阅读说明：本技术 一种基于智能交通的交通锥自动取放装置 (Automatic traffic cone taking and placing device based on intelligent transportation ) 是由 吉高卿 王媛丽 温晓东 张连连 郑运昌 于 2021-07-23 设计创作，主要内容包括：本发明公开了一种基于智能交通的交通锥自动取放装置,包括履带车本体,所述履带车本体的上部设置有取放装置,所述取放装置包括用于抓取交通锥的抓取机构一和抓取机构二、若干用于传输交通锥的传输机构若干推动抓取机构、控制机构和车厢,所述车厢为U形结构,所述履带车本体底部开设有与车厢相配合的通槽,所述抓取机构一、抓取机构二、传输机构和推动抓取机构设置在车厢内,所述抓取机构一和抓取机构二具有相同的结构,所述抓取机构一和抓取机构二分别设置在车厢两侧,且沿履带车本体前进方向前后分布。本发明通过抓取机构一和抓取机构二的相互配合,进行交通锥的抓取和投放。(The invention discloses an automatic traffic cone taking and placing device based on intelligent traffic, which comprises a crawler body, wherein the taking and placing device is arranged at the upper part of the crawler body, the taking and placing device comprises a first grabbing mechanism and a second grabbing mechanism for grabbing traffic cones, a plurality of transmission mechanisms for transmitting the traffic cones, a plurality of pushing grabbing mechanisms, a control mechanism and a carriage, the carriage is of a U-shaped structure, a through groove matched with the carriage is formed in the bottom of the crawler body, the first grabbing mechanism, the second grabbing mechanism, the transmission mechanisms and the pushing grabbing mechanisms are arranged in the carriage, the first grabbing mechanism and the second grabbing mechanism are of the same structure, and the first grabbing mechanism and the second grabbing mechanism are respectively arranged on two sides of the carriage and are distributed front and back along the advancing direction of the crawler body. The traffic cone is grabbed and thrown in through the mutual matching of the grabbing mechanism I and the grabbing mechanism II.)

1. The utility model provides an automatic device of putting of getting of traffic awl based on intelligent transportation, includes tracked vehicle body (1), its characterized in that: the crawler type traffic cone picking and placing device is characterized in that a picking and placing device (2) is arranged on the upper portion of the crawler body (1), the picking and placing device (2) comprises a first grabbing mechanism (21) and a second grabbing mechanism (22) for grabbing traffic cones, a plurality of transmission mechanisms (23) for transmitting the traffic cones, a plurality of pushing grabbing mechanisms (24), a control mechanism (25) and a carriage (26), the carriage (26) is of a U-shaped structure, a through groove (3) matched with the carriage (26) is formed in the bottom of the crawler body (1), the first grabbing mechanism (21), the second grabbing mechanism (22), the transmission mechanisms (23) and the pushing grabbing mechanisms (24) are arranged in the carriage (26), the first grabbing mechanism (21) and the second grabbing mechanism (22) have the same structure, the first grabbing mechanism (21) and the second grabbing mechanism (22) are respectively arranged on two sides of the carriage (26) and are distributed back and forth along the advancing direction of the crawler body (1), the surface of the carriage (26) corresponding to the positions of the first grabbing mechanism (21) and the second grabbing mechanism (22) is respectively provided with a throwing port (4), and the control mechanism (25) is respectively connected with the crawler body (1), the first grabbing mechanism (21), the second grabbing mechanism (22), the transmission mechanism (23) and the pushing grabbing mechanism (24).

2. The automatic traffic cone taking and placing device based on intelligent traffic is characterized in that: the control mechanism (25) comprises a power supply assembly (251) and a control assembly (252) which are used for supplying power to the crawler body (1) and the taking and placing device (2), the power supply assembly (251) comprises a storage battery and a charging and discharging module matched with the storage battery, and the charging and discharging module is connected with the storage battery;

the control assembly (252) comprises a controller (25201), a Beidou navigation module (25202), an Internet of things communication module (25203) and a wireless communication module (25204), wherein the Beidou navigation module (25202), the Internet of things communication module (25203) and the wireless communication module (25204) are respectively connected with the controller (25201).

3. The traffic cone automatic taking and placing device based on intelligent traffic is characterized in that: the first grabbing mechanism (21) comprises a grabbing component (211) and a limiting component (212) matched with the grabbing component, and the limiting component (212) is arranged on one side of the grabbing component (211);

the grabbing component (211) comprises a rotating motor (21101), a supporting plate (21102), a vertical plate (21103), a sliding block (21104), a first electric cylinder (21105), an expansion rod (21106), a telescopic electric cylinder (21107), an installation plate (21108), a clamping jaw (21109), a distance sensor (21110) and a first camera (21111), wherein the supporting plate (21102) is connected with the inner wall of the carriage (26), the rotating motor (21101) is arranged on the upper portion of the supporting plate (21102), an output shaft of the rotating motor (21101) penetrates through the supporting plate (21102) to be connected with the vertical plate (21103), the sliding block (21104) is sleeved on the vertical plate (21103) in a sliding mode, the first electric cylinder (21105) is arranged on one side of the vertical plate (21103), one end of the first electric cylinder is connected with the upper portion of the sliding block (21104), two ends of the expansion rod (21106) are respectively connected with the sliding block (21104) and the installation plate (21108), and the telescopic electric cylinder (21107) is arranged on the upper side of the sliding block (21106), one end of the telescopic electric cylinder (21107) is connected with an installation plate (21108), the clamping jaw (21109) is connected with the installation plate (21108), the camera I (21111) and the distance sensor (21110) are arranged on the upper portion of the clamping jaw (21109) on the installation plate (21108) respectively, and the camera I (21111) and the distance sensor (21110) are connected with the controller (25201) respectively.

4. The automatic traffic cone taking and placing device based on intelligent traffic is characterized in that: the limiting assembly (212) comprises a baffle plate (2120), a connecting ring (2120), a swinging column (21203), a torsion spring (21204), a transmission gear (21205), a swinging motor (21206), a driving gear (21207), a Hall sensor (21208) and a magnetic steel sheet (21209), the swinging column (21203) is rotatably arranged in the carriage (26), the torsion spring (21204) is sleeved at the bottom of the swinging column (21203), two ends of the torsion spring are respectively connected with the swinging column (21203) and the inner wall of the carriage (26), the connecting ring (21203) is sleeved at the outer side of the swinging column (21203), one end of the baffle plate (21201) is connected with the connecting ring (21202), the transmission gear (21201) is arranged at the top of the swinging column (21203), the swinging motor (21206) is arranged at one side of the swinging column (21203) in the carriage (26), an output shaft of the swinging motor (21206) is connected with a rotating shaft, the driving gear (21207) is connected with the top of the rotating shaft, the magnetic steel sheet (21209) is arranged on one side of the rotating shaft, the Hall sensor (21208) is arranged on one side of the magnetic steel sheet (21209) in the carriage (26), and the swinging motor (21206) and the Hall sensor (21208) are electrically connected with the controller (25201).

5. The automatic traffic cone taking and placing device based on intelligent traffic is characterized in that: the conveying mechanism (23) comprises a first conveying belt component (231), a second conveying belt component (232) and 2 conveying roller components (233), wherein the first conveying belt component (231) is arranged on one side of a grabbing component (211) in the carriage (26) and is matched with the grabbing component (211) for use, the second conveying belt component (232) is arranged on one side of the grabbing component (211) in the carriage (26) and is matched with the grabbing component (211), and 2 the first conveying belt component (231) and the second conveying belt component (232) are respectively arranged on the conveying roller components (233).

6. The automatic traffic cone taking and placing device based on intelligent traffic is characterized in that: the second conveying belt assembly (232) and the first conveying belt assembly (231) have the same structure, the first conveying belt assembly (231) comprises a first conveying belt motor (23101), 2 first conveying rollers (23102) and a first conveying belt (23103) sleeved outside the 2 first conveying rollers (23102), the 2 first conveying rollers (23102) and the first conveying belt (23103) are arranged in a compartment, the first conveying belt motor (23101) is connected with the outer wall of one side of the compartment (26), an output shaft of the first conveying belt motor (23101) penetrates through the compartment (26) to be connected with the 1 first conveying rollers (23102), and the first conveying belt motor (23101) is electrically connected with a controller (25201).

7. The automatic traffic cone taking and placing device based on intelligent traffic is characterized in that: the conveying roller assembly (233) comprises a plurality of conveying rollers (23301), 2 roller frames (23302), 2 outer covers (23303) and 2 pulling electric cylinders (23304), the outer cover (23303) is connected with the outer wall of the carriage (26), the roller frame (23302) is arranged in the outer cover (23303), the two ends of the roller frame (23302) are distributed in a left-high and right-low manner, the surface of the carriage (26) close to the two sides of the roller frame (23302) is provided with a lifting groove matched with the transmission roller (23301), two ends of the transmission roller (23301) penetrate through the lifting groove to be rotationally connected with the corresponding roller frame (23302), the pulling electric cylinder (23304) is connected with the inner wall of the upper side of the outer cover (23303), the lower end of the pulling electric cylinder (23304) is connected with the roller frame (23302), the lifting electric cylinder (23304) is electrically connected with a controller (25201), and one side of the upper part of the carriage (26) corresponding to the transmission roller assembly (233) is hinged with a vehicle door.

8. The automatic traffic cone taking and placing device based on intelligent traffic is characterized in that: one side of the outer surface of the carriage (26) close to the outer cover (23303) is provided with a positioning camera (5), and the positioning camera (5) is connected with a controller (25201).

9. The automatic traffic cone taking and placing device based on intelligent traffic is characterized in that: the push grabbing mechanism (24) is arranged on the right side of the transmission roller (23301) mechanism, the push grabbing mechanism (24) comprises a push electric cylinder (241), a guide cylinder (242), a push cylinder (243), a buffer spring (244), a push rod (245), a push plate (246), an auxiliary clamping jaw (247) and a camera II (248), a partition plate (249) is arranged on the right side of the transmission roller (23301) mechanism in the carriage (26), the push electric cylinder (241) is arranged on the right side of the partition plate (249), one end of the push electric cylinder (241) penetrates through the partition plate (249) to be connected with the push rod (245), the push rod (245) is arranged in the push cylinder (243) in a sliding mode, two ends of the buffer spring (244) are respectively connected with the inner walls of the push rod (245) and the push cylinder (243), the guide cylinder (242) is sleeved on the outer side of the push cylinder (243) in a sliding mode, and the push plate (246) is connected with one end of the push cylinder (243), the auxiliary clamping jaw (247) is arranged on the push plate (246), the second camera (248) is arranged on the push plate (246), and the second camera (248) is positioned on the upper side of the auxiliary clamping jaw (247).

10. The automatic traffic cone taking and placing device based on intelligent traffic is characterized in that: two illuminating lamps (6) are arranged on the outer side of the carriage (26), the illuminating lamps (6) are symmetrically arranged on two sides of the carriage (26), and the illuminating lamps (6) are electrically connected with a controller (25201).

Technical Field

The invention relates to the technical field of intelligent traffic, in particular to an automatic traffic cone taking and placing device based on intelligent traffic.

Background

Traffic awl is used often in road construction, and traditional traffic awl is got to put and is put through artifical manual getting, wastes time and energy, and is inefficient, can't satisfy intelligent transportation's needs.

Disclosure of Invention

The invention aims to provide an automatic traffic cone taking and placing device based on intelligent traffic, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic traffic cone taking and placing device based on intelligent traffic comprises a tracked vehicle body, wherein the taking and placing device is arranged at the upper part of the tracked vehicle body and comprises a first grabbing mechanism and a second grabbing mechanism for grabbing traffic cones, a plurality of transmission mechanisms for transmitting the traffic cones, a plurality of pushing grabbing mechanisms, a control mechanism and a carriage, the carriage is of a U-shaped structure, the bottom of the tracked vehicle body is provided with a through groove matched with the carriage, the first grabbing mechanism, the second grabbing mechanism, the transmission mechanisms and the pushing grabbing mechanisms are arranged in the carriage, the first grabbing mechanism and the second grabbing mechanism have the same structure, the first grabbing mechanism and the second grabbing mechanism are respectively arranged at two sides of the carriage and are distributed in the front and back direction of the tracked vehicle body, and the surfaces of the carriage corresponding to the first grabbing mechanism and the second grabbing mechanism are respectively provided with a throwing opening, the control mechanism is respectively connected with the crawler body, the first grabbing mechanism, the second grabbing mechanism, the transmission mechanism and the pushing grabbing mechanism.

Preferably, the control mechanism comprises a power supply assembly and a control assembly, the power supply assembly and the control assembly are used for supplying power to the crawler body and the taking and placing device, the power supply assembly comprises a storage battery and a charging and discharging module matched with the storage battery, and the charging and discharging module is connected with the storage battery;

the control assembly comprises a controller, a Beidou navigation module, an Internet of things communication module and a wireless communication module, and the Beidou navigation module, the Internet of things communication module and the wireless communication module are respectively connected with the controller.

Preferably, the first grabbing mechanism comprises a grabbing component and a limiting component matched with the grabbing component, and the limiting component is arranged on one side of the grabbing component;

the grabbing component comprises a rotating motor, a supporting plate, a vertical plate, a sliding block, a first electric cylinder, a telescopic rod, a telescopic electric cylinder, a mounting plate, a clamping jaw, a distance sensor and a first camera, the support plate is connected with the inner wall of the carriage, the rotating motor is arranged at the upper part of the support plate, an output shaft of the rotating motor penetrates through the support plate to be connected with the vertical plate, the sliding block is sleeved on the vertical plate in a sliding manner, the first electric cylinder is arranged at one side of the vertical plate, one end of the telescopic rod is connected with the upper part of the sliding block, the two ends of the telescopic rod are respectively connected with the sliding block and the mounting plate, the telescopic electric cylinder is arranged on the upper side of the telescopic rod on the sliding block, one end of the telescopic electric cylinder is connected with the mounting plate, the clamping jaw is connected with the mounting plate, the first camera and the distance sensor are arranged on the upper portion of the clamping jaw on the mounting plate respectively, and the first camera and the distance sensor are connected with the controller respectively.

Preferably, spacing subassembly includes baffle, go-between, swing post, torsional spring, drive gear, swing motor, driving gear, hall sensor and magnetic steel piece, the swing post rotates and sets up in the carriage, the torsional spring cover is established in the bottom of swing post, and its both ends respectively with swing post and carriage inner wall connection, the go-between cover is established in the swing post outside, the one end and the go-between of baffle are connected, drive gear sets up the top at the swing post, swing motor sets up the one side of swing post in the carriage, swing motor's output shaft has the axis of rotation, the driving gear is connected at the top of axis of rotation, the magnetic steel piece sets up the one side at the axis of rotation, hall sensor sets up the one side of magnetic steel piece in the carriage, swing motor and hall sensor and controller electric connection.

Preferably, the transmission mechanism comprises a first transmission belt component, a second transmission belt component and 2 transmission belt components, wherein the first transmission belt component is arranged on one side of the grabbing component in the carriage and is matched with the grabbing component for use, the second transmission belt component is arranged on one side of the grabbing component in the carriage and is matched with the grabbing component for use, and 2 the first transmission belt component and the second transmission belt component are respectively arranged on one sides of the first transmission belt component and the second transmission belt component.

Preferably, transmission band subassembly two and transmission subassembly one have the same structure, the transmission band subassembly includes transmission band motor one, 2 transmission roller one and cover and establish the transmission band one in 2 transmission roller outsides, 2 transmission roller one and transmission band one set up in the railway carriage, transmission band motor one runs through the carriage with carriage one side outer wall connection and its output shaft and 1 transmission roller is connected, transmission band motor one and controller electric connection.

Preferably, the conveying roller assembly comprises a plurality of conveying rollers, 2 roller frames, 2 outer covers and 2 lifting electric cylinders, the outer covers are connected with the outer wall of the carriage, the roller frames are arranged in the outer covers, the two ends of each roller frame are distributed in a left-high-right-low mode, lifting grooves matched with the conveying rollers are formed in the surfaces of the carriage close to the two sides of each roller frame, the two ends of each conveying roller penetrate through the lifting grooves to be rotatably connected with the corresponding roller frames, the lifting electric cylinders are connected with the inner wall of the upper side of the outer covers, the lower ends of the lifting electric cylinders are connected with the roller frames, the lifting electric cylinders are electrically connected with the controller, and a vehicle door is hinged to one side, corresponding to the conveying roller assembly, of the upper portion of the carriage.

Preferably, one side of the outer surface of the carriage, which is close to the outer cover, is provided with a positioning camera, and the positioning camera is connected with the controller.

Preferably, the promotion is snatched the mechanism and is set up the right side at transmission roller mechanism, the promotion is snatched the mechanism and is included promotion electric jar, guide cylinder, a promotion section of thick bamboo, buffer spring, catch bar, catch plate, supplementary clamping jaw and second camera, the right side of transmission roller mechanism is provided with the baffle in the carriage, it sets up the right side at the baffle to promote the electric jar, the one end that promotes the electric jar runs through out the baffle and is connected with the catch bar, the catch bar slides and is provided with in the promotion section of thick bamboo, buffer spring's both ends respectively with catch bar and promotion section of thick bamboo wall connection, the guide cylinder slip cap is established in the promotion section of thick bamboo outside, the catch plate is connected with the one end of a promotion section of thick bamboo, supplementary clamping jaw sets up on the catch plate, second camera sets up on the catch plate, the second camera is located the upside of supplementary clamping jaw.

Preferably, the carriage outside is provided with two light, the light symmetry sets up in the carriage both sides, light and controller electric connection.

Compared with the prior art, the invention has the beneficial effects that:

1. the controller controls the advancing direction of the crawler body according to information transmitted by the positioning camera, so that a traffic cone is guaranteed to accurately enter the through groove, when the camera I observes the traffic cone through the putting-in opening, the controller calculates the approaching speed of the traffic cone according to image information of the camera I and combined with image information of the positioning camera, controls the timing of pushing out the telescopic electric cylinder, simultaneously blocks the traffic cone entering the putting-in opening area through the baffle, and is matched with grabbing of the grabbing mechanism I, when the grabbing mechanism I sends the traffic cone into a carriage, the grabbing mechanism II grabs the next traffic cone in the same mode and sends the traffic cone to the inner side and the outer side of the carriage, and therefore the crawler type automatic grabbing device works alternately, and can fast grab the traffic cone;

2. when the rotating motor rotates, the swinging motor synchronously rotates, the swinging motor drives the rotating shaft to rotate, and meanwhile, the rotating shaft drives the swinging column to rotate through the transmission of the driving gear and the transmission gear, so that the baffle is driven to rotate, the retraction of the baffle is realized, and the baffle is prevented from blocking the next traffic cone;

3. according to the invention, the rotating shaft rotates to drive the magnetic steel sheet to rotate, when the Hall sensor senses the magnetic steel, a signal is transmitted to the controller, the controller records the signal, and when the driving gear is separated from the transmission gear, the swinging column rotates to the original position under the action of the torsion spring, so that the baffle is reset; counting the number of traffic cones by the aid of the number of times of signal transmission of the Hall sensor recorded by the controller and the combination of image information of the contact traffic cones and the separation traffic cones shot by the camera;

4. the device can be positioned through the Beidou navigation module, navigation is provided for the device, and the auxiliary controller controls the traveling route of the crawler body; the device can be connected with a network through the Internet of things communication module, relevant construction contents are obtained from a road management department, and meanwhile, the position information of the device is fed back to the network, so that the road management department can know the position information of the device in time.

Drawings

FIG. 1 is a cross-sectional view of a top view structure of an automatic traffic cone picking and placing device based on intelligent traffic, which is disclosed by the invention;

FIG. 2 is a schematic view of an internal structure of an automatic traffic cone picking and placing device based on intelligent traffic;

FIG. 3 is a cross-sectional view taken at A-A of FIG. 1 in accordance with the present invention;

FIG. 4 is a schematic side view of the present invention;

FIG. 5 is a schematic diagram of an external top view of the present invention;

FIG. 6 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

FIG. 7 is an enlarged view of the structure at B in FIG. 3 according to the present invention;

FIG. 8 is an enlarged view of the structure at C of FIG. 4 according to the present invention;

fig. 9 is a schematic diagram of module connection according to the present invention.

In the figure: the crawler type automatic parking device comprises a crawler body 1, a taking and placing device 2, a through groove 3, a throwing opening 4, a positioning camera 5, an illuminating lamp 6, a first mechanism 21, a second grabbing mechanism 22, a transmission mechanism 23, a pushing and grabbing mechanism 24, a control mechanism 25, a carriage 26, a power supply assembly 251, a control assembly 252, a controller 25201, a Beidou navigation module 25202, an Internet of things communication module 25203, a wireless communication module 25204, a grabbing assembly 211, a limiting assembly 212, a rotating motor 21101, a supporting plate 21102, a vertical plate 21103, a sliding block 21104, a first electric cylinder 21105, a telescopic rod 21106, a telescopic electric cylinder 21107, a mounting plate 21108, a clamping jaw 21109, a distance sensor 21110, a first camera 21111, a baffle 21201, a connecting ring 21202, a swinging column 21203, a torsion spring 21204, a transmission gear roller assembly 21201, a swinging motor 21201, a driving gear 21207, a Hall sensor 21208, a magnetic steel sheet 21209, a first conveying belt assembly 231, a second conveying belt assembly 232, a transmission belt assembly 233, a first conveying belt 23101, a first conveying belt assembly 23101, a second conveying belt assembly and a second conveying belt assembly, The device comprises a first conveying roller 23102, a first conveying belt 23103, a first conveying roller 23301, a roller frame 23302, an outer cover 23303, a pulling electric cylinder 23304, a pushing electric cylinder 241, a guide cylinder 242, a pushing cylinder 243, a buffer spring 244, a pushing rod 245, a pushing plate 246, an auxiliary clamping jaw 247, a second camera head 248 and a partition plate 249.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-9, the present invention provides a technical solution: an automatic traffic cone taking and placing device based on intelligent traffic comprises a crawler body 1, wherein a taking and placing device 2 is installed on the upper portion of the crawler body 1, the taking and placing device 2 comprises a first grabbing mechanism 21 and a second grabbing mechanism 22 for grabbing traffic cones, 2 conveying mechanisms 23 for conveying traffic cones, 2 pushing grabbing mechanisms 24, a control mechanism 25 and a carriage 26, the carriage 26 is of a U-shaped structure, a through groove 3 matched with the carriage 26 is formed in the bottom of the crawler body 1, the first grabbing mechanism 21, the second grabbing mechanism 22, the conveying mechanisms 23 and the pushing grabbing mechanisms 24 are installed in the carriage 26, the first grabbing mechanism 21 and the second grabbing mechanism 22 are of the same structure, the first grabbing mechanism 21 and the second grabbing mechanism 22 are installed on two sides of the carriage 26 respectively and distributed in the front and back direction of the crawler body 1, and throwing openings 4 are formed in the surfaces of the carriage 26 corresponding to the positions of the first grabbing mechanism 21 and the second grabbing mechanism 22 respectively, the control mechanism 25 is respectively connected with the tracked vehicle body 1, the first grabbing mechanism 21, the second grabbing mechanism 22, the transmission mechanism 23 and the pushing grabbing mechanism 24, the control mechanism 25 comprises a power supply component 251 and a control component 252 which are used for supplying power to the tracked vehicle body 1 and the taking and placing device 2, the power supply component 251 comprises a storage battery and a charging and discharging module matched with the storage battery, and the charging and discharging module is connected with the storage battery; the control assembly 252 includes a controller 25201, a beidou navigation module 25202, an internet of things communication module 25203 and a wireless communication module 25204, and the beidou navigation module 25202, the internet of things communication module 25203 and the wireless communication module 25204 are respectively connected with the controller 25201.

The first grabbing mechanism 21 comprises a grabbing component 211 and a limiting component 212 matched with the grabbing component 211, wherein the limiting component 212 is arranged on one side of the grabbing component 211; the grabbing component 211 comprises a rotating motor 21101, a supporting plate 21102, a vertical plate 21103, a sliding block 21104, a first electric cylinder 21105, an expansion rod 21106, an expansion electric cylinder 21107, an installation plate 21108, a clamping jaw 21109, a distance sensor 21110 and a first camera 21111, wherein the supporting plate 21102 is connected with the inner wall of the carriage 26, the rotating motor 21101 is installed at the upper part of the supporting plate 21102, an output shaft of the rotating motor 21101 penetrates through the supporting plate 21102 to be connected with the vertical plate 21103, the sliding block 21104 is sleeved on the vertical plate 21103 in a sliding way, the first electric cylinder 21105 is installed at one side of the vertical plate 21103, one end of the telescopic rod 21106 is connected with the upper part of the slider 21104, the two ends of the telescopic rod 21106 are respectively connected with the slider 21104 and the mounting plate 21108, the telescopic electric cylinder 21107 is arranged on the slider 21104 above the telescopic rod 21106, one end of the telescopic electric cylinder 21107 is connected with the mounting plate 21108, the clamping jaw 21109 is connected with the mounting plate 21108, the camera 21111 and the distance sensor 21110 are respectively arranged on the mounting plate 21108 above the clamping jaw 21109, and the camera 21111 and the distance sensor 21110 are respectively connected with the controller 25201.

The limiting assembly 212 comprises a baffle 21201, a connecting ring 2120, a swinging column 21203, a torsion spring 21204, a transmission gear 21205, a swinging motor 21206, a driving gear 21207, a hall sensor 21208 and a magnetic steel sheet 21209, wherein the swinging column 21203 is rotatably installed in the carriage 26, the torsion spring 21204 is sleeved at the bottom of the swinging column 21203, two ends of the torsion spring 21204 are respectively connected with the swinging column 21203 and the inner wall of the carriage 26, the connecting ring 2120 02 is sleeved outside the swinging column 21203, one end of the baffle 21201 is connected with the connecting ring 2120, the transmission gear 21205 is installed at the top of the swinging column 21203, the swinging motor 21206 is installed at one side of the swinging column 21203 in the carriage 26, an output shaft of the swinging motor 21206 is connected with a rotating shaft, the top of the rotating shaft is connected with the driving gear 21207, the magnetic steel sheet 21209 is installed at one side of the rotating shaft, the hall sensor 21208 is installed at one side of the magnetic steel sheet 09 in the carriage 26, and the swinging motor 21201 and the hall sensor 21208 are electrically connected with a controller 25201.

The transmission mechanism 23 comprises a first transmission belt component 231, a second transmission belt component 232 and 2 transmission roller components 233, wherein the first transmission belt component 231 is installed on one side of the grabbing component 211 in the carriage 26 and is matched with the grabbing component 211, the second transmission belt component 232 is installed on one side of the grabbing component 211 in the carriage 26 and is matched with the grabbing component 211, and the 2 transmission roller components 233 are respectively installed on one sides of the first transmission belt component 231 and the second transmission belt component 232.

The second transmission belt assembly 232 and the first transmission belt assembly 231 have the same structure, the first transmission belt assembly 231 comprises a first transmission belt motor 23101, a first 2 transmission rollers 23102 and a first transmission belt 23103 sleeved outside the first 2 transmission rollers 23102, the first 2 transmission rollers 23102 and the first transmission belt 23103 are installed in the compartment, the first transmission belt motor 23101 is connected with the outer wall of one side of the compartment 26, an output shaft of the first transmission belt motor 23101 penetrates through the compartment 26 to be connected with the first 1 transmission roller 23102, and the first transmission belt motor 23101 is electrically connected with the controller 25201.

The transmission roller assembly 233 comprises a plurality of transmission rollers 23301, 2 roller frames 23302, 2 outer covers 23303 and 2 electric pulling cylinders 23304, the outer covers 23303 are connected with the outer wall of the carriage 26, the roller frames 23302 are installed in the outer covers 23303, two ends of each roller frame 23302 are distributed in a left-high and right-low mode, lifting grooves matched with the transmission rollers 23301 are formed in the surface of the carriage 26 close to two sides of each roller frame 23302, two ends of each transmission roller 23301 penetrate through the lifting grooves to be rotatably connected with the corresponding roller frame 23302, each electric pulling cylinder 23304 is connected with the upper inner wall of the outer cover 23303, the lower end of each electric pulling cylinder 23304 is connected with the corresponding roller frame 23302, each electric pulling cylinder 23304 is electrically connected with a controller 25201, and one side, corresponding to the transmission roller assembly 233, of the upper portion of the carriage 26 is hinged with a vehicle door.

A positioning camera 5 is mounted on the outer surface of the carriage 26 near the outer cover 23303, and the positioning camera 5 is connected with a controller 25201.

The pushing and grabbing mechanism 24 is installed on the right side of the transmission roller 23301 mechanism, the pushing and grabbing mechanism 24 comprises a pushing electric cylinder 241, a guide cylinder 242, a pushing cylinder 243, a buffer spring 244, a pushing rod 245, a pushing plate 246, an auxiliary clamping jaw 247 and a second camera 248, a partition plate 249 is installed on the right side of the transmission roller 23301 mechanism in the carriage 26, the pushing electric cylinder 241 is installed on the right side of the partition plate 249, one end of the pushing electric cylinder 241 penetrates through the partition plate 249 to be connected with the pushing rod 245, the pushing rod 245 is installed in the pushing cylinder 243 in a sliding mode, two ends of the buffer spring 244 are respectively connected with the inner walls of the pushing rod 245 and the pushing cylinder 243, the guide cylinder 242 is sleeved on the outer side of the pushing cylinder 243 in a sliding mode, the pushing plate 246 is connected with one end of the pushing cylinder 243, the auxiliary clamping jaw 247 is installed on the pushing plate 246, the second camera 248 is installed on the pushing plate 246, and the second camera 248 is located on the upper side of the auxiliary clamping jaw 247.

Two illuminating lamps 6 are arranged outside the carriage 26, the illuminating lamps 6 are symmetrically arranged on two sides of the carriage 26, and the illuminating lamps 6 are electrically connected with the controller 25201.

The working principle is as follows: when collecting the traffic cone: when the tracked vehicle body 1 is close to a traffic cone, the position of the traffic cone is observed through the positioning camera 5, the controller 25201 controls the advancing direction of the tracked vehicle body 1 according to information transmitted by the positioning camera 5 to ensure that the traffic cone accurately enters the through groove 3, when the camera I21111 observes the traffic cone through the putting-in opening 4, the controller 25201 calculates the approaching speed of the traffic cone according to the image information of the camera I21111 and by combining the image information of the positioning camera 5 to control the push-out time of the telescopic electric cylinder 21107, and simultaneously blocks the traffic cone entering the area of the putting-in opening 4 through the baffle 21201 to cooperate with the grabbing of the grabbing mechanism I21;

the specific grabbing steps are as follows: firstly, after the telescopic electric cylinder 21107 receives a push-out instruction of the controller 25201, the mounting plate 21108 is pushed out, the distance from the clamping jaw 21109 to a traffic cone is measured through the distance sensor 21110, the traffic cone is grabbed through the clamping jaw 21109, and after the traffic cone is grabbed, the controller 25201 determines that the traffic cone is successfully grabbed according to the information of the first camera 21111 and the distance sensor 21110; then the first electric cylinder 21105 is controlled to contract, the sliding block 21104 is pulled to move upwards on the vertical plate 21103 to drive the traffic cone to be separated from the ground, when the first electric cylinder 21105 reaches a set contraction distance, the rotating motor 21101 is started to rotate to drive the vertical plate 21103 to rotate, the sliding block 21104 and the telescopic rod 21106 connected with the sliding block are driven to rotate through the rotation of the vertical plate 21103, and the clamping jaw 21109 is driven to rotate, so that the traffic cone is sent into the carriage 26; when the rotating motor 21101 rotates, the swinging motor 21206 rotates synchronously, the swinging motor 2120 drives the rotating shaft to rotate, the rotating shaft rotates to drive the magnetic steel sheet 21209 to rotate, meanwhile, the driving gear 21207 at the top of the rotating shaft drives the transmission gear 21205 to rotate, the transmission gear 21205 drives the swinging column 21203 to rotate, the swinging column 21203 drives the baffle 21201 to rotate through the connecting ring 2120, the baffle 21201 is rotated into the carriage 26, when the magnetic steel is sensed by the hall sensor 21208, a signal is transmitted to the controller 25201, the controller 25201 records a signal, and when the driving gear 21207 is out of contact with the transmission gear 21205, the swinging column 21203 rotates to the original position under the action of the torsion spring 21204, so that the baffle 21201 is reset; counting the number of traffic cones by the aid of the number of times of signal transmission of the Hall sensor 21208 recorded by the controller 25201 and image information of the contact traffic cones and the separation traffic cones shot by the first camera 21111;

when the first grabbing mechanism 21 sends the traffic cone into the carriage 26, the second grabbing mechanism 22 grabs and takes off the next traffic cone in the same way and sends the traffic cone to the inner side and the outer side of the carriage 26, and therefore the traffic cones can be grabbed quickly by the alternate operation;

when the traffic cone enters the vehicle body, the second camera 248 observes the traffic cone, the controller 25201 analyzes and calculates according to information transmitted by the second camera 248, then the clamping jaws 21109 are controlled to release the traffic cone, the traffic cone falls on the corresponding first transmission belt 23103, the first transmission belt motor 23101 is started to drive the first transmission roller 23102 to rotate, the first transmission belt 23103 is driven by the transmission roller 23301 to move, one side of the traffic cone box transmission roller assembly 233 on the first transmission belt 23103 is moved, when the traffic cone moves onto the first transmission roller 23102, as the transmission roller 23301 is installed in a downward inclined mode, the traffic cone slides to one side of the auxiliary clamping jaw 247 through the transmission roller 23301, the operations are repeated, the traffic cones entering the compartment 26 are sequentially arranged on the transmission roller 23301, if a column is clamped in the sliding process of the traffic cone, the controller 25201 starts the pushing electric cylinder 241, the pushing plate 241 is pushed to approach to the traffic cone by the pushing electric cylinder 246, the traffic cone is gripped by the secondary jaws 247 and then pulled to the rightmost side of the transfer roller 23301;

when the traffic cone is thrown, the electric pushing cylinder 241 is started to drive the pushing rod 245 to move, the pushing rod 245 drives the pushing cylinder 243 to move through the spring, the pushing cylinder 243 pushes the pushing plate 246 to move, the pushing plate 246 drives the clamping jaws 21109 to move, the traffic cone on the conveying roller 23301 is pushed to one side of the first conveying belt assembly 231, the controller 25201 controls the first conveying belt motor 23101 to rotate reversely, the traffic cone is pushed to one side of the first grabbing mechanism 21, and the traffic cone is thrown onto the road surface from the compartment 26 through the first grabbing mechanism 21 in a manner opposite to the step of collecting the traffic cone; the working steps of putting the traffic cone in the second taking mechanism are consistent with those of the first grabbing mechanism 21 and are matched with each other.

In addition, after the traffic cone is received in the carriage 26, the upper door is opened, the controller 25201 controls the pulling electric cylinder 23304 to be started, the pulling electric cylinder 23304 pulls the roller frame 23302 to move upwards, the roller frame 23302 drives the transmission roller 23301 and the traffic cone on the upper part to move upwards, and therefore the traffic cone is extended out of the vehicle, and a user can check the traffic cone and replace the traffic cone which cannot be normally used.

The device can be positioned through the Beidou navigation module 25202, navigation is provided for the device, and the auxiliary controller 25201 controls the traveling route of the crawler body 1; the device can be connected with a network through the internet of things communication module 25203, relevant construction contents are obtained from a road management department, meanwhile, the position information of the device is fed back to the network, the road management department can know the position information of the device in time, and the wireless communication module 25204 can enable the device to serve as a wireless hotspot and pass through a wireless network for surrounding workers.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.