ES2346126A1 - System for handling cones on a road - Google Patents

Abstract

The system, which is installed on a vehicle (14), incorporates a robotic arm (10) with a gripping device for seizing and releasing cones (12), a detection system (13) for detecting cones (12), driving means for driving the arm (10) between a pick-up position for picking up the cone (12) and an unloading position for unloading the cone (12) in a storage area and means for positioning cones (12) at a regular distance on said road. The gripping device comprises an elongated member (11) projecting in a cantilevered manner from a side of the vehicle (14) provided to face said cones (12) when the vehicle (14) moves backwards. The elongated member (11) incorporates a fixed half-clamp (15) and a mobile half-clamp (16), which can be moved closer to/away from said fixed half-clamp (15) to seize and hold an upper end of the cone (12) therebetween.

Description

System to manipulate cones in one way.

Technical sector

The present invention generally concerns a system to manipulate delimitation cones or signaling of one way, and in particular to a system installed in a vehicle for automatically collect and / or position cones in a path of transit.

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Prior art

Various are known in the state of the art Cones collection and positioning systems in one way.

In particular, the patent EP-B1-0501106 concerns an appliance and to a method to position and collect one way cones. He apparatus described in this patent comprises means for ascending and lower the cones, means to correct the posture of the cones, sensors and gripper-shaped gripping means to collect and place cones on the track. The collection of the cones is done, with the vehicle circulating in reverse, when they are in your standing position, grabbing them by their body. As for the positioning of the cones, this is done with the vehicle circulating in the direction of travel.

On the other hand, the patent EP-B1-1112411 describes an apparatus for automatic collection of cones from the surface of a road with a vehicle optionally driving forward or reverse. This device is mounted adjacent to a side of the vehicle and comprises a lift arm operated by maneuvering means between an ascent position and a position of descent. The mentioned lifting arm has associated some grip means configured to grab a cone by its base when the cone is not in its standing position, that is, it is lying on the road. These gripping means are activated by a sensor that detects the presence of the cone in a position relative to the device.

Patent application WO-A1-2005071167 describes an apparatus and a method for collecting cones where the apparatus comprises an arm Lifting device provided with gripping means designed to catch the cone being introduced at least partially inside the Cone walls by its base. A sensor detects whether the means of grip are positioned inside the said cone. In addition, the gripping means are provided with a surface adjoining where the side of the cone can rest, so the cone is placed in a predetermined position with respect to the media of grip to be maneuvered safely and accurately. The device It also includes means for overturning the cones and means for positioning them to make collection easier by its lower part. Likewise, said apparatus may comprise a means to stand up an overturned cone if necessary.

The present invention proposes a system alternative to those described for automatic collection and positioning of cones on a track with a different grip device than previously exposed, which allows to cover one more surface wide where to locate the cone for collection.

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Explanation of the invention.

The present invention concerns a system to automatically or semi-automatically manipulate cones in a track, installed in a vehicle, of the type comprising:

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a robotic arm with a gripping device, at a distal end, to catch and release the cone;

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a detection system to detect the presence of a cone in the pathway and activate the gripping device after detection;

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some actuating means of the robotic arm between a position of cone collection on the track, and a cone discharge position in a storage area inside the vehicle; Y

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some means for positioning cones at a regular distance over the via.

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In accordance with the present invention said grip device further comprises:

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a elongated member, which extends cantilever transversely to the track, covering a wide strip of it, protruding perpendicularly from one side of the vehicle through an opening rear of the same, planned to face the cones when the Vehicle circulates in reverse.

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This elongated member, which stands out perpendicular to the longitudinal direction of the vehicle, it is formed by:

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a fixed semipinza located in the collection position, at a height, in relation to the ground, slightly lower than the cone size in vertical position; Y

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a Semi-mobile movable, movable in approach and distance of the fixed semipinza, by means of actuation between a position of rest, in which the mobile semipinza is at a height above the cone, and an active position where it travels to his confrontation with the fixed semipinza, trapping and holding between both as a clamp to the upper end of the cone.

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The distal end of the robotic arm comprises also a means of regulation and height verification with respect to the floor of the arm, which allow to keep said elongated member at a uniform height from the ground during the process Cones collection.

On the other hand, in a preferred embodiment of the present invention, the fixed half and the mobile half are formed by two substantially parallel bars that have associated respective triangular section profiles, in Clamp jaw functions. The fact of using two bars elongated allows to cover, by scanning, a greater cross-sectional area Where to locate the cone for collection, to catch it whenever you are, in your standing position, within the area located between both ends of these bars.

The aforementioned movement of approach and moving away from the mobile semipinza to the fixed semipinza leads to out by a linear movement combined with a movement of rotation with respect to a longitudinal axis of the mobile semipinza of so that in the active position, the two jaws point to the ground by pinching the end of the cone and in position at rest, the jaw of the mobile semipinza is oriented in a opposite direction to the ground.

Thus, the mobile semipinza is guided linearly, for its displacement between said resting position and said active position, carrying this mobile semipinza, in one embodiment preferred of the present invention, fixed a coaxial pinion with the longitudinal axis of the same and meshed with a fixed zipper arranged parallel to the direction of linear motion. In as for the drive means, these are constituted by linear actuators linked to each end of the mobile semipinza and arranged to effect the linear movement with the coaduvation of the aforementioned rack and pinion and thereby cause said turning movement of the movable semipinza.

In reference to the robotic arm, this one it also includes, at a proximal end thereof, a group rotating motor adapted for, once the cone is caught by the fixed semi-pin and mobile semi-pin, make a first turn of the robotic arm on a substantially horizontal axis, from the pickup position to an intermediate position between the pickup position and discharge position, and a second turn from said intermediate position to a position of discharge.

The aforementioned arm turning group robotic is installed on a displacement unit  linear, transverse to the longitudinal direction of the vehicle, which it comprises drive means capable of displacing the robotic arm in said intermediate position, after having made the first turn, linearly in approach to the area of discharge, leaving the semi-fixed and semi-fixed mobile in a suitable position to be introduced in the inside the vehicle through the rear opening of the same. After this linear displacement of the robotic arm, the second turn of it, depositing the cone on a band of transport comprising driving means that lead to cone to the aforementioned storage area.

The gripping device further comprises a element in function of retractable stop, located, in position extended, at a height close to the base of the cone, to support part of the body of the cone and thus avoid its overturning when performed The first turn. This retractable stop includes an associated slat to a frame attached to the chassis of the vehicle.

As for the aforementioned detection system, it It consists of an optical detection system that generates a barrier optics ahead of the fixed semi-pin.

The system for handling cones subject to The present invention also integrates a delimiter element of a security zone inside of which they are located positioned the cones to collect, which includes a frame, flush with the ground, open to the meeting area with the cones

On the other hand, the mentioned means for position cones on the track include:

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a angular detection device associated with a vehicle wheel to detect, when the vehicle is moving forward, the distance traveled by the vehicle in order to carry out said positioning of the cones at a regular distance between one and other;

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a loading hopper, where hollow cones are introduced by a entrance opening, stacked on top of each other and embedded;

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a lock automatism associated with a download automatism of cones, arranged in the outlet opening of the loading hopper, set to drop cones one by one;

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a discharge hopper, which extends below the opening of output of the loading hopper, comprising said hopper of unload some lateral guide grooves to guide a car Cones conveyor that goes up and down governed by some actuators linear; Y

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a unloading ramp, supported with support wheels on the ground, connected to said carriage by the lower end thereof, the discharge ramp comprising a series of rotating rollers free with axes aligned in the same plane that allow depositing the cone on the track smoothly avoiding the overturning of the same.

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Brief description of the drawings

The above and other advantages and features will be more fully understood from the following detailed description of an exemplary embodiment with reference to the attached drawings, in which:

- Fig. 1 schematically illustrates a vehicle in which the cone handling system is installed object of the present invention;

- Fig. 2 is a partial view of Fig. 1 enlarged to show in greater detail the robotic arm in position of collecting the cones and the gripping device catching a cone;

- Fig. 3 is a perspective view of the gripping device in the vicinity of a cone;

- Fig. 4 is a perspective view of the grip device at the time the cone is supported over the fixed semipinza and the mobile semipinza is moving towards the fixed semipinza to catch the cone between them;

- Fig. 5 is a side elevation view of the grip device with the two jaws of the semipinzas trapping the upper end of the cone;

- Fig. 6 illustrates in detail the mechanism of linear and rotating displacement of the mobile semipinza; Y

- Fig. 7 shows a partial view of Fig. 1 enlarged that illustrates in greater detail the system of positioning of cones on the track.

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Detailed statement of an embodiment

Fig. 1 shows a system to manipulate one-way cones, installed in a vehicle, comprising the aforementioned system:

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a robotic arm 10 with a gripping device, at one end distal, to catch and release said cone 12;

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a detection system 13 to detect the presence of a cone 12 in the track, prepare and activate the gripping device after its detection;

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some actuation means of arm 10 between a pick-up position of cone 12 on said track, and a discharge position of cone 12 in a storage area inside the vehicle 14; Y

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some means for positioning cones 12 at a regular distance over the via;

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Fig. 2 illustrates in greater detail the cited gripping device, formed by an elongate member 11, which is extends overhang, protruding perpendicularly from one side of vehicle 14, transversely to the track, on the right side or left of the vehicle, through a rear opening 21 thereof, and that it is planned to face the cones 12 when the vehicle 14 circulates in reverse. Said elongate member 11 integrates a fixed semi-pin 15 located in the collection position, at a height, in relation to the ground, slightly lower than that of cone 12 in vertical position, and a mobile semi-pin 16, movable in approach and moving away from the fixed semi-pin 15, by means of actuation between a resting position, in which the semi-pin mobile 16 is located at a height above cone 12, and a active position where it moves until its confrontation with the fixed semi-pin 15, trapping the upper end of both cone 12.

The fixed semipinza 15 and the mobile semipinza 16 are two substantially parallel bars that have associated ones respective profiles or slats of triangular section, in function of clamp jaw 15a, 16a.

The aforementioned movement of approach and moving away from the mobile semipinza 16 to the fixed semipinza 15 is carried  carried out by a linear movement combined with a movement of rotation with respect to a longitudinal axis of the mobile semi-pin 16 of so that in the active position, the two jaws 15a, 16a point to the ground when catching the end of cone 12 (Figs. 5 and 6), while in the resting position the jaw 16a remains oriented in a direction opposite to the ground (Fig. 3).

In Fig. 3 it can also be seen that the end distal of the robotic arm 10, in the position of collecting cones 12, integrates height adjustment and verification means 17. Also, in the embodiment shown, the system of detection 13 is an optical detection system that generates a optical barrier 24 ahead of the fixed semi-pin 15.

Fig. 4 illustrates the gripping device in the at which point the cone 12 has already crossed the optical barrier 24 and is supported by the fixed semipinza 15. The jaw 16a associated with the mobile semipinza 16 is approaching the semipinza fixed 15 by the linear and rotary movement above explained, to catch between both jaws 15a, 16a the cone 12. In Fig. 5 the grip device is shown once it has caught to cone 12.

As for Fig. 6, it shows the mechanism of linear and rotating displacement which, for the example of embodiment shown, is performed by a pinion 36 fixed to the 16 mobile semipinza and coaxial with its longitudinal axis, geared with a zipper 37 arranged parallel to the direction of linear motion, and linear actuators 18 linked to each of the ends of the mobile semipinza 16 and ready to perform linear movement and thereby cause the turning movement. Fig. 6 shows with a dotted line the mobile semi-pin 16 in rest position, shown with an arrow the direction of rotation and displacement made by it until Reach your active position.

On the other hand, the robotic arm 10 comprises, at a proximal end, a rotating drive group 19 adapted for, once the cone is trapped by the fixed semi-pin 15 and the semi-pin mobile 16, make a first turn of the robotic arm 10 on a substantially horizontal axis, from the said collection position to an intermediate position between the collection position and the discharge position, and a second turn from the position intermediate to the discharge position. The turn drive group 19 it is installed, as illustrated in Fig. 1, on a unit linear displacement 20, transverse to the direction longitudinal vehicle 14, this unit comprising linear displacement 20 drive means suitable for move, the robotic arm 10 in the intermediate position, after having made the first turn, linearly in approach to the discharge zone, leaving the fixed semi-pin 15 and the 16 mobile semipinza in a suitable position to be able to be introduced inside the vehicle 14 through the rear opening 21 of it. The system also includes a transport belt 22 inside the vehicle 14, which in turn comprises driving means for driving the cone 12 to the area of storage.

As illustrated in Figs. 1 and 2, the gripping device also comprises a retractable stop 23, located, in its extended position, at a height close to the base of the cone 12, to support part of the body of the cone 12 and avoid thus its overturning when the aforementioned first turn is made. This cap retractable 23 is formed by a ribbon associated with a frame.

Figs. 1 and 7 illustrate the said means for position the cones 12 the track, comprising:

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a angular detection device 26 associated with a wheel of the vehicle 14 to detect, when vehicle 14 is moving towards ahead, the distance traveled by vehicle 14 in order to carry out said positioning of the cones 12 at a distance regulate between one and the other;

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a loading hopper 27, where the cones 12 stacked holes are introduced by fitting through an inlet opening 28;

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a lock automation 29 associated with a download automatic cones 12 comprising a linear actuator 30, arranged in the outlet opening of loading hopper 27, configured to leave drop cones 12 one at a time;

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a discharge hopper 31, which extends below the opening of output of the loading hopper, comprising the discharge hopper 31 guide slots 32 to guide a conveyor car 35 of 12 cones that goes up and down; Y

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a discharge ramp 33, supported with support wheels 34 on the ground, connected to the discharge hopper 31 by the lower end thereof, the discharge ramp 33 comprising a series of free spin rollers with shafts aligned in the same plane as allow to deposit the cone 12 in the path smoothly avoiding the I turn over it.

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A subject matter expert could introduce changes and modifications in the described embodiments without departing from the scope of the invention as defined in the attached claims.

Claims (15)

1. System for handling cones in one way, installed in a vehicle (14), of the type that integrates:

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a robotic arm (10) with a gripping device, at one end distal, to catch and release said cone (12);

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a detection system (13) to detect the presence of a cone (12) on the track and activate said gripping device after said detection;

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some actuation means of said arm (10) between a position of collecting the cone (12) on said path, and a discharge position of the cone (12) in a storage area inside said vehicle (14); Y

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some means for positioning cones (12) at a regular distance over said route;

characterized in that said gripping device comprises:

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a elongated member (11), which extends overhang, protruding from a side of said vehicle (14) intended to face said cones (12) when the vehicle (14) runs in reverse, said elongated member (11) integrating:

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a fixed semi-pin (15) located in the collection position, at a height, in relation to the ground, slightly lower than the cone size (12) vertical position; Y

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a mobile semi-pin (16), movable in approach and distance of said fixed semi-pin (15), by means of actuation between a resting position, in which said movable semipinza (16) is found at a height above the cone (12), and a position active where it moves until its confrontation with said semipinza fixed (15), trapping and holding between them the upper end of the cone (12).

2. System according to claim 1, characterized in that said distal end integrates means for regulating and verifying the height (17) relative to the floor of said arm (10) in the position of collecting cones (12). 3. System according to claim 1 characterized in that said fixed half-pin (15) and said mobile half-pin (16) comprise two substantially parallel bars that have respective triangular section profiles associated, in function of jaw clamp (15a), (16a) . System according to claim 1, characterized in that said elongate member (11) protrudes perpendicularly with respect to the longitudinal direction of the vehicle (14) on the right or left side of the vehicle. 5. System according to claim 1, characterized in that said movement of approaching and moving away from the movable half-pin (16) to the fixed half-pin (15) is carried out by a linear movement combined with a rotational movement with respect to a longitudinal axis of said movable semipinza (16) so that in said active position, the two jaws (15a, 16a) point to the ground by pinching the end of the cone (12) and in said resting position the jaw (16a) of the semipinza mobile (16) is oriented in a direction opposite to the ground. System according to claim 5, characterized in that said movable half-pin (16) is linearly guided, for its displacement between said rest position and said active position, carrying, said movable half-pin (16), fixed a coaxial pinion (36) with said longitudinal axis thereof and engaged with a fixed rack (37) arranged parallel to the direction of the linear movement, said actuation means being constituted by linear actuators (18) linked to each of the ends of the movable half-pin ( 16) and arranged to effect the linear movement with the aid of said pinion (36) and said fixed rack (37) and thereby cause said movement of rotation and elevation of the movable half-pin (16). System according to claim 1, characterized in that said robotic arm (10) comprises, at a proximal end, a rotating drive group (19) adapted for, once said cone is trapped by the fixed half-pin (15) and the mobile half-pin (16), making a first turn of said robotic arm (10) on a substantially horizontal axis, from said collection position to an intermediate position between said collection position and said discharge position, and a second turn from said intermediate position to said discharge position. System according to claim 7, characterized in that said turning drive group (19) is installed on a linear displacement unit (20), transverse to said longitudinal direction of the vehicle (14), said linear displacement unit (20) comprising driving means suitable for moving, said robotic arm (10) in said intermediate position, after having made said first turn, linearly towards said discharge zone, thus being said fixed half-pin (15) and said mobile half-pin ( 16) in a suitable position to be able to be introduced into said vehicle (14) through said rear opening (21). System according to claim 7, characterized in that it comprises a transport band (22) inside the vehicle (14) on which the cone (12) is deposited after said second turn, said transport band (22) comprising driving means for driving the cone (12) to said storage area. A system according to claim 7, characterized in that said gripping device further comprises an element in function of a retractable stop (23), located, in its extended position, at a height close to the base of the cone (12), to support part of the body of the cone (12) and thus avoid its overturning when the cone is gripped. A system according to claim 10, characterized in that said retractable stop (23) comprises a slat associated with an arc attached to the vehicle chassis. 12. System according to claim 1, characterized in that said detection system (13) is an optical detection system that generates an optical barrier (24) in front of said fixed semi-pin (15). 13. System according to claim 1, characterized in that said means for positioning cones (12) on said track, on both sides of the vehicle, comprise:

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a angular detection device (26) associated with a wheel of said vehicle (14) to detect, when said vehicle (14) is moving towards ahead, the distance traveled by the vehicle (14) in order to carry out said positioning of the cones (12) to said regular distance between one and the other;

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a loading hopper (27), where hollow cones (12) are introduced stacked by lace through an inlet opening (28);

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a automatic lock (29) associated with an automatic download cones (12) comprising a linear actuator (30), arranged in the outlet opening of said loading hopper (27), configured to drop the cones (12) one at a time;

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a discharge hopper (31), which extends below said opening output of the loading hopper (27), said hopper comprising discharge (31) lateral guide grooves (32) to guide a Conveyor carriage (35) of cones (12), said carriage being conveyor (35) governed by said linear actuator (30); Y

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a discharge ramp (33).

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14. System according to claim 13, characterized in that said unloading ramp is supported with support wheels (34) on the ground, connected to said conveyor carriage (35) by the lower end thereof, said unloading ramp comprising ( 33) a series of free-rotating rollers with shafts aligned in the same plane that allow the cone (12) to be deposited smoothly in the track, avoiding its overturning. 15. System according to claim 1, characterized in that said elongate member (11) protrudes through a rear opening (21) of the vehicle, extending transversely to the track.