robot stacking. Wheel stops 22 are fixed to the front and rear ends of the slots 21. When the robots are stacked on top, the drive wheels of the upper robot will pass through the slots 21 and press on the drive wheels of the lower robot. The wheel stops 22 on the slots 21 can make the stacking more stable. This measure can greatly increase the stacking height and reduce the space occupied by robot transportation.

[0021] Given that the overall weight of the three-wheeled traffic cone mobile robot exceeds the national standard weight of the largest traffic cone it can carry, a split-type traffic cone can be used for easier transportation and assembly. This means the counterweight base and the cone body are detachable; simply insert the cone body 8 into the cone clamping device 3 to secure it to the robot. The cone clamping device 3 is located on the top of the cabin 2. The cone clamping device 3 includes a cone clamping seat 31. The center of the cone clamping seat 31 is hinged to a first pin 33 fixed to the top of the cabin 2 via a first bushing 32. Support arms 311 are evenly spaced along the circumferential direction on the outer periphery of the cone clamping seat 31. A first connecting rod 34 is hinged to the free end of each support arm 311, and a second connecting rod 35 is hinged to the free end of each first connecting rod 34. A clamping block 36 is fixed to the free end of each second connecting rod 35. The middle portion of each second connecting rod 35 is hinged to a second pin 38 fixed to the top of the cabin 2 via a second bushing 37. Tension springs 39 are also connected between the middle portion of each support arm 311 and the top of the cabin 2. The two ends of each tension spring 39 are connected to the top (cover plate) of the cabin 2 and the corresponding support arm 311 via fixing pins 310. Under the action of the tension springs 39, the first link 34, and the second link 35, each clamping block 36 maintains an inward clamping force, thus gripping the flange at the bottom of the cone 8. When placing the cone 8, simply pull one clamping block 36 outward manually, and the remaining clamping blocks 36 will also open outward simultaneously. After placement, releasing the hand will automatically and synchronously clamp it shut. The clamping force can be adjusted via the tension springs 39 to accommodate various sizes of traffic cones; simultaneously, the cone can automatically detach in the event of a violent impact, preventing the entire robot from tipping over and causing a more serious accident.

[0022] The three-wheeled traffic cone mobile robot is designed for outdoor use, and a basic requirement is that rainwater cannot penetrate its interior. Therefore, exposed buttons, ports, and openings all have IP67 protection ratings or mechanical seals, meaning the robot's internal chamber is sealed. However, since internal components such as the control board and geared motor generate heat during operation, relying solely on the shell panels or one-way ventilation valves to dissipate heat to the outside is extremely inefficient. Heat accumulation inside the robot can lead to decreased control performance and reduced component lifespan. Therefore, a heat dissipation device 6 needs to be added inside the robot to cool the interior. The heat dissipation device 6 includes two fans 61 (axial flow fans) located on both sides of the interior and two independent air ducts 62. One end of each air duct 62 is connected via a flexible air hose 63 to a corresponding interface 64 located on the side wall (front sealing plate) of the cabin 2. A guide plate 641 is provided on the outer side of each interface 64 to prevent the airflow from the two air ducts 62 from interfering with each other. The other ends of the two air ducts 62 are directly connected to the corresponding side fans 61 via adapters 64. The two fans 61 rotate in different directions, enabling one air duct 62 to intake air (drawing ambient air into the cavity of the cabin 2; specifically, ambient air enters the air duct hose 63 through the adapter 64, enters the air duct 62, passes through the fan 61 on one side, and then enters the cavity), and the other air duct 62 to exhaust air (expelling the air inside the cavity to the external environment; specifically, the air inside the cavity enters the air duct 62 through the fan 61 on the other side, passes through the air duct hose 63, and then exits through the adapter 64 to the external environment). Each of the two air ducts 62 has a sealing seat 65, which is opened or closed by an opening / closing drive mechanism 67. The heat dissipation device 6, acting as an active cooling system, can open and close the air ducts 62 and fans 61 based on an internal temperature sensor or an external rain sensor connected to the top (cover) of the cabin 2.

[0023] Two air ducts 62 are fixed together on an air duct base plate 66, which is fixed to the bottom plate of the cabin 2 by an air duct bracket 68. The opening and closing drive mechanism 67 includes a second reduction motor 671, a lead screw 672, and a movable plate 673. The second reduction motor 671 is fixed on the air duct base plate 66. The output end of the second reduction motor 671 is connected to one end of the lead screw 672, and the other end of the lead screw 672 is connected to the nut seat 674 on the movable plate 673. The sealing seats 65 in the two air ducts 62 are fixed with guide rods 651 and connecting rods 652 at their tails. The guide rods 651 are slidably sleeved with the guide sleeves 610 on the air duct base plate 66. The guide rods 651 and connecting rods 652 extend out of the air ducts and are fixedly connected to the adapter plates 69. The adapter plates 69 on both sides are floatingly connected to the two sides of the movable plate 673. The rotational motion of the second reduction motor 671 is converted into the linear motion of the movable plate 673 through the cooperation of the lead screw 672 and the nut seat 674. This linear motion drives the sealing seat 65 to seal the port connecting the air duct 62 and the air hose 63, thus closing the air duct 62. When the sealing seat 65 separates from the port connecting the air duct 62 and the air hose 63, the air duct 62 is opened. A position sensor is designed to prevent damage to the mechanism from exceeding the limit when the air duct is opened or closed at its extreme positions.

[0024] This utility model discloses a three-wheeled traffic cone mobile robot that uses a group movement method. Each robot can carry one traffic cone, and the number of members in the group can be determined according to the deployment length. Figure 9 This is a common working mode for robots. The robots can be transported to the area to be controlled via a construction vehicle. Deployment parameters (such as total deployment length, width, diagonal placement distance, robot spacing, etc.) are set on the control unit. The robots are placed at the deployment starting point (manual placement point), a traffic cone is attached, and the robots are powered on. Following the host's instructions, the robots will move backward along the roadside. This deployment process is repeated sequentially, with the robots automatically numbered and grouped according to their order, until all robots have been deployed and moved backward to the set deployment length. Then, all robots rotate 90 degrees to face the inside of the road, awaiting the next instruction. The operator can control the robots to move towards the outside of the road with a single button, taking into account the traffic flow. The entire process can be started and paused with a single button. The process is reversed when deployment ends. The robots return to the deployment starting point, are powered off by personnel, and then moved to the construction vehicle for stacking, thus concluding the entire control operation.

[0025] The specific embodiments of this utility model have been described above. However, those skilled in the art should understand that this is only an example. Those skilled in the art can make various changes or modifications to this embodiment without departing from the principle and essence of this utility model, but all such changes and modifications fall within the protection scope of this utility model.

Claims

1. A three-wheeled traffic cone mobile robot, characterized in that: Includes chassis, nacelle, and cone clamping device; The chassis includes a bottom frame, with casters connected to the rear end of the bottom frame and drive wheels symmetrically connected to both sides of the front end of the bottom frame. The drive wheels on both sides are driven to rotate by a first geared motor located inside the bottom frame and independent of each other. The cabin is located on top of the chassis, and the interior of the cabin forms a sealed cavity; the cavity houses a control board, a battery pack, and a heat dissipation device. The control board is used to receive commands from the control host and control the movements of the entire robot; the battery pack is used to power the entire robot. The heat dissipation device is used to dissipate heat inside the cavity. The heat dissipation device includes two fans located on both sides inside the cavity and two independent air ducts. One end of each air duct is connected to a corresponding interface on the side wall of the engine compartment via a flexible air duct. The other end of each air duct is directly connected to the fan on the corresponding side via an adapter. The fans on both sides rotate in different directions, so that one air duct is for air intake and the other air duct is for air exhaust. Each of the two air ducts is equipped with a sealing seat. The two sealing seats are driven by an opening and closing drive mechanism to open or close the corresponding air duct. The cone clamping device is located at the top of the cabin.

2. The three-wheeled traffic cone mobile robot according to claim 1, characterized in that: The axle of the drive wheel is sleeved on a bearing seat fixed to the side of the bottom frame and is connected to the output shaft of the first geared motor via a plum blossom coupling.

3. The three-wheeled traffic cone mobile robot according to claim 2, characterized in that: The outer side of the wheel axle connected to the bearing housing is fitted with a skeleton oil seal and a sealing end cap.

4. The three-wheeled traffic cone mobile robot according to claim 2, characterized in that: An encoder is connected to the tail end of the first geared motor.

5. The three-wheeled traffic cone mobile robot according to claim 1, characterized in that: The cabin is formed by a bottom plate, a front sealing plate, a rear sealing plate, and a cover plate, and each joint surface is equipped with a sealing rubber gasket.

6. The three-wheeled traffic cone mobile robot according to claim 5, characterized in that: The cover plate has slots on both sides corresponding to the drive wheels for robot stacking, and wheel stops are fixed at the front and rear ends of the slots respectively.

7. The three-wheeled traffic cone mobile robot according to claim 1, characterized in that: The control board communicates with the control host and other robots via a communication antenna.

8. The three-wheeled traffic cone mobile robot according to claim 1, characterized in that: Two air ducts are fixed together on an air duct base plate, which is fixed to the bottom plate of the engine compartment using an air duct bracket. The opening and closing drive mechanism includes a second geared motor, a lead screw, and a movable plate. The second geared motor is fixed on the air duct base plate, and the output end of the second geared motor is connected to one end of the lead screw, while the other end of the lead screw is connected to a nut seat on the movable plate. The sealing seats in the two air ducts are fixed with guide rods and connecting rods at their tails. The guide rods are slidably sleeved with guide sleeves on the air duct base plate. The guide rods and connecting rods extend out of the air ducts and are fixedly connected to the adapter plates. The adapter plates on both sides are floatingly connected to the two sides of the movable plate.

9. The three-wheeled traffic cone mobile robot according to claim 1, characterized in that: The cone clamping device includes a cone clamp seat, the center of which is hinged to a first pin fixed to the top of the nacelle via a first bushing; the outer periphery of the cone clamp seat is provided with support arms at equal intervals along the circumferential direction, each support arm has a first connecting rod hinged to its free end, each first connecting rod has a second connecting rod hinged to its free end, and each second connecting rod has a clamping block fixed to its free end; the middle part of each second connecting rod is hinged to a second pin fixed to the top of the nacelle via a second bushing; and tension springs are also connected between the middle part of each support arm and the top of the nacelle.

10. The three-wheeled traffic cone mobile robot according to claim 1, characterized in that: Both fans are axial flow fans.

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