CN112942179A - Vehicle-mounted automatic cone barrel retracting and releasing device and control method thereof - Google Patents
Vehicle-mounted automatic cone barrel retracting and releasing device and control method thereof Download PDFInfo
- Publication number
- CN112942179A CN112942179A CN202110174269.1A CN202110174269A CN112942179A CN 112942179 A CN112942179 A CN 112942179A CN 202110174269 A CN202110174269 A CN 202110174269A CN 112942179 A CN112942179 A CN 112942179A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- conical barrel
- gripping apparatus
- controller
- cone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/70—Storing, transporting, placing or retrieving portable devices
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
The invention discloses a vehicle-mounted automatic cone barrel retracting device and a control method thereof, wherein the vehicle-mounted automatic cone barrel retracting device comprises the following steps: the device comprises a first servo motor, a horizontal moving support, a conical barrel gripping apparatus and a second servo motor, wherein the conical barrel gripping apparatus and the second servo motor are positioned on the horizontal moving support; the controller is respectively connected with the first servo driver, the second servo driver and the third servo driver; the controller is connected with the detection switch and used for acquiring a signal of the detection switch; the controller is connected with the cone bucket gripping apparatus and is used for sending a gripping or loosening signal to the cone bucket gripping apparatus. The invention can automatically arrange and recover the traffic cone barrels on the road surface of the road, thereby improving the working efficiency and the construction safety.
Description
Technical Field
The invention relates to the technical field of automatic control of special operation vehicles, in particular to a vehicle-mounted automatic cone barrel retracting device and a control method thereof.
Background
Temporary maintenance or traffic accident treatment of urban highways and expressways, in order to ensure the safety of constructors, emergency traffic cone sealing treatment is required. To the construction of the seal of longer distance, constructor needs the manual work to put traffic awl usually, inefficiency and work danger. At present, the way of traffic cone sealing is mostly carried out by using an artificial placing mode in China.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a vehicle-mounted automatic cone barrel retracting device and a control method thereof, and solves the problems of low efficiency and danger of manual placement of the existing traffic cones.
In order to achieve the above purpose, the invention adopts the following technical scheme: a vehicle-mounted automatic cone barrel retracting device comprises a first servo motor, a horizontal moving support, a cone barrel gripping apparatus and a second servo motor, wherein the cone barrel gripping apparatus and the second servo motor are positioned on the horizontal moving support;
the controller is respectively connected with the first servo driver, the second servo driver and the third servo driver; the controller is connected with the detection switch and used for acquiring a signal of the detection switch; the controller is connected with the conical barrel gripping apparatus and is used for sending a gripping or loosening signal to the conical barrel gripping apparatus;
the first servo motor is positioned on the horizontal moving support and used for controlling the conical barrel gripping apparatus to horizontally move on the horizontal support; the second servo motor is positioned on the vertical moving support and used for controlling the horizontal moving support to move in the vertical direction; the third servo motor is used for controlling the rotary transmission mechanism to realize movement in the rotary direction and driving the first servo motor, the horizontal moving support, the second servo motor, the vertical moving support and the conical barrel grab to integrally move in the rotary direction.
Further, the rotary transmission mechanism is positioned at the bottom of the vertical moving support.
Furthermore, the cone bucket gripping apparatus realizes the gripping and releasing operation of the gripping apparatus on the traffic cone by means of pneumatics.
A control method based on any one of the vehicle-mounted automatic cone barrel retracting devices comprises the following steps:
the position of the conical barrel stacking and fixing piece is calibrated by controlling the conical barrel gripping apparatus to be positioned above the conical barrel stacking and fixing piece, recording working position parameters of the first servo motor, the second servo motor and the third servo motor;
calibrating the number of the conical barrels through a detection switch and a second servo motor;
based on the position of the fixed piece and the number of the cone barrels stacked on the cone barrels obtained through calibration, the automatic placing and recycling of the traffic cone barrels are completed through the cone barrel grab tool, the detection switch and the first servo motor, the second servo motor and the third servo motor.
Further, the position of the fixing piece is piled up to the calibration awl bucket, include:
moving the conical barrel grab to the position right above the current conical barrel accumulation fixing piece, and storing and recording working position parameters of a first servo motor, a second servo motor and a third servo motor at the current position by a controller to finish the calibration of the position of the conical barrel accumulation fixing piece;
the number of the calibration cone barrels comprises the following steps:
move awl bucket gripping apparatus to single awl bucket and pile up the mounting top and carry out awl bucket gripping apparatus descending operation, stop descending until detecting switch detects there is the awl bucket, the controller takes notes current second servo motor's positional information, obtains the high position of current awl bucket gripping apparatus, calculates the awl bucket quantity that current awl bucket piled up on the mounting, repeatedly calculates every awl bucket and piles up accumulational awl bucket quantity and total awl bucket quantity and storage record on the mounting.
Further, the method for automatically placing the traffic cone barrel comprises the following steps:
after receiving the starting signal, the controller sends a position movement instruction to the first servo motor and the third servo motor, and the conical barrel gripping apparatus moves horizontally and rotates to a position above a certain calibrated conical barrel accumulation fixing member;
the controller sends a position movement instruction to the second servo motor, the conical barrel gripping apparatus performs vertical descending movement, and the switch to be detected detects a conical barrel signal and stops moving;
the controller outputs a grabbing signal and executes grabbing operation;
the controller sends a position movement instruction to the second servo motor, the conical barrel gripping apparatus executes vertical ascending movement to a set initial position, and the quantity of the conical barrels on the position fixing member is immediately reduced by one and is stored and recorded;
the controller is characterized in that a first servo motor, a third servo motor and a second servo motor respectively send position movement instructions, a conical barrel gripping apparatus moves to a set vehicle side position through horizontal, rotary and vertical movement operations, the controller outputs gripping apparatus loosening signals, and a conical barrel falls on the vehicle side;
and repeating the operations until all the cone barrels are completely grabbed or the controller receives a stop signal.
Further, the method for automatically recovering the traffic cone bucket comprises the following steps:
after receiving the starting signal, the controller respectively sends position movement instructions to the first servo motor, the third servo motor and the second servo motor, moves to the side face of the vehicle and waits for grabbing the conical barrel on the road surface;
the controller sends a motion instruction to the second servo motor, the conical barrel gripping apparatus moves vertically downwards, and the switch to be detected detects a conical barrel signal and stops moving;
the controller outputs a grabbing signal and executes grabbing operation;
the controller respectively sends position movement instructions to the second servo motor, the third servo motor and the first servo motor, and the controller moves the conical barrels to the position above the conical barrel stacking fixing piece which is not the initial calibration conical barrel number according to the set movement sequence and the movement position;
the controller sends a movement instruction to the second servo motor, the conical barrel gripping apparatus moves vertically downwards, after the conical barrel gripping apparatus moves to a set height, a gripping apparatus loosening signal is output, the number of conical barrel recycling at the position in the controller is increased by one, and the conical barrel recycling number is stored and recorded;
and repeating the operation until all the cone barrels are completely recovered or the controller receives a stop signal.
The invention achieves the following beneficial effects: the automatic traffic cone grabbing and placing device provided by the invention can realize automatic grabbing, placing and recovering operations of the traffic cones according to the set grabbing path by means of accurate positioning of the servo motor, and memorizes the number of the current cone barrels to be placed, and the whole device is installed on a special vehicle to finish automatic placing and recovering of the traffic cone barrels on the road surface, so that the working efficiency and the construction safety are improved.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
fig. 2 is a schematic diagram of the electrical structural connections in the device of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 and 2, a vehicle-mounted automatic cone barrel retracting device comprises: the device comprises a first servo motor 1, a horizontal moving support 2, a conical barrel gripping apparatus 3, a second servo motor 5, a vertical moving support 4, a third servo motor 7, a rotary transmission mechanism 6, a conical barrel stacking fixing member 8, a detection switch 9 positioned on the conical barrel gripping apparatus 3, a first servo driver 10 connected with the first servo motor 1, a second servo driver 11 connected with the second servo motor 5, a third servo driver 12 connected with the third servo motor 7 and a controller 13;
the controller is electrically connected with the first servo driver 10, the second servo driver 11 and the third servo driver 12 respectively; the controller is connected with the detection switch 9 and is used for acquiring a signal of the detection switch; the controller is connected with the conical barrel gripping apparatus 3 and is used for sending a gripping or loosening signal to the conical barrel gripping apparatus 3 and controlling the gripping apparatus to grip or loosen the conical barrel;
the first servo motor 1 is positioned on the horizontal moving support 2 and used for controlling the conical barrel gripping apparatus 3 to horizontally move on the horizontal moving support 2; the conical barrel gripping apparatus 3 can horizontally move on the horizontal support 2 through belt transmission by means of the power of the servo motor 1.
The second servo motor 5 is positioned on the vertical moving bracket 4 and is used for controlling the horizontal moving bracket 2 to move in the vertical direction; the conical barrel gripping apparatus 3 as a whole depends on the power of the second servo motor 5, and the vertical movement is realized on the vertical moving support 4 through belt transmission.
The rotary transmission mechanism 6 is positioned at the bottom of the vertical moving support 4, and the third servo motor 7 is used for controlling the rotary transmission mechanism 6 to realize the movement in the rotary direction; the first servo motor 1, the horizontal moving support 2, the second servo motor 5, the vertical moving support 4 and the conical barrel gripping apparatus 3 are integrally moved in the rotating direction by the power of the third servo motor 7 through the rotating transmission mechanism 6.
The cone bucket is piled up mounting 8 and is used for piling up of cone bucket and depositing, and according to this device size and actual cone bucket needs quantity, can carry out the cone bucket and pile up arbitrary overall arrangement of mounting 8, and quantity is only for the illustration in figure 1.
Through the power of first servo motor 1, second servo motor 5, third servo motor 7, gripper 3 has realized the motion of level, perpendicular, gyration direction, relies on servo motor's position feedback, and gripper 5 can be fixed a position to the top position of arbitrary mounting 8.
And the detection switch 9 is used for detecting whether the gripping apparatus moves above the conical barrel, and when the conical barrel is sleeved into the gripping apparatus, the detection switch 9 sends a detection in-place signal to the controller 13. The cone bucket gripping apparatus 3 realizes the rapid gripping and releasing operation of the gripping apparatus on the traffic cone by means of pneumatics.
The controller sends the motion position, motion speed and other instructions required by each servo motor to each servo driver according to the path planning requirement, the servo drivers convert the received instructions into motion instructions required by the servo motors and send the motion instructions to the servo motors to drive the servo motors to reach the required positions, and the servo drivers acquire position signals of the servo motors in real time and return the position signals to the controller 13 for path operation planning. The controller 13 collects signals of the gripper in-place detection switch 9, the detection switch 9 has signals indicating that a cone barrel is in the gripper, and the controller outputs gripping and loosening signals of the gripper according to the currently executed automatic placing or automatic recycling operation logic and whether the gripper reaches a set position, so as to execute corresponding operation on the gripper 3. It is also possible to send a start signal or an output signal to the controller 13 for start and stop commands of the device.
A control method of a vehicle-mounted automatic cone barrel retracting device comprises the following steps:
the position that the mounting 8 was piled up to the awl bucket and the step that awl bucket quantity was markd include:
1) moving the cone bucket grab 3 to a position right above the current cone bucket accumulation fixing piece 8, and storing and recording working position parameters of three servo motors at the current position by the controller 13, so that the position calibration of the cone bucket accumulation fixing piece 8 can be completed;
2) each conical barrel stacking fixing piece 8 stores traffic conical barrels according to the required quantity, the conical barrel grab 3 is moved to the position above a single conical barrel stacking fixing piece 8 to perform descending operation on the conical barrel grab 3, the switch 9 to be detected stops descending when a conical barrel is detected, the controller 13 records the current position information of the second servo motor 5 to obtain the current height position of the conical barrel grab 3, and the quantity of the conical barrels on the current conical barrel stacking fixing piece 8 is calculated according to the height position difference of the traffic conical barrel stacking;
and repeating the above steps according to the number of the conical barrel stacking fixing pieces 8, calculating the number of the conical barrels stacked on each conical barrel stacking fixing piece and the total conical barrel number, and storing records.
The automatic step of putting of traffic awl bucket includes:
after receiving the starting signal, the controller 13 sends a position movement instruction to the first servo motor 1 and the third servo motor 7, and horizontally moves and rotates the conical barrel gripping apparatus 3 to a position above the conical barrel accumulation fixing member 8 at a set position (a fixing member position stored after calibration);
the controller 13 sends a position movement instruction to the second servo motor 5, the conical barrel gripping apparatus 3 performs vertical descending movement, and the switch 9 to be detected stops moving when detecting a conical barrel signal;
the controller 13 outputs a grabbing signal to execute grabbing operation;
the controller 13 sends a position movement instruction to the second servo motor 5, the conical barrel gripping apparatus 3 executes vertical ascending movement to a set initial position, and the number of the conical barrels on the position fixing member is immediately reduced by one and is stored and recorded;
the controller 13 sends position movement instructions to the first servo motor 1, the third servo motor 7 and the second servo motor 5 respectively, the conical barrel gripping apparatus 3 moves to a set vehicle side position through horizontal, rotary and vertical movement operations, the controller 13 outputs gripping apparatus release signals, and the conical barrel vertically falls on the vehicle side;
the controller 13 sends position movement instructions to the second servo motor 5, the third servo motor 7 and the first servo motor 1 respectively, and moves the conical barrel to the upper part of the next conical barrel fixing piece 8 according to the set movement sequence and the movement position, so that the conical barrels at the position can be circularly grabbed at the single fixing piece until the number of the conical barrels at the position is 0, or the conical barrels at different positions can be circularly grabbed in sequence, and the grabbing sequence is automatically set in the controller 13 according to the requirements.
Repeating the above actions until all the cone barrels are completely grabbed or the controller receives a stop signal.
A step of automatically recovering the traffic cone barrel,
after receiving the starting signal, the controller 13 sends position movement instructions to the first servo motor 1, the third servo motor 7 and the second servo motor 5 respectively, moves to the side of the vehicle according to a set movement sequence and a set movement position, and waits for grabbing a cone on the road surface;
the controller 13 sends a motion instruction to the second servo motor 5, the conical barrel gripping apparatus 3 vertically moves downwards, and the switch 9 to be detected detects a conical barrel signal and stops moving;
the controller 13 outputs a grabbing signal to execute grabbing operation;
the controller 13 sends position movement instructions to the second servo motor 5, the third servo motor 7 and the first servo motor 1 respectively, and moves the conical barrels to the upper part of the conical barrel accumulation fixing piece 8 which is not in the number of the initially calibrated conical barrels according to the set movement sequence and the movement position;
the controller 13 sends a movement instruction to the second servo motor 5, the conical barrel gripping apparatus 3 vertically moves downwards, after the conical barrel gripping apparatus moves to a set height, a gripping apparatus loosening signal is output, the number of conical barrel recovery at the position in the controller is increased by one, and the conical barrel recovery is stored and recorded.
The controller 13 sends position movement instructions to the first servo motor 1, the third servo motor 7 and the second servo motor 5 respectively, moves to the side face of the vehicle according to a set movement sequence and a set movement position, and waits for grabbing the cone barrels on the road surface;
and the cone can be continuously recovered at a single position until the quantity reaches the initial calibration quantity, and then the cone can is recovered at the next position. And the conical barrels can be circularly stacked at different positions until all the conical barrels are completely recovered or the controller receives a stop signal.
The automatic grabbing and placing operation and the recycling operation of the traffic cones can be realized according to the set grabbing path by means of the accurate positioning of the servo motor, and the number of the current cone barrels to be placed is memorized. The whole device is installed on a special vehicle, the traffic cone barrels on the road surface are automatically placed and recovered, and the working efficiency and the construction safety are improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides a on-vehicle automatic awl barreled that receive and releases which characterized in that: the method comprises the following steps: the device comprises a first servo motor, a horizontal moving support, a conical barrel gripping apparatus and a second servo motor, wherein the conical barrel gripping apparatus and the second servo motor are positioned on the horizontal moving support;
the controller is respectively connected with the first servo driver, the second servo driver and the third servo driver; the controller is connected with the detection switch and used for acquiring a signal of the detection switch; the controller is connected with the conical barrel gripping apparatus and is used for sending a gripping or loosening signal to the conical barrel gripping apparatus;
the first servo motor is positioned on the horizontal moving support and used for controlling the conical barrel gripping apparatus to horizontally move on the horizontal support; the second servo motor is positioned on the vertical moving support and used for controlling the horizontal moving support to move in the vertical direction; the third servo motor is used for controlling the rotary transmission mechanism to realize movement in the rotary direction and driving the first servo motor, the horizontal moving support, the second servo motor, the vertical moving support and the conical barrel grab to integrally move in the rotary direction.
2. The vehicle-mounted automatic cone barrel retracting device as claimed in claim 1, wherein: the rotary transmission mechanism is positioned at the bottom of the vertical moving support.
3. The vehicle-mounted automatic cone barrel retracting device as claimed in claim 1, wherein: the cone bucket gripping apparatus realizes the gripping and loosening operation of the gripping apparatus on the traffic cone by means of pneumatics.
4. A control method based on the vehicle-mounted automatic cone barrel retracting device of any one of claims 1-3 is characterized in that: the method comprises the following steps:
the position of the conical barrel stacking and fixing piece is calibrated by controlling the conical barrel gripping apparatus to be positioned above the conical barrel stacking and fixing piece, recording working position parameters of the first servo motor, the second servo motor and the third servo motor;
calibrating the number of the conical barrels through a detection switch and a second servo motor;
based on the position of the fixed piece and the number of the cone barrels stacked on the cone barrels obtained through calibration, the automatic placing and recycling of the traffic cone barrels are completed through the cone barrel grab tool, the detection switch and the first servo motor, the second servo motor and the third servo motor.
5. The control method of the vehicle-mounted automatic cone barrel retracting device as claimed in claim 4, wherein the control method comprises the following steps:
the position of the fixing piece is piled up to the calibration cone bucket includes:
moving the conical barrel grab to the position right above the current conical barrel accumulation fixing piece, and storing and recording working position parameters of a first servo motor, a second servo motor and a third servo motor at the current position by a controller to finish the calibration of the position of the conical barrel accumulation fixing piece;
the number of the calibration cone barrels comprises the following steps:
move awl bucket gripping apparatus to single awl bucket and pile up the mounting top and carry out awl bucket gripping apparatus descending operation, stop descending until detecting switch detects there is the awl bucket, the controller takes notes current second servo motor's positional information, obtains the high position of current awl bucket gripping apparatus, calculates the awl bucket quantity that current awl bucket piled up on the mounting, repeatedly calculates every awl bucket and piles up accumulational awl bucket quantity and total awl bucket quantity and storage record on the mounting.
6. The control method of the vehicle-mounted automatic cone barrel retracting device as claimed in claim 4, wherein the control method comprises the following steps: the method for automatically placing the traffic cone barrel comprises the following steps:
after receiving the starting signal, the controller sends a position movement instruction to the first servo motor and the third servo motor, and the conical barrel gripping apparatus moves horizontally and rotates to a position above a certain calibrated conical barrel accumulation fixing member;
the controller sends a position movement instruction to the second servo motor, the conical barrel gripping apparatus performs vertical descending movement, and the switch to be detected detects a conical barrel signal and stops moving;
the controller outputs a grabbing signal and executes grabbing operation;
the controller sends a position movement instruction to the second servo motor, the conical barrel gripping apparatus executes vertical ascending movement to a set initial position, and the quantity of the conical barrels on the position fixing member is immediately reduced by one and is stored and recorded;
the controller is characterized in that a first servo motor, a third servo motor and a second servo motor respectively send position movement instructions, a conical barrel gripping apparatus moves to a set vehicle side position through horizontal, rotary and vertical movement operations, the controller outputs gripping apparatus loosening signals, and a conical barrel falls on the vehicle side;
and repeating the operations until all the cone barrels are completely grabbed or the controller receives a stop signal.
7. The control method of the vehicle-mounted automatic cone barrel retracting device as claimed in claim 4, wherein the control method comprises the following steps: the method for automatically recovering the traffic cone barrel comprises the following steps:
after receiving the starting signal, the controller respectively sends position movement instructions to the first servo motor, the third servo motor and the second servo motor, moves to the side face of the vehicle and waits for grabbing the conical barrel on the road surface;
the controller sends a motion instruction to the second servo motor, the conical barrel gripping apparatus moves vertically downwards, and the switch to be detected detects a conical barrel signal and stops moving;
the controller outputs a grabbing signal and executes grabbing operation;
the controller respectively sends position movement instructions to the second servo motor, the third servo motor and the first servo motor, and the controller moves the conical barrels to the position above the conical barrel stacking fixing piece which is not the initial calibration conical barrel number according to the set movement sequence and the movement position;
the controller sends a movement instruction to the second servo motor, the conical barrel gripping apparatus moves vertically downwards, after the conical barrel gripping apparatus moves to a set height, a gripping apparatus loosening signal is output, the number of conical barrel recycling at the position in the controller is increased by one, and the conical barrel recycling number is stored and recorded;
and repeating the operation until all the cone barrels are completely recovered or the controller receives a stop signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110174269.1A CN112942179A (en) | 2021-02-07 | 2021-02-07 | Vehicle-mounted automatic cone barrel retracting and releasing device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110174269.1A CN112942179A (en) | 2021-02-07 | 2021-02-07 | Vehicle-mounted automatic cone barrel retracting and releasing device and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112942179A true CN112942179A (en) | 2021-06-11 |
Family
ID=76244339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110174269.1A Pending CN112942179A (en) | 2021-02-07 | 2021-02-07 | Vehicle-mounted automatic cone barrel retracting and releasing device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112942179A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
| WO2013068716A1 (en) * | 2011-11-10 | 2013-05-16 | Clebert O'bryan Ricardo Yearwood | Traffic management vehicle |
| CN104563008A (en) * | 2013-10-17 | 2015-04-29 | 新昌县羽林街道东陈机械厂 | Road cone arranging device |
| CN105544429A (en) * | 2015-12-02 | 2016-05-04 | 武汉理工大学 | Device for automatically collecting and putting traffic cone |
| CN207047744U (en) * | 2017-07-05 | 2018-02-27 | 许昌学院 | Bore pick device in a kind of road |
| CN109024351A (en) * | 2018-08-13 | 2018-12-18 | 广州市图之灵计算机技术有限公司 | It is installed on the full-automatic cone transmitting-receiving robot of pickup truck type or jubilee wagen |
| CN208346678U (en) * | 2018-05-14 | 2019-01-08 | 晏松 | One kind is portable can remote control road cone automatic winding-unwinding system |
| US20200131725A1 (en) * | 2018-10-26 | 2020-04-30 | Highways Department, the Government of the Hong Kong Special Administrative Region of the People's | Traffic cones and traffic cone lanterns placement and collection system and a method |
| CN111719453A (en) * | 2020-07-06 | 2020-09-29 | 广西大学 | Full-automatic traffic cone storage system |
| CN212358094U (en) * | 2020-04-02 | 2021-01-15 | 南京同道机械设备有限公司 | Full-automatic traffic cone winding and unwinding devices |
-
2021
- 2021-02-07 CN CN202110174269.1A patent/CN112942179A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013068716A1 (en) * | 2011-11-10 | 2013-05-16 | Clebert O'bryan Ricardo Yearwood | Traffic management vehicle |
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
| CN104563008A (en) * | 2013-10-17 | 2015-04-29 | 新昌县羽林街道东陈机械厂 | Road cone arranging device |
| CN105544429A (en) * | 2015-12-02 | 2016-05-04 | 武汉理工大学 | Device for automatically collecting and putting traffic cone |
| CN207047744U (en) * | 2017-07-05 | 2018-02-27 | 许昌学院 | Bore pick device in a kind of road |
| CN208346678U (en) * | 2018-05-14 | 2019-01-08 | 晏松 | One kind is portable can remote control road cone automatic winding-unwinding system |
| CN109024351A (en) * | 2018-08-13 | 2018-12-18 | 广州市图之灵计算机技术有限公司 | It is installed on the full-automatic cone transmitting-receiving robot of pickup truck type or jubilee wagen |
| US20200131725A1 (en) * | 2018-10-26 | 2020-04-30 | Highways Department, the Government of the Hong Kong Special Administrative Region of the People's | Traffic cones and traffic cone lanterns placement and collection system and a method |
| CN212358094U (en) * | 2020-04-02 | 2021-01-15 | 南京同道机械设备有限公司 | Full-automatic traffic cone winding and unwinding devices |
| CN111719453A (en) * | 2020-07-06 | 2020-09-29 | 广西大学 | Full-automatic traffic cone storage system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107089458B (en) | Novel automatic recovery system of intelligence environmental protection rubbish | |
| CN111606033B (en) | New energy automobile power battery module placing equipment and placing method | |
| CN109906415B (en) | Method and system for detecting the position of a vehicle relative to a track on which it is travelling | |
| CN105000001A (en) | Battery replacing system for chassis of power-driven passenger car and battery replacing method | |
| WO2012162865A1 (en) | System for rapidly changing chassis battery of electric passenger car based on rectangular coordinate robot | |
| CN113981969B (en) | Intelligent pile taking and positioning guardrail pile driver and working method | |
| CN103161188B (en) | Hybrid power engineering machinery | |
| CN105629977A (en) | Fully automatic navigation-type pilotless electric vehicle using method | |
| CN203459294U (en) | Automatic lithium battery pole piece grading device | |
| CN111719454A (en) | Automatic retracting device for traffic cones | |
| CN113932714A (en) | Battery compartment positioning method and positioning system | |
| CN109488082A (en) | It is a kind of to park safely the charging pile of function with guidance car owner | |
| CN103407948A (en) | Automatic aligning system and aligning method thereof | |
| CN105691230A (en) | Full-automatic navigation type unmanned electric car | |
| CN205555429U (en) | Programme -controlled material sorting device | |
| CN111827748A (en) | Fill electric pile stack parking board and stereo garage | |
| CN112942179A (en) | Vehicle-mounted automatic cone barrel retracting and releasing device and control method thereof | |
| CN109383508A (en) | A kind of intelligence slope traffic control method and its vehicle using the control method | |
| CN110053979A (en) | A kind of aluminium ingot stacking machine control system and method based on PLC | |
| CN107804210B (en) | Automatic car that receive and releases of way awl based on manipulator | |
| CN216839423U (en) | Guardrail pile driver of stake, location is got to intelligence | |
| CN215157828U (en) | Guide rail type automatic barrel replacing device | |
| CN211225592U (en) | Automatic dust collection control device for cement loading | |
| CN102649529B (en) | Intelligent travelling crane for precast tubular pile industry | |
| CN113848052B (en) | Durability test tool and test method for battery pack lifting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210611 |