阅读说明：本技术 一种双臂收放锥筒机器人 (Double-arm cone-retracting robot ) 是由 张新明 张涛 于 2020-07-17 设计创作，主要内容包括：本发明涉及一种公路施工交通管制辅助机械,具体涉及一种双臂收放锥筒机器人；包括行走装置及通过机架承载装置搭载在行走装置上的机械主体,所述机械主体包括至少两个输送臂与第一驱动装置、至少两个机械手与第二驱动装置、伺服驱动系统；该机器人结构简单,设备造价低,安装在车辆的左侧面或右侧面,拆卸方便,占用车体空间小,采取正向或倒车行驶方式即可完成锥桶的布放及收集、码垛工作,不受道路限制,使用范围广,满足国内不同型号的锥筒收集、布放需求。(The invention relates to a road construction traffic control auxiliary machine, in particular to a double-arm conical cylinder retracting and releasing robot; the mechanical device comprises a walking device and a mechanical main body carried on the walking device through a rack bearing device, wherein the mechanical main body comprises at least two conveying arms and a first driving device, at least two mechanical arms and a second driving device and a servo driving system; the robot is simple in structure, low in equipment manufacturing cost, convenient to disassemble and small in occupied car body space, can finish the arrangement, collection and stacking work of the cone barrels by adopting a forward or reverse driving mode, is not limited by roads, is wide in application range, and meets the requirements of cone barrel collection and arrangement of different types in China.)

1. A double-arm cone cylinder retracting and releasing robot is characterized by comprising a walking device and a mechanical main body (14) carried on the walking device through a rack bearing device, wherein the mechanical main body (14) comprises at least two conveying arms (4) and a first driving device, at least two mechanical arms and a second driving device and a servo driving system;

the at least two conveying arms (4) are arranged at two ends of the mechanical main body (14) in parallel, the bottoms of the conveying arms (4) are connected with the mechanical main body (14) through a first driving device, and the first driving device can drive the conveying arms (4) to rotate around the central axis of the first driving device in the same plane;

the at least two mechanical hands are respectively arranged on the at least two conveying arms (4), the second driving device is arranged on the mechanical main body (14) and connected with the mechanical hands, and the second driving device can drive the mechanical hands to move on the conveying arms (4);

the servo driving system is respectively connected with the first driving device and the second driving device.

2. A double-arm retracting and releasing cone robot as claimed in claim 1, wherein connecting plates (9) are mounted at the upper end and the lower end of the machine body (14), the two ends of the conveying arm (4) are connected with the connecting plates (9) through bearing seats, one end of the conveying arm (4) is connected with the first driving device, and the other end of the conveying arm is fixedly provided with the probe sensing piece (3); the first driving device comprises a rotary power head (8) and a power motor which are connected, and the power motor drives the rotary power head (8) to drive the conveying arm (4) to rotate.

3. A double-arm retracting and releasing cone drum robot as claimed in claim 2, characterized in that the second driving device comprises a chain (1), a chain guide groove (13), a main driving chain wheel (15), a steering chain wheel (18), a fastening chain wheel (16) and a chain motor (10), the chain guide groove (13) is parallel to the mechanical main body (14) and is fixedly arranged on the mechanical main body (14), the chain (1) is arranged in the chain guide groove (13), wherein, the steering chain wheel (18) is fixedly arranged at four corners of the mechanical main body (14), the main transmission chain wheel (15) and the fastening chain wheel (16) are fixedly arranged on the mechanical main body (14), the chain (1) is sleeved on the main transmission chain wheel (15), the steering chain wheel (18) and the fastening chain wheel (16) for transmission, and the fastening chain wheel (16) is rotationally connected with the chain motor (10).

4. A double-arm retracting and releasing cone robot as claimed in claim 3, characterized in that the conveying arm (4) is connected with the manipulator through a first bearing sleeve (5), a second bearing sleeve (6) is sleeved on the surface of the first bearing sleeve (5), a bearing (7) is sleeved on the surface of the second bearing sleeve (6), the bearing (7) is connected with the chain guide groove (13) through a chain connecting plate (11), and one end of the chain connecting plate (11) extends into the chain guide groove (13) to be connected with the chain (1).

5. A dual-arm take-up and pay-off cone robot as claimed in claim 4, wherein the at least two manipulators are each a manipulator(35) Manipulator

the manipulator

6. A double-arm retracting and releasing cone robot as claimed in claim 5, further comprising an electric push-pull rod (26), a piston rod (33) and a clamp connecting rod (23), wherein the manipulator clamps (24) are arranged in a pair, which comprises a long arm and a short arm, wherein the long arm and the short arm are connected with each other at an included angle of 90 degrees, the joint of the long arm and the short arm is connected with a manipulator bracket (27) through a bolt (37), wherein one end of the clamp connecting rod (23) is arranged crosswise and is connected with a piston rod (33), the other end of the clamp connecting rod is connected with the short arm through a connecting screw rod (25), the piston rod (33) is also connected with an electric push-pull rod (26), the clamp connecting rod (23) is driven to move, so that the connected manipulator clamp (24) is controlled to adjust the opening angle to clamp or release the conical cylinder, and the angle between the manipulator clamps (24) is 45-60 degrees.

7. The double-arm retracting and releasing cone robot as claimed in claim 6, wherein the guiding and adjusting mechanism (32) comprises a connecting arm connected with the bottom of the manipulator support (27) and an opening mechanism arranged on the connecting arm, the connecting arm is provided with a plurality of positioning and adjusting holes (31) arranged along the vertical direction, the guiding and adjusting mechanism (32) is connected with the manipulator support (27) through a positioning pin (30) penetrating through the positioning and adjusting holes (31), the opening mechanism is arranged in a scissor structure, and the angle between the opening mechanisms is 80-100 degrees;

the manipulator is characterized by further comprising a contact rod (29), wherein the contact rod (29) penetrates through the manipulator support (27), and a return spring (34) is further arranged between the contact rod (29) and the manipulator support (27).

8. A dual-arm retracting cone robot according to any one of claims 1-7, further comprising an induction system, wherein the induction system comprises an induction probe(2) Inductive probe

the induction probe

the induction probe IV (28) is installed at the bottom of the manipulator support (27) and is higher than the contact rod (29), and the probing direction of the induction probe IV (28) is aligned with the contact rod (29).

9. The double-arm cone cylinder retracting and releasing robot as claimed in claim 8, wherein the servo driving system comprises a controller (38), the controller (38) is further provided with a collecting button (40) and a releasing button (41) for collecting the cone cylinder and releasing the cone cylinder respectively, and the controller (38) is connected with the sensing system, the rotary power head (8), the chain motor (10) and the electric push-pull rod (26) respectively;

the device also comprises a power supply, wherein the power supply is provided with a power switch (39) for controlling the power supply, and the power supply is respectively connected with the controller (38) and the induction system.

10. A double-arm cone-retracting and releasing robot as claimed in claim 9, wherein the frame carrying device comprises a carriage fixing frame (12) connected with the machine body (14), the carriage fixing frame (12) is in an inverted "U" shape, and the carriage fixing frame (12) is in threaded connection with the walking device.

Technical Field

The invention relates to an auxiliary machine for traffic control in highway construction, in particular to a double-arm conical cylinder retracting and releasing robot.

Background

The cone is a hollow cone-shaped safety sign made of plastic or rubber, the bottom of the cone is open, and the bottom of the cone is provided with an outer brim, so that the cone is used for isolating part of roads in road sealing or emergency construction and traffic tide lane diversion work, and is usually required to be laid and collected after use. The existing distribution and recovery modes are mostly manual, the workload is large, the working efficiency is low, and the working environment is abnormally dangerous.

At present, a small robot which is simple in operation, is driven by a servo motor to collect and distribute road safety cone cylinders by two arms and integrates and stacks the cone cylinders is urgently needed in the industry.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a double-arm conical cylinder retracting and releasing robot, which adopts a servo driving system to control double arms to lift in a staggered manner to complete conveying conical cylinders, completes clamping and stacking work of the conical cylinders by rotating 90 degrees, and has the advantages of high efficiency, low equipment manufacturing cost and stable equipment operation.

The invention relates to a double-arm conical cylinder retracting and releasing robot, which comprises a walking device and a mechanical main body carried on the walking device through a rack bearing device, wherein the mechanical main body comprises at least two conveying arms and a first driving device, at least two mechanical arms and a second driving device and a servo driving system; the conveying arms are arranged at two ends of the machine main body in parallel, the bottoms of the conveying arms are connected with the machine main body through a first driving device, and the first driving device can drive the conveying arms to rotate around the central axis of the first driving device in the same plane; the at least two mechanical arms are respectively arranged on the at least two conveying arms, the second driving device is arranged on the mechanical main body and connected with the mechanical arms, and the second driving device can drive the mechanical arms to move on the conveying arms; the servo driving system is respectively connected with the first driving device and the second driving device.

Preferably, the upper end and the lower end of the machine main body are both provided with connecting plates, the two ends of the conveying arm are connected with the connecting plates through bearing seats, one end of the conveying arm is connected with the first driving device, and the other end of the conveying arm is fixedly provided with a probe induction sheet; the first driving device comprises a rotary power head and a power motor which are connected, and the power motor drives the rotary power head to drive the conveying arm to rotate.

Preferably, the second driving device comprises a chain, a chain guide groove, a main driving chain wheel, a steering chain wheel, a fastening chain wheel and a chain motor, wherein the chain guide groove is parallel to the mechanical body and is fixedly installed on the mechanical body, the chain is arranged in the chain guide groove, the steering chain wheel is fixedly installed at four corners of the mechanical body, the main driving chain wheel and the fastening chain wheel are fixedly arranged on the mechanical body, the chain is sleeved on the main driving chain wheel, the steering chain wheel and the fastening chain wheel for transmission, and the fastening chain wheel is connected with the chain motor in a rotating mode.

Preferably, link to each other through first bearing housing between transport arm and the manipulator, first bearing housing overlaps on the surface and is equipped with the second bearing housing, and the cover is equipped with the bearing on the second bearing housing surface, the bearing passes through the chain connecting plate and links to each other with the chain guide way, and wherein chain connecting plate one end extends to and is connected with the chain in the chain guide way.

The at least two manipulators are respectively manipulators

Manipulator

The manipulatorMounted on one of the transfer arms, manipulators

Mounted on another transfer arm, wherein the robot armAnd a manipulator

The structures are the same; the manipulatorOr a robot arm

Including arm, manipulator support, manipulator anchor clamps and direction adjustment mechanism, arm one end links to each other with manipulator support, and the other end is provided with can dismantle the connector and connect the hasp, and the one end that manipulator support kept away from the arm is connected with manipulator anchor clamps, manipulator support bottom still is connected with direction adjustment mechanism.

Preferably, the manipulator fixture is symmetrically arranged in a pair and comprises a long arm and a short arm, the long arm and the short arm are connected through an included angle of 90 degrees, the joint of the long arm and the short arm is connected with the manipulator support through a bolt, one end of the fixture connecting rod is arranged in a crossed mode and is connected with the piston rod, the other end of the fixture connecting rod is connected with the short arm through a connecting screw rod, the piston rod is further connected with the electric push-pull rod, the fixture connecting rod is driven to move, so that the connected manipulator fixture is controlled to adjust an opening angle to clamp or release the conical cylinder, and the angle between the manipulator fixtures is 45-60 degrees.

Preferably, the guiding and adjusting mechanism comprises a connecting arm connected with the bottom of the manipulator support and an opening mechanism arranged on the connecting arm, a plurality of positioning adjusting holes arranged in the vertical direction are formed in the connecting arm, the guiding and adjusting mechanism is connected with the manipulator support through positioning pins penetrating through the positioning adjusting holes, the opening mechanism is arranged in a scissor structure, the angle between the opening mechanisms is 80-100 degrees, the guiding and adjusting mechanism further comprises a contact rod, the contact rod penetrates through the manipulator support, and a reset spring is further arranged between the contact rod and the manipulator support.

Preferably, the servo driving system comprises a controller, a collecting button and a distributing button which are respectively used for collecting the cone cylinder and distributing the cone cylinder are further arranged on the controller, and the controller is respectively connected with the induction system, the rotary power head, the chain motor and the electric push-pull rod; the power supply is provided with a power switch for controlling the power supply, and the power supply is connected with the controller and the induction system respectively.

Preferably, the rack bearing device comprises a carriage fixing frame of the mechanical main body, the carriage fixing frame is of an inverted U-shaped structure, and the carriage fixing frame is fixedly connected with the traveling device through threads.

Compared with the prior art, the invention has the following technical effects:

1. the robot is simple in structure, low in equipment manufacturing cost, convenient to disassemble and small in occupied car body space, can finish the arrangement, collection and stacking work of the cone barrels by adopting a forward or reverse driving mode, is not limited by roads, is wide in application range, and meets the requirements of cone barrel collection and arrangement of different types in China.

2. The servo driving system is adopted to control the two arms to ascend and descend in a staggered mode to finish conveying the conical cylinders, the two mechanical arms are controlled to rotate in a staggered mode by 90 degrees automatically to finish clamping and loosening work of the conical cylinders, the control technology system is complete, the automation degree is high, the spacing between the distributed conical cylinders is uniform, collection and stacking are finished synchronously, the speed is high, the efficiency is high, and the equipment runs stably.

Drawings

FIG. 1 is a schematic view of the structure of the present invention.

Fig. 2 is a left side view of the structure of fig. 1.

Fig. 3 is a front view of the robot in fig. 1.

Fig. 4 is a schematic top view of the robot of fig. 3.

Fig. 5 is a left side view of the robot of fig. 3.

FIG. 6 is a schematic diagram of the servo drive system connection.

Reference numerals: 1-chain, 2-inductive probe3-probe induction sheet, 4-conveying arm, 4.1-left arm conveying arm, 4.2-right arm conveying arm, 5-first bearing sleeve, 6-second bearing sleeve, 7-bearing, 8-rotary power head, 9-connecting plate, 10-chain motor, 11-chain connecting plate, 12-carriage fixing frame, 13-chain guide groove, 14-chain guide groove-machine body, 15-main drive sprocket, 16-fastening sprocket, 17-induction probe

18-steering chain wheel, 19-induction probe III, 20-detachable connecting port, 21-connecting lock catch, 22-mechanical arm, 23-clamp connecting rod, 24-mechanical arm clamp, 25-connecting screw rod, 26-electric push-pull rod, 27-mechanical arm support, 28-induction probe IV, 29-contact rod, 30-positioning pin, 31-positioning adjusting hole, 32-guide adjusting mechanism, 33-piston rod, 34-reset spring, 35-mechanical arm36-mechanical arm

37-bolt, 38-controller, 39-power switch, 40-collection button and 41-arrangement button.

Detailed Description