JP2021152329A - Sign gripping device and installation device - Google Patents

Abstract

To provide a sign gripping device that can prevent the influence of wind and the like as much as possible so as to safely grip a sign, and also an installation device which makes it possible to prevent the influence of wind and the like as much as possible so as to safely perform outdoor installation work.SOLUTION: In a gripping part 35 for gripping a road sign 7 having a columnar member 5 and one or more sign part 3 fixed to the columnar member 5, the gripping position on the columnar member 5 is changed in accordance with the number of the sign part 3 fixed to the columnar member 5.SELECTED DRAWING: Figure 1

Description

The present invention relates to a sign gripping device for gripping a sign having a first member, one or more marking portions fixed to the first member, and the first member and the first member thereof. The present invention relates to an installation device that grips and installs one or more fixed second members and a third member having the same in another place.

Conventionally, a sign installation device for installing a road sign on the road surface has been known.

For example, Patent Document 1 describes a road sign installation device that grips a road sign 5 placed on a loading platform 1 of a vehicle and installs it on a road (see FIG. 1 and the like). The road sign installation device described in Patent Document 1 grips a so-called road cone as a road sign placed on a loading platform of a vehicle at a fixed position and installs it on the rear left side or the rear right side of the vehicle.

Japanese Unexamined Patent Publication No. 9-279532

In general, the installation of road signs is a work that is likely to be performed outdoors, especially in places where many vehicles travel, so it is necessary to ensure the safety of workers, and workers should not go out on the road as much as possible. It is desired to automate the work so that it can be completed.

Further, as described in Patent Document 1, there is no particular problem as long as the road sign to be gripped and installed by the road sign installation device has a relatively short length such as a road cone, but the columnar member In the case of a long road sign having one or more marking portions fixed to the columnar member, there is a problem that the installation work cannot be carried out safely due to the influence of wind or the like after grasping the road sign. there were.

In addition, since the work of installing such road signs is likely to be performed in a place where many vehicles travel, it is necessary to consider finishing the work in as short a time as possible.

The present invention has been made in response to the above-mentioned problems of the prior art, and is capable of safely proceeding with work by preventing the influence of wind and the like as much as possible, and further, installing a road sign. An object of the present invention is to provide a sign installation device capable of completing work in the shortest possible time.

In order to solve the above-mentioned problems, a first aspect of the present invention is a sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member. The present invention is characterized in that the gripping position of the first member is changed according to the number of the marking portions fixed to the first member.

A second aspect of the present invention is a sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member. It is characterized in that the gripping position in the first member is changed according to the shape of the sign portion fixed to.

Further, in the third aspect of the present invention, in the sign gripping device of the first aspect or the second aspect, the first member is gripped at a plurality of places, and the interval between the gripping positions is set to the number of the marking portions. Alternatively, it is characterized in that it is changed according to the shape of the marking portion.

Further, in the fourth aspect of the present invention, in the sign gripping device according to any one of the first to third aspects, the first member is gripped so that the whole is hidden by the sign portion. It is characterized by being.

A fifth aspect of the present invention is a sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member, wherein the marking portion as a whole is used. It is characterized in that the first member is gripped so as to be hidden behind.

A sixth aspect of the present invention is characterized in that, in the sign gripping device of the fifth aspect, the first member is gripped at a plurality of places.

Further, in the seventh aspect of the present invention, a third member having a first member and one or more second members fixed to the first member is gripped and moved to another place. The installation device to be installed includes a grip portion that grips the first member, and the grip portion grips the first member according to the number of the second members fixed to the first member. The feature is that the position has been changed.

Further, in an eighth aspect of the present invention, a third member having a first member and one or more second members fixed to the first member is gripped and moved to another place. The installation device to be installed includes a grip portion that grips the first member, and the grip portion grips the first member according to the shape of the second member fixed to the first member. The feature is that the position has been changed.

Further, in the ninth aspect of the present invention, in the installation device of the seventh or eighth aspect, the gripping portion grips the first member at a plurality of places, and the distance between the gripping positions is set. It is characterized in that it is changed according to the number of the second member or the shape of the second member.

Further, in the tenth aspect of the present invention, in the installation device according to any one of the seventh to ninth aspects, the grip portion is such that the entire grip portion is hidden by the second member. It is characterized in that it grips the first member.

Further, in the eleventh aspect of the present invention, a third member having a first member and one or more second members fixed to the first member is gripped and moved to another place. The installation device to be installed includes a grip portion that grips the first member, and the grip portion grips the first member so that the entire grip portion is hidden by the second member. It is characterized by.

Further, a twelfth aspect of the present invention is characterized in that, in the installation device of the eleventh aspect, the gripping portion grips the first member at a plurality of places.

Further, the thirteenth aspect of the present invention is the installation device according to any one of the seventh to twelfth aspects, wherein the grip portion is erected by being fitted to the first support column. The member is gripped, and the third member is separated from the first support column and installed in another place.

Further, according to the fourteenth aspect of the present invention, in the installation device of the thirteenth aspect, the grip portion grips the third member erected by being fitted to the first strut, and the third aspect is described. The member is separated from the first support column, and the third member is fitted to a second support column installed at another location.

Further, the fifteenth aspect of the present invention is described in any one of the articulated robot, the imaging device provided in the articulated robot, and the seventh to fourteenth aspects provided in the articulated robot. The image pickup device is configured to image the lower part of the third member when the gripping portion grips the third member.

According to the first aspect of the present invention, in a sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member, the first member Since the gripping position of the first member is changed according to the number of fixed marking portions, the sign can be safely gripped even when a little wind is blowing.

Further, according to the second aspect of the present invention, in the sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member, the first Since the gripping position of the first member is changed according to the shape of the sign portion fixed to the member, the sign can be safely gripped even when a little wind is blowing.

Further, according to the third aspect of the present invention, in the sign gripping device of the first aspect or the sign gripping device of the second aspect, the first member is gripped at a plurality of places, and the distance between the gripping positions is set. Since it was changed according to the number of markings or the shape of the markings, in addition to the effect of the sign gripping device of the first aspect or the sign gripping device of the second aspect, the sign is displayed even when some wind is blowing. Can be gripped more safely.

Further, according to the fourth aspect of the present invention, in the sign gripping device according to any one of the first to third aspects, the first member is gripped so that the whole is hidden by the marking portion. Therefore, in addition to the effect of the sign gripping device according to any one of the first to third aspects, the sign can be gripped more safely even when some wind is blowing.

Further, according to a fifth aspect of the present invention, in a sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member, the whole is marked. Since the first member is gripped so as to be hidden in the portion, the sign can be safely gripped even when a little wind is blowing.

Further, according to the sixth aspect of the present invention, in the sign gripping device of the fifth aspect, since the first member is gripped at a plurality of places, in addition to the effect of the sign gripping device of the fifth aspect, Even when some wind is blowing, the sign can be gripped more safely.

Further, according to a seventh aspect of the present invention, a third member having a first member and one or more second members fixed to the first member is gripped and another member is gripped. The installation device installed in a place includes a grip portion that grips the first member, and the grip portion changes the grip position of the first member according to the number of the second members fixed to the first member. Therefore, even when some wind is blowing, the installation work of the third member can be safely performed outdoors.

Further, according to an eighth aspect of the present invention, a third member having a first member and one or more second members fixed to the first member is gripped and another member is gripped. The installation device installed in a place includes a grip portion that grips the first member, and the grip portion changes the grip position of the first member according to the shape of the second member fixed to the first member. Therefore, even when some wind is blowing, the installation work of the third member can be safely performed outdoors.

Further, according to the ninth aspect of the present invention, in the installation device of the seventh aspect or the installation device of the eighth aspect, the gripping portion grips the first member at a plurality of places, and the interval between the gripping positions thereof. Was changed according to the number of the second member or the shape of the second member, so that the installation work of the third member outdoors can be performed more safely even when some wind is blowing. can.

Further, according to the tenth aspect of the present invention, in the installation device according to any one of the seventh to ninth aspects, the grip portion is such that the entire grip portion is hidden by the second member. Since the first member is gripped, in addition to the effect of the installation device according to any one of the seventh to ninth aspects, even when some wind is blowing, the third member outdoors The installation work can be performed more safely.

Further, according to the eleventh aspect of the present invention, a third member having a first member and one or more second members fixed to the first member is gripped and another member is gripped. In the installation device to be installed in a place, a grip portion for gripping the first member is provided, and the grip portion grips the first member so that the entire grip portion is hidden by the second member. Even when the wind is blowing, the installation work of the third member can be safely performed outdoors.

Further, according to the twelfth aspect of the present invention, in the installation device of the eleventh aspect, the gripping portion grips the first member at a plurality of places, so that the effect of the installation device of the eleventh aspect is obtained. In addition, even when some wind is blowing, the work of installing the third member outdoors can be performed more safely.

Further, according to the thirteenth aspect of the present invention, in the installation device according to any one of the seventh to twelfth aspects, the grip portion is erected by being fitted to the first support column. Since the member is gripped and the third member is separated from the first support column and installed in another place, in addition to the effect of the installation device according to any one of the seventh to twelfth aspects, as much as possible. Even when many third members are loaded and installed at one time, the outdoor installation work can be safely performed.

Further, according to the fourteenth aspect of the present invention, in the installation device of the thirteenth aspect, the gripping portion grips the third member erected by being fitted to the first strut, and the third member. Is separated from the first support column, and the third member is fitted to the second support column installed in another place. Therefore, in addition to the effect of the installation device of the thirteenth aspect, the third member The third member can be safely maintained and stored even after the installation of the third member.

Further, according to the fifteenth aspect of the present invention, any one of the articulated robot, the imaging device provided in the articulated robot, and the seventh to fourteenth aspects provided in the articulated robot. Since the image pickup apparatus is configured to image the lower part of the third member when the grip portion grips the third member, the third member is quickly installed. can do.

It is an overall view of the sign setting apparatus of 1st Embodiment of this invention. It is a block diagram of the sign setting apparatus of 1st Embodiment. It is a block diagram of the main controller of 1st Embodiment. It is the whole view of the grip part of 1st Embodiment. It is a horizontal cross-sectional view in the state which the grip part of 1st Embodiment is open. It is a horizontal sectional view in the state which the grip part of 1st Embodiment is closed. It is a flowchart of the sign installation program of the sign installation device of 1st Embodiment. It is a flowchart of the gripping position calculation program 1 of the sign setting apparatus of 1st Embodiment. It is a flowchart of the gripping position calculation program 2 of the sign setting apparatus of 1st Embodiment. It is a figure which showed the example of the gripping position in the case of one sign part in the sign setting apparatus of 1st Embodiment. It is a figure which showed the example of the gripping position in the case of two sign portions in the sign installation apparatus of 1st Embodiment. It is a figure which showed the example of the gripping position in the case of three sign portions in the sign installation apparatus of 1st Embodiment. It is the whole view of the gripping device of 2nd Embodiment. It is a vertical sectional view of the gripping device of 2nd Embodiment. It is a flowchart of the gripping position calculation program 3 of the sign setting apparatus of 2nd Embodiment. It is a figure which showed the example of the gripping position in the case of one sign part in the sign setting apparatus of 2nd Embodiment. It is a figure which showed the example of the gripping position in the case of two sign portions in the sign installation apparatus of 2nd Embodiment. It is a figure which showed the example of the gripping position in the case of three sign portions in the sign installation device of 2nd Embodiment. It is a flowchart of the gripping position calculation program 4 of the sign setting apparatus of 3rd Embodiment. It is a figure which showed the example of the gripping position in the case of one sign part in the sign setting apparatus of 3rd Embodiment. It is a figure which showed the example of the gripping position in the case of two sign portions in the sign installation device of 3rd Embodiment. It is a figure which showed the example of the gripping position in the case of three sign portions in the sign installation apparatus of 3rd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First Embodiment)
First, the first embodiment of the present invention will be described.

FIG. 1 is an overall view of the sign installation device of the first embodiment of the present invention, FIG. 2 is a block diagram of the sign installation device of the first embodiment, and FIG. 3 is a main controller of the first embodiment. It is a block diagram of.

As shown in FIG. 1, the sign installation device 1 of the present embodiment mounts the road sign 7 mounted on the loading platform 97 of the vehicle 100 and fitted to the first support column (not shown) fixed to the loading platform 97. Removed from the first column (not shown), fitted with the second column 4 erected on the outside of the guardrail 99 erected along the road, and installed the road sign 7 at a predetermined position on the outside of the guardrail 99. It is something to do.

The road sign 7 of the present embodiment has a columnar member 5 and one marking portion 3 fixed to the columnar member 5, and in FIG. 1, the columnar member 5 is a square pillar tubular member and is a marking. The portion 3 is a plate-shaped member having a circular shape when viewed from the front.

In FIG. 1, for convenience of explanation, the road sign 7 has a columnar member 5 and one marking portion 3 fixed to the columnar member 5, but as will be described later, the marking portion 3 is not limited to one, and may have two or more.

Further, in the present embodiment, the columnar member 5 is a quadrangular prism tubular member, but the columnar member 5 is not limited to the quadrangular prism, but may be a polygonal prism such as a triangular prism, a pentagonal prism, a hexagonal prism, or an octagonal prism. It may be tubular. However, in consideration of problems such as rotation of the road sign after fitting, the columnar member 5 is preferably a polygonal columnar cylinder or an elliptical cylinder tubular. Further, the columnar member 5 may be a hollow member such as a tubular member, or may be a solid member.

The second support column 4 to which the road sign 7 is fitted is a square pillar tubular member firmly fixed to the outside of the guide rail 99, and the inner surface of the columnar member 5 fits into the outer surface of the second support column 4. It has become like. Further, the tip portion 8 of the second support column 4 has a slightly pointed tip in a quadrangular pyramid shape, so that the columnar member 5 descends from above so that it can be easily fitted to the second support column 4.

Further, a stopper portion 6 is formed in a region below a predetermined distance from the tip end portion 8 of the second support column 4, and when the road sign 7 is fitted to the second support column 4, the lower end of the road sign 7 is formed. Is prevented from falling downward from the stopper portion 6.

In FIG. 1, the road sign 7a having the columnar member 5a and one marking portion 3a fixed to the columnar member 5a has already been erected along the road by the sign installation device 1. It shows a state after being fitted to a second support column 4a having a tip portion 8a (not shown) and a stopper 6a, which is erected on the outside of the guardrail 99.

On the other hand, in FIG. 1, the sign installation device 1 attaches a road sign 7b having a columnar member 5b and one marking portion 3b fixed to the columnar member 5b from the first column (not shown). It shows the state before it is removed and fitted to the second support column 4b having the tip portion 8b and the stopper 6b, which is erected on the outside of the guardrail 99 erected along the road.

Although the first support column is not shown in FIG. 1, the first support column is a support column having the same shape as the second support column 4, and in reality, the first support column is the loading platform 97 of the vehicle 100. There are multiple erections in.

Further, in FIG. 1, for convenience of explanation, only one of the road signs 5b is shown to be erected on the loading platform 97 of the vehicle 100, but the road sign 5 is also shown on the first support column. Within the range of the number of vehicles, a plurality of vehicles are erected on the loading platform 97 of the vehicle 100.

The sign installation device 1 of the present embodiment includes an articulated robot 61, a grip portion 35 (lower grip portion 35) fixed to the tip of the articulated robot 61, and a grip portion 35 (lower grip portion 35). The CCD camera 39 (corresponding to the "imaging device" of the present invention) fixed to the robot, the robot controller 49 for controlling the articulated robot 61, and the air for driving the grip portion 35 (lower grip portion 35). It includes a compressor 45, a robot controller 49, a CCD camera 39, and a control panel 53 that controls the operation of the air compressor 45.

The control panel 53 is electrically connected to the generator 51 via a cable (not shown) arranged in the distribution cover 55, and is supplied with power from the generator 51.

The articulated robot 61 is a general 6-axis articulated robot, and can freely change the orientation of the grip portion 35 and the CCD camera 39 when gripping the road sign 7 and when taking an image with the CCD camera 39, and is articulated. The grip portion 35 and the CCD camera 39 can be moved within a range in which the robot 61 can move.

Then, the articulated robot 61 has a first rotating shaft 13 for rotating the entire articulated robot 61 with respect to the base 11, and a first rotating shaft 13 for rotating the lower arm portion 17 with respect to the base 11. A two-rotation shaft 15, a third rotation shaft 19 for rotating the upper arm 21 up and down with respect to the lower arm 17, and a fourth rotation shaft 23 for coaxially rotating the first wrist 25. It includes six axes, a fifth rotating shaft 27 for rotating the second wrist portion 29 up and down, and a sixth rotating shaft 31 for coaxially rotating the third wrist portion 33.

The articulated robot 61 is electrically connected to the robot controller 49 by a cable 47, and the robot controller 49 is electrically connected to the control panel 53 via a cable (not shown) arranged in the distribution cover 55. It is connected to the.

The grip portion 35 (lower grip portion 35) is fixed to the tip of the third wrist portion 33 (see FIG. 4) and is connected to the air compressor 45 via the tube 43. The structure and operation of the grip portion 35 (lower grip portion 35) will be described later.

In FIG. 1, a second grip portion 69 (described in FIG. 2 and not clearly shown in FIG. 1) used in the second embodiment described later is attached to the air compressor 45 via the tube 41. Although the point of connection is described, the description will be omitted in the present embodiment because it is not used in the present embodiment.

The CCD camera 39 is fixed to the grip portion 35 (lower grip portion 35) and is used when imaging the shape of the road sign 7 and when searching for the position of the second support column 4. The CCD camera 39 is electrically connected to the image controller 65 of the control panel 53, captures an image based on a command from the image controller 65, and transmits the captured image data to the main controller 63 via the image controller 65. It is stored in the image data table 73c in the.

In the present embodiment, the CCD camera 39 is configured to take an image of the lower part of the road sign 7 when the grip portion 35 (lower grip portion 35) grips the road sign 7 (see FIG. 4). ). That is, when the grip portion 35 (lower grip portion 35) grips the road sign 7, the road sign 7 is directly below (so that the lower end of the columnar member 5 can easily fit into the second support column 4). The direction is substantially perpendicular to the ground), but since the CCD camera 39 also faces the direction in which the second support column 4 can be easily found so as to image the lower part of the road sign 7, the road sign 7 Can be quickly installed on the second support column 4.

The air compressor 45 injects air into the grip portion to provide the grip portion 35 with a right chuck portion 9a and a left chuck portion 9b, which will be described later, and a right chuck of the second grip portion 69 of the second embodiment, which will be described later. By opening the portion 79a and the left chuck portion 79b and stopping the air injection into the grip portion, the right chuck portion 9a and the left chuck portion 9b described later and the second embodiment described later are provided in the grip portion 35. It closes the right chuck portion 79a and the left chuck portion 79b of the grip portion 69.

Next, a block diagram of the sign installation device 1 of the present embodiment will be described.

In FIG. 2, the sign installation device 1 includes a generator 51 for supplying power and a control panel 53 connected to the generator 51 and connected to a CCD camera 39, an air compressor 45, and a robot controller 49 described later. A robot controller 49 that controls an articulated robot 61 and is connected to a control panel 53 is provided.

The generator 51 is for supplying power to the sign installation device 1, and generally generates electricity with gasoline.

The control panel 53 controls the overall operation of the sign installation device 1, and includes a main controller 63, an image controller 65 connected to the main controller 63, and an operation panel 67 connected to the main controller 63. Be prepared.

Further, in FIG. 3, the main controller 63 includes a CPU (Central Processing Unit) 71, a RAM (Random Access Memory) 73 connected to the CPU 71 so as to be input / output, and a ROM connected to the CPU 71 so as to be input / output. (Read Only Memory) 75 is provided.

The RAM 73 includes a gripping position data table 73a that stores the position information gripped by the articulated robot 61 under various conditions, and a gripping interval data table 73b that stores the gripping interval information that the articulated robot 61 grips, which will be described later, under various conditions. The image data table 73c that stores the image data captured by the CCD camera 39, the gripping position memory 73d that stores the gripping position that the articulated robot 61 grips, and the gripping interval that the articulated robot 61 grips are stored. The gripping interval memory 73e, the first gripping position memory 73f that stores the gripping position held by the gripping portion 35 of the articulated robot 61, and the second gripping portion 69 of the articulated robot 61 described later are gripped. A second gripping position memory 73g that stores the gripping position is provided.

Further, the ROM 75 calculates the position where the sign installation program 75a, which controls the operation of the entire sign installation device 1 of the present embodiment, and the grip portion 35 and the second grip portion 69 of the second embodiment described later grip the road sign 7. A gripping position calculation program 75b is provided.

Next, the grip portion 35 used in the present embodiment will be described. FIG. 4 is an overall view of the grip portion of the first embodiment, FIG. 5 is a horizontal cross-sectional view of the grip portion of the first embodiment in an open state, and FIG. 6 is a grip portion of the first embodiment. Is a horizontal cross-sectional view in a closed state.

The grip portion 35 is fixed to the tip of the third wrist portion 33, and includes the grip portion main body 34, the right slide bar 36a and the right slide bar 36b that extendably extend from the right side surface of the grip portion main body 34, and the grip portion main body 34. The left slide bar 36c and the left slide bar 36d extending from the left side surface of the above, the right movable plate 37a fixed to the ends of the right slide bar 36a and the right slide bar 36b, and the left slide bar 36c and the left slide bar 36d. The left movable plate 37b fixed to the end of the right movable plate 37a, the right chuck portion 9a fixed to the front of the right movable plate 37a, and the left chuck portion 9b fixed to the front of the left movable plate 37b are provided.

Further, although not shown in FIG. 4, the end of the tube 43 connected to the air supply port of the air compressor 45 is connected to the lower end of the grip portion main body 34 (see FIG. 14), from the air compressor 45. The output air is injected into the grip portion main body 34 via the tube 43. Then, when air is injected into the grip portion main body 34 via the tube 43, the left chuck portion 9b and the right chuck portion 9a are closed as shown in FIG.

On the other hand, when the supply of air from the air compressor 45 is stopped and the air is discharged from the grip portion main body 34, as shown in FIG. 5, the force of the spring mounted inside the grip portion 35 causes the left chuck. The portion 9b and the right chuck portion 9a are in an open state.

Next, the operation of the sign installation device 1 having the above-described configuration will be described. FIG. 7 is a flowchart of the sign installation program of the sign installation device of the first embodiment, FIG. 8 is a flowchart of the gripping position calculation program 1 of the sign installation device of the first embodiment, and FIG. 9 is a first. It is a flowchart of the gripping position calculation program 2 of the sign setting apparatus of embodiment.

Further, FIG. 10 is a diagram showing an example of a gripping position when there is one sign unit in the sign installation device of the first embodiment, and FIG. 11 is a diagram showing two sign units in the sign installation device of the first embodiment. FIG. 12 is a diagram showing an example of a gripping position in the case, and FIG. 12 is a diagram showing an example of a gripping position in the case where the sign installation device of the first embodiment has three marking portions.

First, when the operator of the device turns on the power switch of the control panel 53 and then presses the operation button on the operation panel 67, the sign installation device 1 lifts the arm of the articulated robot 61, and the CCD camera 39 is abbreviated. Facing the road sign 7 standing upright in the horizontal direction. Then, the sign installation device 1 captures the road sign 7 standing at a predetermined position on the loading platform 97 of the vehicle 100 with the CCD camera 39 (S1), executes the gripping position calculation program described later (S3), and executes the road. The gripping position of the sign 7 is calculated.

Next, the sign installation device 1 moves the grip portion 35 to the grip position of the road sign 7 with the left chuck portion 9b and the right chuck portion 9a open based on the execution result of the grip position calculation program. After that, air is discharged from the air compressor 45, the left chuck portion 9b and the right chuck portion 9a of the grip portion 35 are closed, and the road sign 7 is gripped (S5).

After that, the sign installation device 1 lifts the road sign 7 by the articulated robot 61, moves it to the outside of the loading platform 97 of the vehicle 100, further moves it to the outside of the guardrail 99, and then fits the road sign 7 from above. Find the position of the second support column 4 (S9).

At that time, since the grip portion 35 attached to the tip of the articulated robot 61 grips the columnar member 5 of the road good sense 7 in a state substantially perpendicular to the ground, the road sign 7 is held by the second support column 4. Since the CCD camera 39 faces the lower end direction of the columnar member 5, it is easy to find the second support column 4 firmly installed on the outside of the guardrail 99, and the second support column 4 can be quickly found. You can find the pillar 4 of.

After detecting the position of the second support column 4, the sign installation device 1 calculates the inclination of the second support column 4 in order to smoothly fit the road sign 7 to the second support column 4 (S11). The articulated robot 61 is operated according to the inclination of the second support column 4, and the inclination of the road sign 7 being gripped is adjusted (S13).

The articulated robot 61 adjusts the inclination of the road sign 7 being gripped, and after fitting the road sign 7 to the second support column 4 (S15), the gripping portion 35 releases the grip of the road sign 7. Then (S17), wait for the switch to be pressed again (S19).

Next, the above-mentioned gripping position calculation program will be described. In this embodiment, two gripping position calculation programs are used, and the gripping position calculation program to be used is selected by operating the operation panel 67.

Further, of the two gripping position calculation programs, the gripping position calculation program 1 assumes a case where the gripping position is predetermined according to the number of marking portions fixed on the columnar member 5, and is circular. It is assumed that the marking portion, the diamond-shaped marking portion, the square marking portion, and the like are fixed at predetermined positions to some extent.

Therefore, various gripping positions are stored in the gripping position data table 73a according to the number of marking portions 3.

In the gripping position calculation program 1 of the present embodiment, a flowchart will be described by taking as an example a case where a maximum of three marking portions 3 are fixed on the columnar member 5 of the road sign 7, but the present invention describes the marking portion 3. It is applicable even if the number of is 4 or more.

On the other hand, of the two gripping position calculation programs, the gripping position calculation program 2 assumes a case where the gripping position is determined each time according to the image captured by the CCD camera 39, and has a circular marking portion and a diamond-shaped marking portion. It is effective when a fixed position such as a square marking part is not defined.

First, a case where the gripping position calculation program 1 is selected on the operation panel 67 will be described.

When the gripping position calculation program 1 is selected on the operation panel 67 and the sign installation device 1 images the road sign 7 standing at a predetermined position on the loading platform 97 of the vehicle 100 with the CCD camera 39 (S1), the CCD camera 39 The image data captured by the camera is read and stored in the image data table 73c (S21).

The CPU 71 calculates the number of marking portions fixed on the columnar member 5 of the road sign 7 from the image data stored in the image data table 73c (S23), and determines whether or not the number of marking portions is one (S23). S25). Then, when the number of marking portions is one (S25: Yes), the first gripping position is taken out from the gripping position data table 73a and stored in the gripping position memory 73d (S27).

Here, the first gripping position, the second gripping position described later, and the third gripping position described later of the present embodiment are the center of gravity or the vicinity of the center of gravity of each road sign 7 including the columnar member 5 and the marking portion 3. And, it means the position of the columnar member 5 located on the back side of the marking portion 7.

This is because when the grip portion 35 with one chuck portion is used as in the present embodiment, gripping the grip position on the back side of the marking portion 3 is affected by disturbance such as wind. Is also based on the applicant's experimental results that the sign installation work was performed normally.

For example, when the road sign 7c is a road sign including a columnar member 5c and one circular marking portion 3c fixed on the columnar member 5c as shown in FIG. 10, the grip portion 35 Is a columnar member 5c on the back side of the circular marking portion 3c, and grips the position of the distance X1 from the lower end of the columnar member 5c.

Further, as shown in FIG. 11, the road sign 7d has a total of two marking portions, that is, a columnar member 5d, one circular marking portion 3d1 fixed on the columnar member 5d, and one diamond-shaped marking portion 3d2. In the case of a road sign consisting of, the grip portion 35 is a columnar member 5d on the back side of the diamond-shaped marking portion 3d2, and grips the position of a distance X2 (≠ X1) from the lower end of the columnar member 5d. Become.

Further, as shown in FIG. 12, the road sign 7e includes a columnar member 5e, one circular marking portion 3e1 fixed on the columnar member 5e, one diamond-shaped marking portion 3e2, and one quadrangular marking. In the case of a road sign composed of a total of three marking portions of the portions 3e3, the grip portion 35 is a columnar member 5e on the back side of the diamond-shaped marking portion 3e2, and is a distance X3 (≠ X1) from the lower end of the columnar member 5e. And the position of ≠ X2) will be grasped.

The road sign 7c, the road sign 7b, and the road sign 7e of the present embodiment have their fixed positions lowered for convenience of explanation, and are different from the road signs actually installed. Therefore, please understand that the fixed position of the sign portion 3 of the road sign 7 that is actually installed is set to a height that complies with the law.

Returning to the explanation of the flowchart, when the number of marking parts is not one (S25: No), it is determined whether or not the number of marking parts is two (S29), and when the number of marking parts is two, it is determined. (S29: Yes), the second gripping position is taken out from the gripping position data table 73a and stored in the gripping position memory 73d (S31).

On the other hand, when the number of marking parts is not two (S31: No), it is determined whether or not the number of marking parts is three (S33), and when the number of marking parts is three (S33: Yes). , The third gripping position is taken out from the gripping position data table 73a, stored in the gripping position memory 73d (S35), and returned to the sign setting program (S37). Further, even when the number of marking units is not three (S33: No), the process returns to the sign setting program (S37).

Next, a case where the gripping position calculation program 2 is selected on the operation panel 67 will be described.

When the gripping position calculation program 2 is selected on the operation panel 67 and the sign installation device 1 images the road sign 7 standing at a predetermined position on the loading platform 97 of the vehicle 100 with the CCD camera 39 (S1), the CCD camera 39 The image data captured by the camera is read and stored in the image data table 73c (S39).

The CPU 71 calculates the shape of the marking portion 3 of the road sign 7 from the image data stored in the image data table 73c (S41), calculates the position of the center of gravity of each marking portion 3 (S43), and positions the center of gravity of the columnar member 5. Is calculated (S45).

Next, based on the shape of the marking portion 3 calculated in S41, the position of the center of gravity of each marking portion 3 calculated in S43, and the position of the center of gravity of the columnar member 5 calculated in S45, the position of the center of gravity of the entire road sign 7 is determined. It is calculated (S47), and the position of the center of gravity of the entire road sign 7 is stored in the gripping position memory 73d (S48).

Then, it is determined whether or not the position of the center of gravity of the entire road sign 7 is on the back side of any of the marking portions (S49), and when the position of the center of gravity of the entire road sign 7 is on the back side of any of the marking portions (S49). S49: Yes), the contents of the gripping position memory 73d are left as they are, and when the position of the center of gravity of the entire road sign 7 is not on the back side of any of the marking portions 3 (S49: No), it is closest to the position of the center of gravity of the entire road sign 7. The gripping position is changed on the back side of the marking unit 3, the changed gripping position is stored in the gripping position memory 73d (S50), and the sign setting program is returned (S51).

Here, the gripping position on the back side of the marking portion 3 closest to the position of the center of gravity of the entire road sign 7 means a gripping position near the end of the marking portion 3 so that the entire grip portion 35 is hidden by the marking portion 3. It does not mean a gripping position where the end portion of the portion 35 protrudes from the marking portion 3, but a gripping position where the entire grip portion 35 is hidden by the marking portion 3, for example, as shown in FIGS. 10 and 11.

According to the sign installation device 1 of the present embodiment, a road sign 7 having a columnar member 5 and one or more marking portions 3 fixed to the columnar member 5 is gripped and installed at another place. As a target, a grip portion 35 for gripping the columnar member 5 is provided, and the grip portion 35 changes the gripping position of the columnar member 5 according to the number of marking portions 3 fixed to the columnar member 5, so that a slight wind is generated. Even when the road is blowing, the sign installation work can be performed outdoors safely.

Further, according to the sign installation device 1 of the present embodiment, the road sign 7 having the columnar member 5 and one or more marking portions 3 fixed to the columnar member 5 is grasped and installed in another place. As a target, a grip portion 35 for gripping the columnar member 5 is provided, and the grip portion 35 changes the gripping position of the columnar member 5 according to the shape of the marking portion 3 fixed to the columnar member 5. Even when the wind is blowing, it is possible to safely carry out the sign installation work outdoors.

Further, according to the sign installation device 1 of the present embodiment, the road sign 7 having the columnar member 5 and one or more marking portions 3 fixed to the columnar member 5 is grasped and installed in another place. In the sign installation device, the grip portion 35 for gripping the columnar member 5 is provided, and the grip portion 35 grips the columnar member 5 so that the entire grip portion is hidden by the marking portion 3, so that some wind is generated. Even when blowing, it is possible to safely perform the sign installation work outdoors.

Further, according to the sign installation device 1 of the present embodiment, the grip portion 35 grips the road sign 7 erected by being fitted to the first support column, and separates the road sign 7 from the first support column. Since it is installed so as to fit into the second support column 4 having the tip portion 8 and the stopper 6 installed on the outside of the guardrail 99 erected along the road, as many road signs 7 as possible can be loaded at once. Even when installing the sign, it is possible to safely perform the sign installation work outdoors. In addition, the road sign 7 can be safely maintained and stored even after the road sign 7 is installed.

Further, according to the sign installation device 1 of the present embodiment, the articulated robot 61, the CCD camera 39 provided in the articulated robot 61, and the grip portion 35 provided in the articulated robot 61 are provided. When the grip portion 35 grips the road sign 7, the CCD camera 39 is configured to take an image of the lower part of the road sign 7, so that the road sign 7 can be quickly installed.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.

FIG. 13 is an overall view of the gripping device of the second embodiment, and FIG. 14 is a vertical cross-sectional view of the gripping device of the second embodiment.

Hereinafter, the second embodiment of the present invention will be described, but since the sign installation device of the present embodiment is the same as the sign installation device 1 of the first embodiment except for the number of gripping portions, it is different from the first embodiment. The common parts are designated by the same reference numerals and the description thereof will be omitted.

In FIG. 13, the grip portion of the present embodiment includes two grip portions, a grip portion 35 (lower grip portion 35) and a second grip portion 69 (upper grip portion 69) of the first embodiment.

The second grip portion 69 is arranged so as to be movable up and down along the upper and lower bars 81, and is a right slide bar 66a that extends from the second grip portion main body 64 and the right side surface of the second grip portion main body 64 so as to be expandable and contractible. And the right slide bar 66b (not shown), the left slide bar 66c (not shown) and the left slide bar 66d extending from the left side surface of the second grip portion main body 64, and the right slide bar 66a and the right slide bar. A right movable plate 77a fixed to the end of 66b, a left movable plate 77b fixed to the ends of the left slide bar 66c and the left slide bar 66d, and a right chuck portion 79a fixed to the front of the right movable plate 77a. And a left chuck portion 79b fixed in front of the left movable plate 77b.

Further, in the grip portion 35, the end of the tube 43 connected to the air supply port of the air compressor 45 is connected to the lower end of the grip portion main body 34, and the air output from the air compressor 45 passes through the tube 43. It is designed to be injected into the grip portion main body 34.

Then, when air is injected into the grip portion main body 34 via the tube 43, the left chuck portion 9b and the right chuck portion 9a are closed as shown in FIG.

On the other hand, when the supply of air from the air compressor 45 is stopped and the air is discharged from the grip portion main body 34, as shown in FIG. 5, the force of the spring mounted inside the grip portion 35 causes the left chuck. The portion 9b and the right chuck portion 9a are in an open state.

Further, in the second grip portion 69, the end of the tube 41 connected to the air supply port of the air compressor 45 is connected to the upper end of the second grip portion main body 64, and the air output from the air compressor 45 is a tube. It is configured to be injected into the second grip portion main body 64 via 41.

Then, when air is injected into the second grip portion main body 64 via the tube 41, the left chuck portion 79b and the right chuck portion 79a are closed as shown in FIG.

On the other hand, when the supply of air from the air compressor 45 is stopped and the air is discharged from the grip portion main body 64, the spring mounted inside the second grip portion 69 is as shown in FIG. The left chuck portion 79b and the right chuck portion 79a are opened by the force of.

Next, a mechanism in which the second grip portion 69 moves up and down along the upper and lower bars 81 will be described.

The second grip portion 69 is configured to move up and down by the rotation of the servomotor 85 fixed below the grip portion 35. Specifically, the rotation of the servomotor 85 fixed below the grip portion 35 causes the motor gear 89 connected to the tip of the motor shaft to rotate, and the belt 91 wound around the motor gear 89 rotates. The cylinder gear and the cylinder 83 formed at the lower end of the cylinder 83 rotate.

Then, as the cylinder gear and the cylinder 83 rotate, the worm gear formed inside the cylinder 83 rotates, and the rod 87 is inserted into the cylinder 83 and has a worm gear engaged with the worm gear formed on the outer periphery thereof. The second grip portion 69 connected to the rod 87 moves up and down.

In the present embodiment and the embodiment described later, a sign installation device in the case of having two grip portions of the grip portion 35 and the second grip portion 69 will be described, but the grip portion is not limited to two. It may be three or more.

The block diagram of the sign installation device 1 of the present embodiment is obtained by adding a second grip portion 69 (upper grip portion 69) to the block diagrams of FIGS. 2 and 3.

Next, the operation of the sign installation device 1 of the present embodiment will be described. FIG. 15 is a flowchart of the gripping position calculation program 3 of the sign installation device of the second embodiment, and FIG. 16 is a diagram showing an example of gripping position when there is one sign unit in the sign installation device of the second embodiment. FIG. 17 is a diagram showing an example of a gripping position when there are two sign portions in the sign installation device of the second embodiment, and FIG. 18 is a diagram showing an example of gripping positions in the sign installation device of the second embodiment. It is a figure which showed the example of the gripping position in one case.

The sign installation device 1 of the present embodiment also basically uses the sign installation program of the first embodiment (see FIG. 7).

Therefore, in the sign installation device 1 of the present embodiment, when the operator of the device first turns on the power switch of the control panel 53 and then presses the operation button on the operation panel 67, the sign installation device 1 is an articulated robot. The arm of 61 is lifted, and the CCD camera 39 is directed in a substantially horizontal direction so as to face the standing road sign 7. Then, the sign installation device 1 captures the road sign 7 standing at a predetermined position on the loading platform 97 of the vehicle 100 with the CCD camera 39 (S1), executes the gripping position calculation program described later (S3), and executes the road. The gripping position of the sign 7 is calculated.

Next, the sign installation device 1 opens the left chuck portion 9b and the right chuck portion 9a and opens the left chuck portion 79b and the right chuck portion 79a based on the execution result of the gripping position calculation program. , The grip portion 35 and the second grip portion 69 are moved to the grip position of the road sign 7, and then air is discharged from the air compressor 45 to close the left chuck portion 9b and the right chuck portion 9a of the grip portion 35. Then, the left chuck portion 79b and the right chuck portion 79a are closed to grip the road sign 7 (S5).

After that, the sign installation device 1 lifts the road sign 7 by the articulated robot 61, moves it to the outside of the loading platform 97 of the vehicle 100, further moves it to the outside of the guardrail 99, and then fits the road sign 7 from above. Find the position of the second support column 4 (S9).

At that time, since the grip portion 35 and the second grip portion 69 mounted on the tip of the articulated robot 61 grip the columnar member 5 of the road good sense 7 in a state substantially perpendicular to the ground, the road sign 7 Is in a state where it is easy to fit the second support column 4, and since the CCD camera 39 faces the lower end direction of the columnar member 5, the second support column 4 firmly installed on the outside of the guardrail 99 is searched for. The second support column 4 can be easily and quickly found.

After detecting the position of the second support column 4, the sign installation device 1 calculates the inclination of the second support column 4 in order to smoothly fit the road sign 7 to the second support column 4 (S11). The articulated robot 61 is operated according to the inclination of the second support column 4, and the inclination of the road sign 7 being gripped is adjusted (S13).

The articulated robot 61 adjusts the inclination of the road sign 7 being gripped, and after fitting the road sign 7 to the second support column 4 (S15), the grip portion 35 and the second grip portion 69 are respectively. The grip of the road sign 7 is released (S17), and the switch is waited to be pressed again (S19).

Next, the gripping position calculation program 3 of this embodiment will be described.

The gripping position calculation program 3 assumes a case where the gripping position is predetermined according to the number of marking portions fixed on the columnar member 5, and is a circular marking portion, a diamond-shaped marking portion, and a quadrangular marking. It is assumed that the parts and the like are fixed in a predetermined position to some extent.

In the gripping position calculation program 3 of the present embodiment, a flowchart will be described by taking as an example a case where a maximum of three marking portions 3 are fixed on the columnar member 5 of the road sign 7, but the present invention describes the marking portion 3. It is applicable even if the number of is 4 or more.

Further, in the present embodiment, a flowchart for changing the gripping interval of the plurality of gripping portions according to the number of marking portions 3 fixed to the columnar member 5 of the road sign 7 will be described, but the gripping position calculation program of the first embodiment will be described. As in 2, the shape of the marking portion 3 may be extracted from the image of the CCD camera 39, and the gripping interval may be changed based on the extracted shape.

When the gripping position calculation program 3 is selected on the operation panel 67 and the sign installation device 1 images the road sign 7 standing at a predetermined position on the loading platform 97 of the vehicle 100 with the CCD camera 39 (S1), the CCD camera 39 The image data captured by the camera is read and stored in the image data table 73c (S53).

The CPU 71 calculates the number of marking portions fixed on the columnar member 5 of the road sign 7 from the image data stored in the image data table 73c (S55), and determines whether or not the number of marking portions is one (S55). S57). When the number of marking portions is one (S57: Yes), the fourth gripping position is taken out from the gripping position data table 73a and stored in the gripping position memory 73d (S59), and the gripping interval data table 73b to the fourth The gripping interval is taken out and stored in the gripping interval memory 73e (S61).

Here, the fourth gripping position, the fifth gripping position described later, and the sixth gripping position described later mean the gripping positions of the gripping portion 35, and these positions are stored in the gripping position data table 73a. Has been done. Further, the fourth gripping interval, the fifth gripping interval described later, and the sixth gripping interval described later mean the gripping intervals between the gripping portion 35 and the second gripping portion 69, and the intervals thereof are defined as gripping intervals. It is stored in the interval data table 73b.

Further, in the present embodiment, one of the grip portion 35 and the second grip portion 69 is near the center of gravity or the vicinity of the center of gravity of each road sign 7 including the columnar member 5 and the marking portion 3, and is on the back side of the marking portion 3. The columnar member 5 located in is gripped, and the other of the grip portion 35 and the second grip portion 69 grips a position other than the back side of all the marking portions 3.

This is because even when the road sign 7 is gripped by two or more gripping portions as in the present embodiment, gripping the road sign 7 on the back side of the marking portion 3 is affected by disturbance such as wind. In this case, it is based on the applicant's experimental result that the sign installation work was performed normally.

Further, the gripping interval between the grip portion 35 and the second grip portion 69 tends to increase as the number of marking portions increases.

For example, when the road sign 7f is a road sign composed of a columnar member 5f and one circular marking portion 3f fixed on the columnar member 5f, as shown in FIG. 16, the second grip The portion 69 grips the columnar member 5f on the back side of the circular marking portion 3f, and the grip portion 35 grips a position other than the back side of the marking portion 3f on the lower side of the distance X4 from the gripping position of the second grip portion 69. It becomes.

Further, as shown in FIG. 17, the road sign 7g has a total of two marking portions, that is, a columnar member 5g, one circular marking portion 3g1 fixed on the columnar member 5g, and one diamond-shaped marking portion 3g2. In the case of a road sign consisting of, the grip portion 35 grips the columnar member 5 g on the back side of the diamond-shaped marking portion 3 g 2, and the second grip portion 69 is a distance X5 (> X4) from the grip position of the grip portion 35. ) The positions other than the upper marking portion 3g1 and the marking portion 3g2 will be gripped.

Further, as shown in FIG. 18, the road sign 7h includes a columnar member 5h, one circular marking portion 3h1 fixed on the columnar member 5h1, one diamond-shaped marking portion 3h2, and one quadrangular marking. In the case of a road sign composed of a total of three marking portions of the portions 3h3, the second grip portion 69 grips the columnar member 5h on the back side of the diamond-shaped marking portion 3h2, and the grip portion 35 is the second grip portion. The position other than the marking portion 3h1, the marking portion 3h2, and the marking portion 3h3 on the lower side of the distance X6 (> X5> X4) from the gripping position of 69 is gripped.

The road sign 7f, the road sign 7g, and the road sign 7h of the present embodiment also have their fixed positions lowered for convenience of explanation, and are different from the road signs actually installed. Therefore, please understand that the fixed position of the sign portion 3 of the road sign 7 that is actually installed is set to a height that complies with the law.

Returning to the explanation of the flowchart, when the number of marking parts is not one (S57: No), it is determined whether or not the number of marking parts is two (S63), and when the number of marking parts is two, it is determined. (S63: Yes), the fifth gripping position is taken out from the gripping position data table 73a and stored in the gripping position memory 73d (S65), and the fifth gripping interval is taken out from the gripping interval data table 73b and stored in the gripping interval memory 73e. (S67).

On the other hand, when the number of marking parts is not two (S63: No), it is determined whether or not the number of marking parts is three (S69), and when the number of marking parts is three (S69: Yes). The sixth gripping position is taken out from the gripping position data table 73a and stored in the gripping position memory 73d (S71), the sixth gripping interval is taken out from the gripping interval data table 73b and stored in the gripping interval memory 73e (S73). Return to the setting program (S75). Further, even when the number of marking units is not three (S69: No), the process returns to the sign setting program (S75).

According to the sign installation device 1 of the present embodiment, a road sign 7 having a columnar member 7 and one or more marking portions 3 fixed to the columnar member 7 is gripped and installed at another place. As a target, a plurality of grip portions such as a grip portion 35 for gripping the columnar member 7 and a second grip portion 69 are provided, and the distance between the grip positions thereof is set according to the number of the marking portions 3 or the shape of the marking portions 3. Since the change has been made, the gripping strength of the gripping portion can be strengthened, and the sign installation work outdoors can be performed more safely even when some wind is blowing.

Further, according to the sign installation device 1 of the present embodiment, one of the plurality of grip portions grips the columnar member 5 so that the entire grip portion is hidden by the sign portion 3, so that some wind is generated. Even when blowing, the sign installation work outdoors can be performed more safely.

Further, according to the sign installation device 1 of the present embodiment, the grip portion 35 and the second grip portion 69 grip the road sign 7 erected by being fitted to the first support column, and the road sign 7 is first. As many roads as possible, as many roads as possible are installed so as to be separated from the pillars of the road and fitted to the second pillar 4 having the tip portion 8 and the stopper 6 which is erected on the outside of the guardrail 99 erected along the road. Even when the sign 7 is loaded and installed at one time, the sign installation work outdoors can be safely performed. In addition, the road sign 7 can be safely maintained and stored even after the road sign 7 is installed.

Further, according to the sign installation device 1 of the present embodiment, the articulated robot 61, the CCD camera 39 provided in the articulated robot 61, and the grip portion 35 and the second grip portion provided in the articulated robot 61 are provided. 69, and when the grip portion 35 and the second grip portion 69 grip the road sign 7, the CCD camera 39 is configured to image the lower part of the road sign 7, so that the road sign 7 can be quickly picked up. Can be installed in.

(Third Embodiment)
Next, a third embodiment of the present invention will be described.

FIG. 19 is a flowchart of the gripping position calculation program 4 of the sign installation device of the third embodiment, and FIG. 20 is a diagram showing an example of gripping position when there is one sign unit in the sign installation device of the third embodiment. 21 is a diagram showing an example of a gripping position when there are two sign portions in the sign installation device of the third embodiment, and FIG. 22 is a diagram showing an example of gripping positions in the sign installation device of the third embodiment. It is a figure which showed the example of the gripping position in one case.

Hereinafter, a third embodiment of the present invention will be described, but since the sign installation device of the present embodiment is the same as the sign installation device 1 of the first embodiment except for the number of gripping portions, it is different from the first embodiment. The common parts are designated by the same reference numerals and the description thereof will be omitted.

Further, the grip portion of the present embodiment is the same as the grip portion 35 (lower grip portion 35) and the second grip portion 69 (upper grip portion 69) of the second embodiment.

The sign installation device 1 of the present embodiment also basically uses the sign installation program of the first embodiment (see FIG. 7).

Therefore, in the sign installation device 1 of the present embodiment, when the operator of the device first turns on the power switch of the control panel 53 and then presses the operation button on the operation panel 67, the sign installation device 1 is an articulated robot. The arm of 61 is lifted, and the CCD camera 39 is directed in a substantially horizontal direction so as to face the standing road sign 7. Then, the sign installation device 1 captures the road sign 7 standing at a predetermined position on the loading platform 97 of the vehicle 100 with the CCD camera 39 (S1), executes the gripping position calculation program described later (S3), and executes the road. The gripping position of the sign 7 is calculated.

Next, the sign installation device 1 opens the left chuck portion 9b and the right chuck portion 9a and opens the left chuck portion 79b and the right chuck portion 79a based on the execution result of the gripping position calculation program. , The grip portion 35 and the second grip portion 69 are moved to the grip position of the road sign 7, and then air is discharged from the air compressor 45 to close the left chuck portion 9b and the right chuck portion 9a of the grip portion 35. Then, the left chuck portion 79b and the right chuck portion 79a are closed to grip the road sign 7 (S5).

After that, the sign installation device 1 lifts the road sign 7 by the articulated robot 61, moves it to the outside of the loading platform 97 of the vehicle 100, further moves it to the outside of the guardrail 99, and then fits the road sign 7 from above. Find the position of the second support column 4 (S9).

At that time, since the grip portion 35 and the second grip portion 69 mounted on the tip of the articulated robot 61 grip the columnar member 5 of the road good sense 7 in a state substantially perpendicular to the ground, the road sign 7 Is in a state where it is easy to fit the second support column 4, and since the CCD camera 39 faces the lower end direction of the columnar member 5, the second support column 4 firmly installed on the outside of the guardrail 99 is searched for. The second support column 4 can be easily and quickly found.

After detecting the position of the second support column 4, the sign installation device 1 calculates the inclination of the second support column 4 in order to smoothly fit the road sign 7 to the second support column 4 (S11). The articulated robot 61 is operated according to the inclination of the second support column 4, and the inclination of the road sign 7 being gripped is adjusted (S13).

The articulated robot 61 adjusts the inclination of the road sign 7 being gripped, and after fitting the road sign 7 to the second support column 4 (S15), the grip portion 35 and the second grip portion 69 are respectively. The grip of the road sign 7 is released (S17), and the switch is waited to be pressed again (S19).

Next, the gripping position calculation program 4 of this embodiment will be described.

The gripping position calculation program 4 assumes a case where the gripping position is predetermined according to the number of marking portions fixed on the columnar member 5, and is a circular marking portion, a diamond-shaped marking portion, and a quadrangular marking. It is assumed that the parts and the like are fixed in a predetermined position to some extent.

In the gripping position calculation program 4 of the present embodiment, a flowchart will be described by taking as an example a case where a maximum of three marking portions 3 are fixed on the columnar member 5 of the road sign 7, but the present invention describes the marking portion 3. It is applicable even if the number of is 4 or more.

Further, in the present embodiment, a flowchart for changing the gripping positions of the plurality of gripping portions according to the number of marking portions 3 fixed to the columnar members 5 of the road sign 7 will be described, but the gripping position calculation program of the first embodiment will be described. As in 2, the shape of the marking portion 3 may be extracted from the image of the CCD camera 39, and the gripping position may be changed based on the extracted shape.

When the gripping position calculation program 4 is selected on the operation panel 67 and the sign installation device 1 images the road sign 7 standing at a predetermined position on the loading platform 97 of the vehicle 100 with the CCD camera 39 (S1), the CCD camera 39 The image data captured by the camera is read and stored in the image data table 73c (S77).

The CPU 71 calculates the number of marking portions fixed on the columnar member 5 of the road sign 7 from the image data stored in the image data table 73c (S79), and determines whether or not the number of marking portions is one (S79). S81). Then, when the number of marking portions is one (S81: Yes), as the gripping position of the gripping portion 35, the seventh gripping position is taken out from the gripping position data table 73a and stored in the first gripping position memory 73f ( S83), as the gripping position of the second gripping portion 69, the eighth gripping position is taken out from the gripping position data table 73a and stored in the second gripping position memory 73g (S85).

Here, the seventh gripping position of the present embodiment, the ninth gripping position described later, and the eleventh gripping position described later mean the gripping position of the gripping portion 35, and these positions are referred to in the gripping position data table 73a. It is stored. Further, the eighth gripping position, the tenth gripping position described later, and the twelfth gripping position described later in the present embodiment mean the gripping positions of the second gripping portion 69, and these positions are also the gripping position data table 73a. It is stored in.

Further, in the present embodiment, the grip portion 35 and the second grip portion 69 are columnar columns located near the center of gravity or the center of gravity of each road sign 7 including the columnar member 5 and the marking portion 3, and located on the back side of the marking portion 3. The member 5 is gripped.

This is because, as in the present embodiment, when all the gripping portions grip the back side of the marking portion 3, the sign installation work can be performed normally when affected by disturbance such as wind. It is based on the experimental results.

For example, when the road sign 7j is a road sign including a columnar member 5j and one circular marking portion 3j fixed on the columnar member 5j as shown in FIG. 20, the grip portion 35 The second gripping portion 69 and the second gripping portion 69 are separated by a distance X7, and each grips the columnar member 5 on the back side of the circular marking portion 3j.

Further, as shown in FIG. 21, the road sign 7k has a total of two marking portions, that is, a columnar member 5k, one circular marking portion 3k1 fixed on the columnar member 5k, and one diamond-shaped marking portion 3k2. In the case of a road sign consisting of, the grip portion 35 grips the columnar member 5 g on the back side of the diamond-shaped marking portion 3k2, and the second grip portion 69 is only a distance X8 (> X7) from the grip portion 35. Separated from each other, the columnar member 5k on the back side of the circular marking portion 3k1 above the diamond-shaped marking portion 3k2 is gripped.

Further, as shown in FIG. 22, the road sign 7 m has a columnar member 5 m, one circular signing portion 3 m1 fixed on the columnar member 5 m, one diamond-shaped signing section 3m2, and one quadrangular signing. In the case of a road sign consisting of a total of three marking portions of the portion 3m3, the grip portion 35 grips the columnar member 5m on the back side of the square marking portion 3m3, and the second grip portion 69 is the grip portion 35. Will grip the columnar member 5m on the back side of the circular marking portion 3m1 above the diamond-shaped marking portion 3m2 at a distance of X9 (> X8> X7).

The road sign 7j, the road sign 7k, and the road sign 7m of the present embodiment also have their fixed positions lowered for convenience of explanation, and are different from the road signs actually installed. Therefore, please understand that the fixed position of the sign portion 3 of the road sign 7 that is actually installed is set to a height that complies with the law.

Returning to the explanation of the flowchart, when the number of marking parts is not one (S81: No), it is determined whether or not the number of marking parts is two (S87), and when the number of marking parts is two, it is determined. (S87: Yes), as the gripping position of the gripping portion 35, the ninth gripping position is taken out from the gripping position data table 73a and stored in the first gripping position memory 73f (S89), and as the gripping position of the second gripping portion 69. , The tenth gripping position is taken out from the gripping position data table 73a and stored in the second gripping position memory 73g (S91).

On the other hand, when the number of marking parts is not two (S87: No), it is determined whether or not the number of marking parts is three (S93), and when the number of marking parts is three (S93: Yes). As the gripping position of the gripping portion 35, the eleventh gripping position is taken out from the gripping position data table 73a and stored in the first gripping position memory 73f (S95), and the gripping position data table is used as the gripping position of the second gripping portion 69. The twelfth gripping position is taken out from 73a, stored in the second gripping position memory 73g (S97), and returned to the sign setting program (S99). Further, even when the number of marking units is not three (S93: No), the process returns to the sign setting program (S99).

According to the sign installation device 1 of the present embodiment, a road sign 7 having a columnar member 5 and one or more marking portions 3 fixed to the columnar member 5 is gripped and installed at another place. As a target, a grip portion 35 and a second grip portion 69 for gripping the columnar member 7 are provided, and the grip portion 35 and the second grip portion 69 are columnar members according to the number of marking portions 3 fixed to the columnar member 5. Since the gripping position in No. 5 has been changed, the sign installation work outdoors can be safely performed even when some wind is blowing.

Further, according to the sign installation device 1 of the present embodiment, the road sign 7 having the columnar member 5 and one or more marking portions 3 fixed to the columnar member 5 is grasped and installed in another place. A grip portion 35 and a second grip portion 69 for gripping the columnar member 5 are provided, and the grip portion 35 and the second grip portion 69 are columnar according to the shape of the marking portion 3 fixed to the columnar member 5. Since the gripping position of the member 5 has been changed, the sign installation work outdoors can be safely performed even when a slight wind is blowing.

Further, according to the sign installation device 1 of the present embodiment, the grip portion 35 and the second grip portion 69 grip the columnar member 5 at a plurality of places, and the distance between the grip positions is determined by the number of the marking portions 3 or the marking portion. Since the change is made according to the shape of No. 3, the sign installation work outdoors can be performed more safely even when a little wind is blowing.

Further, according to the sign installation device 1 of the present embodiment, the grip portion 35 and the second grip portion 69 grip the columnar member 5 so that the entire grip portion is hidden by the marking portion 3, so that they are outdoors. The sign installation work at the site can be performed more safely.

Further, according to the sign installation device 1 of the present embodiment, the road sign 7 having the columnar member 5 and one or more marking portions 3 fixed to the columnar member 5 is grasped and installed in another place. In the sign installation device, the grip portion 35 and the second grip portion 69 for gripping the columnar member 5 are provided, and the grip portion 35 and the second grip portion 69 are columnar so that the entire grip portion is hidden by the marking portion 3. Since the member 5 is gripped, the sign installation work outdoors can be safely performed even when a slight wind is blowing.

Further, according to the sign installation device 1 of the present embodiment, the grip portion 35 and the second grip portion 69 grip the road sign 7 erected by being fitted to the first support column, and the road sign 7 is first. As much as possible because it is installed so as to be separated from the support column and fitted to the second support column 4 having the tip portion 8 and the stopper 6 which is erected on the outside of the guardrail 99 erected along the road. Even when the road signs 7 are loaded and installed at one time, the outdoor sign installation work can be safely performed. In addition, the road sign 7 can be safely maintained and stored even after the road sign 7 is installed.

Further, according to the sign installation device 1 of the present embodiment, the articulated robot 61, the CCD camera 39 provided in the articulated robot 61, and the grip portion 35 and the second grip portion provided in the articulated robot 61 are provided. 69, and when the grip portion 35 and the second grip portion 69 grip the road sign 7, the CCD camera 39 is configured to image the lower part of the road sign 7, so that the road sign 7 can be quickly picked up. Can be installed in.

Although the sign installation device according to various embodiments of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist thereof.

For example, in the sign installation device 1 of the first to third embodiments, it is described that the shape of the road sign 7 and the number of the sign portions 3 are recognized by the CCD camera 39, but the present invention is not limited to this. For example, using RFID (Radio Frequency Identification) technology, an RF tag is embedded in a part of the road sign 7, a reader / writer is mounted on the articulated robot 61, and the gripping position of the road sign 7 is determined. Is also good.

Further, in the sign installation device 1 of the first to third embodiments, when one CCD camera 39 mounted on the articulated robot 61 images the road sign 7, the articulated robot 61 is used. A second strut 4 having a tip 8 and a stopper 6 erected on the outside of a guard rail 99 erected along the road, with 39 CCD cameras operating to face the road sign 7. When looking for, it was designed to face downward, but in each case, two CCD cameras may be mounted individually. However, it is better to take an image with one CCD camera as in the present embodiment in terms of the number of parts and the mechanical configuration.

1 ... Sign installation device 3 ... Marking part 4 ... Second strut 5 ... Columnar member 6 ... Stopper 7 ... Road sign 35 ... Grip part 39 ... CCD camera (Imaging device)
41, 43 ... Tube 45 ... Air compressor 49 ... Robot controller 51 ... Generator 53 ... Control panel 61 ... Articulated robot 63 ... Main controller 67 ... Operation panel 69 ... Second grip 100 ... Vehicle

Claims (15)

In a sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member.
A sign gripping device characterized in that the gripping position of the first member is changed according to the number of marking portions fixed to the first member. In a sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member.
A sign gripping device characterized in that the gripping position of the first member is changed according to the shape of the marking portion fixed to the first member. The first or second aspect of the present invention, wherein the first member is gripped at a plurality of places, and the interval between the gripping positions is changed according to the number of the marking portions or the shape of the marking portions. Sign gripping device. The sign gripping device according to any one of claims 1 to 3, wherein the first member is gripped so that the whole is hidden by the marking portion. In a sign gripping device for gripping a sign having a first member and one or more marking portions fixed to the first member.
A sign gripping device characterized in that the first member is gripped so that the entire body is hidden by the sign portion. The sign gripping device according to claim 5, wherein the first member is gripped at a plurality of places. In an installation device that grips a third member having a first member and one or more second members fixed to the first member and installs the third member in another place.
A grip portion for gripping the first member is provided.
The gripping portion is an installation device characterized in that the gripping position of the first member is changed according to the number of the second members fixed to the first member. In an installation device that grips a third member having a first member and one or more second members fixed to the first member and installs the third member in another place.
A grip portion for gripping the first member is provided.
The gripping portion is an installation device characterized in that the gripping position of the first member is changed according to the shape of the second member fixed to the first member. The claim is characterized in that the first member is gripped at a plurality of places, and the interval between the gripping positions is changed according to the number of the second members or the shape of the second member. 7. The installation device according to claim 8. The installation device according to any one of claims 7 to 9, wherein the grip portion grips the first member so that the entire grip portion is hidden by the second member. .. In an installation device that grips a third member having a first member and one or more second members fixed to the first member and installs the third member in another place.
A grip portion for gripping the first member is provided.
The installation device is characterized in that the grip portion grips the first member so that the entire grip portion is hidden by the second member. The installation device according to claim 11, wherein the grip portion grips the first member at a plurality of places. The grip portion grips the third member that is erected by being fitted to the first strut, and the third member is separated from the first strut and installed at another place. The installation device according to any one of claims 7 to 12. The grip portion grips the third member that is erected by being fitted to the first strut, separates the third member from the first strut, and separates the third member from another place. The installation device according to claim 13, wherein the installation device is fitted to a second support column installed in the vehicle. With articulated robots
The imaging device installed in the articulated robot and
The grip portion according to any one of claims 7 to 14, which is provided in the articulated robot.
With
An installation device characterized in that when the gripping portion grips the third member, the image pickup device is configured to take an image of the lower part of the third member.

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