JP3829807B2 - Rubber cone dispensing and storage device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a corn-type dispensing and storage device that is a device that prevents traffic of a vehicle or a pedestrian and that is independent of itself. More specifically, the present invention relates to a device for dispensing and storing a large number of rubber cones over a predetermined distance at predetermined intervals on a road in a construction section, and more particularly to an automation device thereof.
[0002]
[Prior art]
Conventional rubber cone dispensing and storage devices include the following.
That is, a rubber that is stacked and loaded on the loading platform of a vehicle and is installed on the road in the construction section at appropriate intervals using a rubber cone feeding mechanism, a rubber cone lifting mechanism, a rubber cone gripping means, etc. An apparatus provided with both a cone paying-out means and a means for storing the rubber cone installed on the road in the loading platform of the vehicle using a rubber cone recovery mechanism equipped with a recovery sensor for detecting the rubber cone installed on the road (See Patent Document 1).
An apparatus having only means for storing a rubber cone installed on a road in a loading platform of a vehicle using a rubber cone recovery mechanism equipped with a recovery sensor for detecting the rubber cone (see Patent Document 2).
A rubber cone dispensing and storage device comprising a table that can be moved to a loading platform of a vehicle (see Patent Document 3).
In addition, see the following Patent Documents 4 to 10.
[0003]
[Patent Document 1]
JP-A-8-92921 [Patent Document 2]
JP-T-2002-524672 [Patent Document 3]
Japanese Patent Application Laid-Open No. 5-31622 [Patent Document 4]
Japanese Patent Laid-Open No. 5-65709 [Patent Document 5]
Japanese Patent Laid-Open No. 9-279532 [Patent Document 6]
JP-A-2002-167720 [Patent Document 7]
Japanese Patent Laid-Open No. 7-71011 [Patent Document 8]
JP-A-4-237709 [Patent Document 9]
JP-A-6-936077 [Patent Document 10]
Japanese Patent Laid-Open No. 2001-295234
[Problems to be solved by the invention]
Each of the above-described prior arts is provided with both a rubber cone delivery means and a rubber cone storage means, and is provided with a rubber cone detection means, a rubber cone delivery and storage apparatus, which can be moved to a vehicle bed. There are devices equipped with a table, but none of the devices can achieve both rubber cone dispensing and storage by one vehicle driver, and both can be achieved continuously without stopping the vehicle. There wasn't.
[0005]
The present invention is intended to solve such a problem, and in the prior art, in addition to the driver of the vehicle, an operator who has boarded the vehicle body for both paying out and storing the rubber cone is used for both discharging and storing the cone. The present invention provides a rubber cone dispensing and storage device that can be omitted and is safe, and that both can be achieved continuously without stopping the vehicle, and that this can be achieved with inexpensive control means. .
[0006]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention provides a rubber cone mounting and positioning means for a table which is installed on a loading platform of a vehicle such as a truck and has a structure capable of positioning and stacking a plurality of rubber cones. A rubber cone detection sensor and a rubber cone gripping hand which can be moved in the traveling direction of the vehicle and whose movement speed can be controlled are provided at its working end, and are installed on the road surface and the table. A robot arm having a sensor-equipped arm part that can move between the two and a rubber cone on the table is detected by a sensor of the sensor-equipped arm part at the time of paying, and then a rubber cone is gripped by a rubber cone gripping hand. Grasp the cone, then move the sensor arm to the top of the road and at the same time descend and wait, then the rubber cone gripping hand When the traveling speed of the vehicle that moves continuously and the traveling speed of the continuously moving vehicle coincides with the moving speed of the rubber cone gripping hand, the rubber cone gripping hand is released and the rubber cone is paid out on the road surface. Sequence operation is controlled, and when storing, the rubber cone on the road surface is detected by the sensor of the arm part with sensor, and then the traveling speed of the vehicle that moves continuously matches the moving speed of the rubber cone gripping hand. Close the rubber cone gripping hand at the stage, grip the rubber cone, and then move the sensor arm from the top of the road and raise it at the same time to control the series of sequence operations to open and store the rubber cone gripping hand on the table A rubber cone dispensing and storing device characterized by comprising control means comprising a personal computer or the like It is set to the first problem solving means.
[0007]
Further, the rubber cone placement and positioning means is configured as a sequentially movable table, and a rubber cone dispensing and storage device provided with a sensor for detecting the presence and quantity of rubber cones on the table. The second problem solving means that a larger amount of rubber cones can be handled.
[0008]
Further, as a rubber cone dispensing and storing device in which the sensor of the arm portion with sensor is composed of both a non-contact type sensor and a contact type sensor, the sensor operates reliably even in a continuously moving vehicle. As a means to solve the problem.
[0009]
Furthermore, by specifying the movement of the rubber cone gripping hand, the operation of the rubber cone gripping hand is made smooth and at the same time the gripping and releasing operations are ensured, and the human sense and the function of the control means are effectively synergized. By doing so, it is a means for solving the fourth problem of reducing the burden on the control means more than necessary.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, a table of a vehicle such as a truck is provided with a table 3. The table 3 has a structure in which a plurality of rubber cones 4 as objects to be processed can be positioned and stacked. The table 3 itself is also positioned at a predetermined position on the loading platform of the vehicle by positioning means. That is, it constitutes a rubber cone placement positioning means. About this point, it is for determining the relative position with the rubber cone holding | grip hand 6 provided in the robot arm 1 mentioned later. When a large number of tables 3 are provided, they are connected by a chain 15 as shown in FIG. In this case, as a means for stopping and positioning at a predetermined position, for example, a protruding dock is provided. Moreover, as shown in FIG. 8, it can also move by pushing out with the four pistons 16 provided in the corner. In this case, a space area for one table is required, but the positioning means does not need to be provided with a dock or the like, and the piston 16 can also be used.
[0011]
7 and 8 show an example in which the table can be moved as an example. However, a fixed type is used for a rubber cone gripping hand 6 provided on a robot arm described later. It may be a thing. The table 3 is provided with a weight sensor or the like for detecting the presence / absence and the number of rubber cones loaded thereon. As the weight sensor, a strain gauge, that is, a sensor that detects a change in strain due to a change in weight expressed as a so-called strain gauge by converting it into an electric signal is effective.
[0012]
In the case of the present invention, it is not necessary to detect a continuous load change, and the purpose can be achieved by detecting a stepwise value. Not only can strain gauges be installed in the right place for what is to be detected, but also simplification of detection means can reduce the burden on the computer and increase the processing speed. Therefore, the present invention is more effective in an apparatus that operates while continuously driving a vehicle as in the present invention.
[0013]
The loading platform has a robot arm 1. As shown in FIG. 1, the robot arm 1 includes an arm portion 2 with a sensor. The sensor-equipped arm section 2 has a function capable of reciprocating between a position on the road on the rubber cone 4 mounted on the table 3. In addition, it is desirable that the position on the road can be located on either the left or right side of the vehicle. That is, the rubber cone 4 can be discharged and stored on either side of the vehicle depending on the construction site. As for the type of the robot arm 1, a swiveling type, a reciprocating type, and the like are appropriately selected, but not only the position of the rubber cone gripping hand can be accurately controlled but also accurately controlled in terms of time. In addition, it must have a function that can be accurately controlled in relation to the timing of the vehicle moving speed, which will be described later. This point is a very important requirement for carrying out the present invention.
[0014]
A marker 5 is provided at a position protruding from the front part of the driver's seat of the vehicle. The purpose of providing the marker 5 is to reduce the burden on the contact type sensor 9 and the non-contact type sensor 10 to be described later and not to place an unnecessary burden on the control means. As a result, it is possible to increase the calculation speed of the computer that is the control means and to further simplify the calculation circuit. As shown in FIG. 1 as an example, the structure of the marker 5 is an L-shaped bar, and has a linear tip bent vertically. The driver visually observes the linear tip portion of the marker 5 and visually observes the row of rubber cones arranged in a row at an appropriate interval on the road, and drives the vehicle so that both lines coincide with each other. The function that can be performed. As a result, the vehicle is guided to the detection range of the sensor.
[0015]
As shown in FIG. 2, the sensor arm 2 includes a rubber cone gripping hand 6 and a suction cup 7. The rubber cone gripping hand 6 moves in conjunction with the moving speed of the vehicle as will be described later. The suction cup 7 operates so as to grip the rubber cone 4 in conjunction with the movement of the rubber cone gripping hand 6. The suction cup 7 has a mechanism for moving the rubber cone gripping hand 6 and must be operated while moving. Therefore, the suction cup 7 is required to have a large tolerance. Therefore, in general, a device that operates by sucking air, which is usually called a vacuum type, is selected. However, it can be selected as appropriate as long as it can operate with a large allowable range, and for example, it may be gripped by surrounding it with a member having a square shape.
[0016]
In the first embodiment, as shown in FIG. 3, the rubber cone gripping hand 6 turns in the traveling direction of the vehicle. The sensor-equipped arm 2 is supported by a rubber cone gripping hand pivot shaft 8 so as to be pivotable, a suction cup 7 attached to the tip of the rubber cone gripping hand 6, and a contact sensor pivot shaft 11 so as to be pivotable. The contact type sensor 9 and the non-contact type sensor 10 are provided. The rubber cone dispensing operation of the rubber cone gripping hand 6 is as shown in FIG.
[0017]
The rubber cone gripping hand 6 grips the rubber cone 4 at the position a in FIG. When the rubber cone 4 is paid out at the position b, the rubber cone gripping hand 6 is accelerated before the rubber cone 4 is moved to the position b. When the rubber cone gripping hand 6 reaches the position b, the running speed of the vehicle is increased. The movement speed is controlled so as to match. And the suction cup 7 is open | released in the position of b, and the rubber cone 4 is paid out on a road surface. Thereafter, the vehicle is gradually decelerated and stopped before reaching the position c.
[0018]
The rubber cone storing operation of the rubber cone gripping hand 6 is as shown in FIG. That is, the rubber cone gripping hand 6 stands by with the suction cup 7 opened at the position a in FIG. In storing the rubber cone at the position b, the rubber cone gripping hand 6 is accelerated before the rubber cone is moved to the position b, and when the rubber cone gripping hand 6 reaches the position b, the vehicle traveling speed is increased. The movement speed is controlled so as to match. Then, the suction cup 7 is closed at the position b, and the rubber cone 4 is stored from the road surface. Thereafter, the vehicle is gradually decelerated and stopped before reaching the position c.
[0019]
Next, the sensor will be described. The sensor includes a contact sensor 9 and a non-contact sensor 10. The non-contact sensor 10 is controlled by image processing means. Normally, the information detected using the imaging tube is image-processed, the processed image is divided into left and right images at the center, and the imaging tube is arranged so that the control components of both images are equivalent. A device that outputs a control signal to be moved is used.
[0020]
In addition, it is possible to perform more accurate control by using a so-called heterodyne method in which an image is divided into four quadrants of orthogonal coordinates with the center as the origin, and these are respectively compared vertically, horizontally, and diagonally. It is practical.
In other words, it is a device used in shipyards, etc., which is a sensor used in a device that can follow a target welding line using a cart that runs self-propelled over a distance of several tens of meters. . However, if the sensor of the automatic welding device is used as it is, it will be more accurate than necessary, so the accuracy will be such that the rubber cone can be detected, and the detection speed will be used to correspond to high speed Is effective. The non-contact sensor 10 is not limited to the optical sensor described above, but may be an acoustic sensor that utilizes the Doppler effect.
[0021]
About the contact-type sensor 9, if it contacts a rubber cone, the vehicle advancing direction will turn backward and can be retracted. When the detection operation is finished, it is preferable to provide a coil spring or the like on the contact sensor turning shaft 11 in order to turn in the vehicle traveling direction and return to the original position.
[0022]
Normally, the non-contact sensor 10 detects the rubber cone at a relatively distant position, moves the position of the sensor-equipped arm unit 2 to a position that should be handled with time, and waits. Further, the contact type sensor 9 is used to accurately detect and start the operation of the rubber cone gripping hand 6 as described above. This is because it is not necessary to make the structure of the robot arm 1 with more than necessary functions by giving the operation a time allowance, and the calculation speed of the CPU does not require more than necessary. There is a possibility that a general-purpose computer can be used for the control. For example, in the control of machine tools, we have succeeded in using general-purpose computers, so-called personal computers, by reducing the burden on the CPU in consideration of the balance with performance, and have already supplied inexpensive control means. It has been broken.
[0023]
In the above description, an example in which both the contact sensor 9 and the non-contact sensor 10 are used has been described. However, the control can be performed using only the non-contact sensor 9. These sensors are also used when detecting a rubber cone mounted on the table 3 and control the position of the sensor-equipped arm unit 2 to grip the rubber cone.
[0024]
In the second embodiment, as shown in FIG. 6, the rubber cone gripping hand 6 moves horizontally in the traveling direction of the vehicle. A reciprocating arm 12, a rack 13 and a pinion 14 are provided. The rack 13 is moved by driving the pinion 14 in conjunction with detection by the sensor, and the rubber cone gripping hand 6 is moved in conjunction with the vehicle speed. It is composed. In the case of this embodiment, it is more preferable to control so that the operation of raising and lowering the arm portion 2 with sensor is performed simultaneously.
[0025]
The operation of the rubber cone dispensing and storage device of the present invention will be described according to the processing order.
First, the payout operation will be described. The driver looks at the straight tip of the marker 5 at a position protruding from the front of the driver's seat, and drives the vehicle along a line on the road on which the rubber cone 4 is to be placed. At the same time, the robot arm 1 is operated, and the rubber cone 4 on the table 3 positioned at a predetermined position on the loading platform of the vehicle is detected by the sensor of the arm portion 2 with sensor, and is provided in the rubber cone gripping hand 6. Grip with suction cup 7. When the rubber cone 4 exists on the table 3 existing in the operation area of the robot arm 1 at this time, it is effective to operate only the robot arm 1 without moving the table 3.
[0026]
When it is detected that the rubber cone 4 does not exist on the table 3 existing in the one operation area of the robot arm, the control means moves the chain 15 or the piston to move the table 3 to the operation area of the robot arm 1. 16 sends an activation signal. Next, the sensor-equipped arm unit 2 that holds the rubber cone 4 moves to a predetermined position above the road and stands by. When the target position that matches the arrangement interval of the rubber cones 4 set in advance in the control means is reached, in the first embodiment, as described in the paragraph [0020], the vehicle running speed and the rubber cone are set. The rubber cone 4 is paid out when the moving speed of the gripping hand 6 matches. The second embodiment operates as described in paragraph [0021] above. The target position is determined by the CPU from the relationship between the arrangement interval registered in advance in the control means and the traveling speed of the vehicle.
[0027]
Next, the storing operation will be described. The driver visually observes the linear tip of the marker 5 in the same manner as when paying out, and drives the vehicle along the rubber cone 4 line arranged in a line on the road. In the first embodiment, as described in the paragraph [0020], the rubber cone 4 is stored when the traveling speed of the vehicle and the moving speed of the rubber cone gripping hand 6 coincide with each other. In the second embodiment, the paragraph [ [0021] acts as described above. Thereafter, the sensor-equipped arm unit 2 moves onto the table 3 and stacks the rubber cones 4 on the table 3. The limit stacking number is registered in the control means in advance, and when it reaches a predetermined value, the position of the arm portion with sensor 2 is moved onto the next table 3 and then the stacking operation is continued. When there is no stackable table 3 in the operation area of the robot arm 1, the control means sends an operation signal to the chain 15 or the piston 16 to move the table 3 to the operation area of the robot arm 1.
[0028]
【The invention's effect】
As described above in detail, according to the present invention, the following effects can be obtained.
In the invention of claim 1, in the prior art, in addition to the driver of the vehicle, it is possible to omit an operator who has boarded the vehicle body that is necessary for further paying out and storing the rubber cone. Then, both cone payout and storage can be achieved continuously and efficiently without stopping the vehicle. About components, such as a vehicle, a robot arm, a table, and a sensor, it can be used by adding some improvements to the existing ones.
Since the computer that constitutes the control means for controlling a series of operation sequences also employs control that does not burden the CPU, a general-purpose computer, that is, as realized in the field of machine tool control, that is, A personal computer can be used.
[0029]
In invention of Claim 2, there exists an effect that a larger amount of rubber cones can be handled.
[0030]
In the invention of claim 3, by dividing the roles of the contact sensor and the non-contact sensor, not only accurate and prompt detection can be performed, but also inexpensive means can be used comprehensively. .
[0031]
In the inventions according to claims 4 and 5, the operation of the rubber cone gripping hand is made smooth and at the same time the gripping and opening operations are ensured.
[0032]
In the invention of claim 6, by effectively synergizing human senses and the function of the control means, the burden on the control means can be reduced more than necessary.
[Brief description of the drawings]
FIG. 1 is an overall conceptual diagram of a rubber cone dispensing and storage device according to the present invention.
FIG. 2 is a conceptual diagram of an arm portion with a sensor according to the present invention.
FIG. 3 is a diagram of a first embodiment of an arm portion with a sensor according to the present invention.
FIG. 4 is a diagram showing an operation of the gripping arm in the first embodiment when the rubber cone is paid out.
FIG. 5 is a view showing an operation of the gripping arm in the first embodiment when the rubber cone is stored.
FIG. 6 is a diagram of a second embodiment of the arm with sensor according to the present invention.
FIG. 7 is a diagram of a first embodiment of a table according to the present invention.
FIG. 8 is a diagram of a second embodiment of a table according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Robot arm 2 Arm part with a sensor 3 Table 4 Rubber cone 5 Marker 6 Rubber cone gripping hand 7 Suction cup 8 Rubber cone gripping hand turning axis 9 Contact type sensor 10 Non-contact type sensor 11 Contact type sensor turning axis 12 Reciprocating arm 13 Rack 14 Pinion 15 Chain 16 Piston 17 Space area

Claims (6)

A rubber cone mounting positioning means for a table , which is installed on a loading platform of a vehicle such as a truck and has a structure capable of positioning and stacking a plurality of rubber cones, and installed in the vehicle for detecting a rubber cone Sensor and a rubber cone gripping hand that is movable in the traveling direction of the vehicle and whose movement speed can be controlled is provided at its working end, and an arm portion with sensor that is movable between the road surface and the table When the robot arm is provided, the rubber cone on the table is detected by the sensor of the arm portion with sensor, and then the rubber cone is gripped by the rubber cone gripping hand, and then the arm portion with sensor is Move up and simultaneously descend and wait, then move while accelerating the rubber cone gripping hand, then continuously When the traveling speed of the moving vehicle coincides with the moving speed of the rubber cone gripping hand, a series of sequence operations for opening the rubber cone gripping hand and paying out the rubber cone on the road surface is controlled. The rubber cone on the road surface is detected by the sensor of the arm with sensor, and then the rubber cone gripping hand is closed and the rubber is closed when the traveling speed of the continuously moving vehicle coincides with the moving speed of the rubber cone gripping hand. A control means constituted by a personal computer or the like for controlling a series of sequence operations for gripping the cone and then moving the sensor-equipped arm portion from above the road surface and simultaneously lifting and releasing the rubber cone gripping hand on the table. A rubber cone dispensing and storing device comprising: 2. The rubber cone dispensing and storing device according to claim 1, wherein the rubber cone mounting and positioning means is composed of a table that can be moved sequentially, and the table includes a sensor for detecting the presence and quantity of the rubber cone. apparatus. The rubber cone dispensing and storage device according to claim 1, wherein the sensor of the sensor-equipped arm portion is constituted by a non-contact sensor and a contact sensor. The rubber cone dispensing and storing device according to claim 1, wherein the rubber cone gripping hand is configured to rotate in the traveling direction of the vehicle. 2. The rubber cone dispensing and storing device according to claim 1, wherein the rubber cone gripping hand is of a type that moves horizontally in the vehicle traveling direction in the vehicle traveling direction. 2. The rubber cone payout and storage device according to claim 1, further comprising a marker at a position protruding from a front part of a driver seat of the vehicle.

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