JPH0883394A - Robot for traffic guide - Google Patents

Abstract

PURPOSE: To exactly make the sign of traffic guide for a route change to a running vehicle with more natural action by bending the forearm from the elbow joint while being interlocked with arm up action to swing up the entire arm from the almost horizontal position of the shoulder joint to over the head. CONSTITUTION: Similarly to a traffic guiding person, a robot 10 for traffic guide is positioned inside an area surrounded by color corns, and installed in the state of facing the respective parts of the body a little obliquely to the approach direction of the vehicle or the like. A guide lamp 7 is fitted to a hand 19A at the top end of a right arm 15 in the held state, and a display panel 8 drawing a large arrow index 8A to display the approach direction is fitted to a left arm 16. Then, the arm swinging action of the entire arm for the right arm 15 formed as a movable arm with a right shoulder 17 as a supporting point is performed while being interlocked with the bending and stretching action of the right forearm 19 with a right elbow 18 as a fulcrum. The robot 10 for traffic guide performs the guide of the route change to the driver of the running vehicle by continuously performing this arm swinging action and stretching action.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traffic guidance robot which is installed in a guidance target section such as a construction section and guides a driver such as a traveling vehicle to change lanes.

[0002]

2. Description of the Related Art For example, at a road construction site,
Since it is necessary to alternate traffic on one side of a traveling vehicle or change lanes, traffic guidance for vehicles is performed. This traffic guidance is
This is performed by manned traffic guidance provided by a traffic guide, unmanned traffic guidance by installing a traffic light and various guidance displays, or traffic guidance using both a traffic guide and a guidance display.

In the manned traffic guidance, a traffic guidance staff who accurately grasps the traffic situation gives a signal such as a lane change, a stop, and a call to a driver of a passing vehicle directly, so that the vehicle is relatively smooth. There are few accidents. In manned traffic guidance, for example, when the target section of vehicle guidance is a relatively long distance or the visibility is poor due to curves etc., traffic guides not only at the entrance and exit of the guidance target section but also at appropriate points such as intermediate points. Will be placed. The traffic guides appropriately guide the passing vehicles and the like while communicating with each other by mutual communication means such as transceivers.

[0004] For example, in places where there are few passing vehicles and the guidance section is short, unmanned traffic guidance is performed without installing traffic guidance personnel and installing arrow signs or color cones for indicating lane changes. In addition, for unmanned traffic guidance, it is still necessary to alternate traffic on one side of the vehicle, but when construction is temporarily suspended due to restrictions such as night construction, the opposite display will be displayed in each place across the construction section. That is, this is done by installing a traffic light in which one side displays a "red" signal when the other side displays a "blue" signal.

On the other hand, on an expressway or the like, the section to be guided extends over a relatively long distance, and it is extremely dangerous because the vehicle travels at a high speed. A human body type guiding robot is used to guide the lane change of a traveling vehicle together with a large number of color cones for guiding and displaying lane change arrow signs. This humanoid guided robot is mounted on a work vehicle and the arm with a guide flag moves up and down to allow the driver of a vehicle approaching at high speed to carry out construction work etc. in front and change lanes. It has the effect of calling attention to the necessity.

[0006]

As described above, the manned traffic guidance by the traffic guide member is extremely effective as it enables smoother traffic guidance as compared with unmanned traffic guidance. However, such manned traffic guidance is extremely dangerous because of the work on the road where traffic accidents frequently occur, and thorough safety measures must be taken.

On the other hand, in the case of manned traffic guidance, when fatigue is accumulated by working for a long time, the traffic guidance staff cannot perform accurate traffic guidance, and the guidance signal becomes inaccurate, resulting in a guidance error. There was such a problem. Especially at night, it is difficult to identify traffic guidance operations by traffic guides from a distance, and uncertain operations often lead to lane changes in a hurry to approach a construction site. .

[0008] Further, in the case of traffic guidance on a road where vehicles and the like pass frequently, the traffic guide cannot perform rest time or physiological treatment. In addition, traffic guides must be added to support traffic guidance at construction sites near or at intersections with high traffic volumes. Increasing the number of traffic guides is extremely difficult to secure the required number of excellent traffic guides at midnight or in bad weather.

In order to prevent danger, a traffic guide member stands on a sidewalk, for example, to prevent traffic hazards. However, since such guidance is not clearly seen by the driver of the vehicle, there is a problem in that accurate traffic guidance cannot be performed. As a method of solving this problem, for example, a method is considered in which a platform is installed on a sidewalk, and a traffic guide member rides on the platform to guide traffic. However, it is difficult to adopt such a traffic guidance method because the fatigue of the traffic guidance personnel is extremely large and the traffic guidance cannot be performed for a long time.

Mechanization of traffic guidance is an extremely important issue in order to solve the shortage of manpower and prevent the danger of traffic guides and construction workers. The human body type guiding robot is an extremely effective means because it has a remarkable effect on the driver of the vehicle as compared with a mere sign or a traffic signal. This human body type guiding robot is installed in a dangerous place in place of the traffic guide or as an auxiliary means of the traffic guide.

[0011] As described above, the human body type guiding robot has been partially adopted as a means for guiding and displaying a lane change in a construction section on a highway or the like. However, these human-body-guided robots have a form in which a straightly extended arm oscillates up and down with a shoulder as a fulcrum, which is extremely unnatural. Therefore, it is no exaggeration to say that these humanoid guided robots are perceived by the driver of a passing vehicle only as a "moving sign", and when used on a general road, no effect can be expected.

In traffic guidance, in order to install a guidance robot and guide the vehicle smoothly and accurately, the guidance robot not only has the function of replacing the indicator and traffic signal, but also drives the vehicle and the like. It is necessary that the motion to guide the traffic to the person takes a natural motion form that is closer to the motion of the traffic guide.

Therefore, according to the present invention, the above-mentioned guide operation of the vehicle by the traffic guide is diligently analyzed, and the driver of the vehicle is driven by being driven in an operation form extremely close to natural with the simplest configuration. It is an object of the present invention to provide a traffic guidance robot capable of accurately guiding a lane change.

[0014]

A traffic guidance robot according to the present invention, which has achieved this object, is installed in a state of facing in an approaching direction of a vehicle or the like, and one arm has a guidance means on a hand at the tip. It is configured in a form imitating a human body which is a movable part provided. In the movable arm portion, the arm raising operation and the arm lowering operation, in which the entire arm portion operates between the shoulder joint portion and the horizontal position above the head, are repeatedly performed, and the forearm portion is linked to the movement of the entire arm. The elbow bending operation of bending and extending from the elbow joint and the elbow extending operation are repeatedly performed.

Further, the traffic guiding robot according to the present invention is installed such that each part of the body faces the approaching direction of a vehicle or the like, and one arm is rotatable between the shoulder joint and the elbow joint. As a result, it is configured in a form imitating a human body configured as a movable arm portion. The movable arm portion is driven by a mechanism portion including a shoulder joint driving mechanism driven by a driving means and a driving force transmission mechanism arranged inside the body portion, and an elbow joint driving mechanism. The shoulder joint drive mechanism swings up the entire movable arm portion from a substantially horizontal position above the head with the shoulder joint portion serving as a fulcrum by the drive force of the drive means transmitted to the shoulder joint portion via the drive force transmission mechanism. The operation and the arm lowering operation of swinging down from the swinging position to the substantially horizontal position are performed. The elbow joint drive mechanism moves the forearm portion of the movable arm portion from the elbow joint portion to the head side by the driving force of the drive means transmitted to the elbow joint portion through the driving force transmission mechanism, in conjunction with the forearm portion of the movable arm portion. Then, an elbow bending operation for gradually bending and an elbow extension operation for extending the bent forearm portion from the elbow joint portion to the initial position in association with the arm lowering operation are performed. The drive means constitutes a common drive means for the shoulder joint drive mechanism and the elbow joint drive mechanism.

Further, the traffic guiding robot according to the present invention is installed so as to face the approaching direction of a vehicle or the like, one arm portion is a movable arm portion, and a guiding means is provided in the hand portion. It is configured in a form that imitates the human body. The body unit is provided with a drive unit and a drive force transmission mechanism that form a mechanism unit. The movable arm unit has a shoulder joint for performing an arm raising operation of swinging up the entire arm portion from a substantially horizontal position to an overhead position with the shoulder joint portion as a fulcrum, and an arm lowering operation of swinging the arm portion from the swinging position to a substantially horizontal position. A drive mechanism,
The forearm is gradually bent from the elbow joint to the head side in conjunction with the arm raising action. The bent forearm is linked to the elbow joint and the arm lowering action from the elbow joint to the initial position. And an elbow joint drive mechanism for performing an elbow extension operation. The movable arm unit is rotatably attached to an arm support bracket member that has a base end portion provided in the body unit unit and forms the fixed portion side of the shoulder joint portion, and is also driven by a driving force transmission mechanism. Is driven by being transmitted to the shoulder joint drive mechanism and the elbow joint drive mechanism.

Furthermore, the traffic guiding robot according to the present invention is installed so as to face the approaching direction of a vehicle or the like, one arm portion is a movable arm portion, and a guiding means is provided in the hand portion. It is shaped like a human body. The body is an upper body part formed by attaching a synthetic resin exterior body to a metal frame substrate to which each member that constitutes the mechanism unit that drives the movable arm unit is attached,
It is composed of a lower body part formed of an exterior body integrally molded of a synthetic resin material. The upper body is foldably combined with the lower body via a hinge mechanism.

Furthermore, the traffic guiding robot according to the present invention is installed so as to face the approaching direction of a vehicle or the like, one arm portion is a movable arm portion, and a guiding means is provided in the hand portion. It is shaped like a human body. The body is at least a lower body fixedly supported by the installation base, and is foldably combined with the lower body via a hinge mechanism, and driving means for driving the movable arm, a driving force transmission mechanism, and a shoulder joint drive. The upper and lower body parts each have a built-in mechanism part including a mechanism and an elbow joint drive mechanism. The installation base is configured to include a storage space portion that is sufficient to store the upper body portion folded to the lower body portion side via the hinge mechanism together with the lower body portion.

[0019]

According to the traffic guidance robot of the present invention having the above-described structure, the vehicle can be guided to a place where it is necessary to guide the traveling vehicle such as a construction site on a road, a parking lot or an entrance of a gas station. The movable arm part, which is installed facing the approaching direction and provided with the guiding means, swings the arm between the horizontal position and the overhead position to guide traffic to the driver of the traveling vehicle. . The movable arm is
By bending and stretching the arm from the elbow joint to the forearm as well as the arm swinging motion of the entire arm, traffic guidance for changing course is performed in a very natural manner similar to the guidance operation by the traffic guide. In addition, since this guidance operation is always performed in a fixed form, accurate traffic guidance is provided to the driver such as the vehicle even at night.

According to the traffic guidance robot of the present invention,
When the driving means is activated, the driving force is transmitted to the shoulder joint through the driving force transmission mechanism, and the shoulder joint drive mechanism causes the entire movable arm to move to a substantially horizontal position and an overhead position with the shoulder joint as a fulcrum. A swing motion is performed by swinging between them. At the same time, the driving force of the driving means is transmitted to the elbow joint portion via the driving force transmission mechanism, and the elbow joint driving mechanism causes the forearm portion to bend and stretch. The movable arm provided with the guide means is similar to the guide operation by the traffic guide, in that the common drive means and the driving force transmission mechanism cause the forearm to bend and extend along with the arm swinging motion of the entire arm. It provides traffic guidance to change course in a very natural way.

According to the traffic guidance robot of the present invention,
The body unit including the driving means and the driving force transmission mechanism and the movable arm unit including the shoulder joint driving mechanism and the elbow joint driving mechanism are unitized and configured, and the movable arm unit is formed in the body unit. By rotatably combining with the arm supporting bracket member provided on the side, the assemblability and maintainability are improved, and the left and right compatibility of the movable arm is achieved.

According to the traffic guidance robot of the present invention,
Since the upper body part and the lower body part are configured to be foldable via the hinge mechanism, they can be made compact and easy to handle during transportation.

According to the traffic guidance robot of the present invention,
During transportation and the like, the upper half of the body is folded toward the lower half of the body via a hinge mechanism, and is stored in a storage space formed on an installation table that holds the lower half of the body in a fixed manner. The traffic guide robot has a pair of casters and a pair of legs and is configured as a portable stand so that the stand can be transported to the place of installation without the need for a special transportation device and can be hinged. It can be installed by rotating the upper half of the body with respect to the lower half of the body through the mechanism to make the body stand upright.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of the present invention will be described below in detail with reference to the drawings. As shown in FIG. 1, for example, the traffic guiding robot 10 can be used for manholes in a manhole 2 disposed in a lane 1A on one side of a road 1 with one lane on each side. It is installed in a state of being placed on the stand 5 on the road just before 2. The traffic guidance robot 10 guides a driver such as a vehicle 3 entering from the lane 1A side so as to change the lane to the other lane 1B side.

That is, at the construction site, a large number of color cones 4 are arranged so as to surround the manhole 2 so that the driver such as the vehicle 3 is informed that the construction is underway.

The traffic guidance robot 10 of the embodiment is
As in the above-mentioned usage example, not only one body is installed at the construction site, but for example, at a construction site or a relatively long section of a highway where the vehicle cannot travel suddenly because the vehicle travels at high speed. It is needless to say that a plurality of bodies may be installed at appropriate intervals and used in a wide range of construction sites.

The traffic guiding robot 10 is installed not only at a construction site, but also at a gas station or at a storefront of a store, for example, to guide a driver of a vehicle that is installed and enters a parking lot. It can also be used to guide the driver of a vehicle that is traveling as a vehicle. In this case, the traffic guidance robot 10 may have a voice generator or a speaker built therein.

In general, the traffic guide pays attention to the entry of the vehicle 3 and also grasps the situation in the construction section while checking the vehicle 3
In many cases, the body faces a little obliquely with respect to the approaching direction of the vehicle or the like because of the guidance. Therefore, in the example traffic guiding robot 10 as well as the traffic guide, the robot is located in the area surrounded by the color cones 4 and faces the body slightly obliquely with respect to the approaching direction of the vehicle or the like. Is installed.

2 to 1 as a first embodiment of the present invention.
As shown in FIGS. 2 and 3, the traffic guiding robot 10 shown in FIG. 0 has an external appearance imitating a traffic guiding member, and includes a head 11, a body 12, and a waist 13. When,
It is composed of both legs 14A and 14B, and right arm 15 and left arm 16. The traffic guiding robot 10 has a total length of about 180 cm, and has a height of 50 cm including an adjusting mechanism (details thereof are omitted).
Since it has a height of 230 cm or more as a whole by being used by being mounted on the table 5, the driver of the vehicle 3 can sufficiently identify it from a relatively distant place.

As will be described later, in the traffic guiding robot 10, the right arm portion 15 performs an arm swing motion between the substantially horizontal position and the overhead position around the right shoulder part 17, and is interlocked with this arm swing motion. Then, it is configured as a movable arm that bends and extends around the right elbow portion 18. Further, the traffic guiding robot 10 is configured as a fixed arm to which the left arm 16 is extended and fixed in a horizontal state. The traffic guiding robot 10 has a helmet 6 mounted on the head 11 and the same uniform as a traffic guide.

The traffic guiding robot 10 is attached to a hand portion 19A at the tip of the right arm portion 15 while being held by a guide light 7 which is a guiding means. This guide light 7 is the same as the guide light used by a traffic guide when carrying out traffic guidance, and the light source is built in at the tip portion thereof, so that the driver of the vehicle 3 can see it even at night. On the other hand, accurate guidance is possible. The guide light 7 can be replaced with another guide means such as a guide flag.

The traffic guiding robot 10 includes a left arm 16
A display plate 8 on which a large arrow index 8A for displaying the course direction is drawn is attached. A reflective layer treatment is applied to the entire surface of the display plate 8 including the arrow mark 8A. The reflective layer is formed by, for example, attaching a retroreflective film in which fine glass beads are adhered to the surface of a thin film to the surface of the board. Therefore, when the headlight of the vehicle 3 is illuminated by the display plate 8 at night or the like, the entire display shines so that the arrow indicator 8A is clearly displayed.

As shown in FIG. 2, the traffic guiding robot 10 is a frame structure constituting each of the above-mentioned body parts, and a base 20 horizontally positioned on the waist 13 and the base 20 are not shown. A foot frame structure 2 that constitutes both feet 14A and 14B by supporting the space between the table 5 and the stand 5.
1 (right foot frame structure 21A, left foot frame structure 2
1B) and a deformed hexagonal body frame structure 22 (2) which is erected from the base 20 to face each other in the front-rear direction in the figure.
2A, 22B). Each of these frame structures is made of a lightweight metal and has sufficient mechanical strength. In order to reduce the weight of the body frame structure 22, a large number of circular openings 22a and 22b are provided at appropriate positions where the mechanical strength is maintained and the constituent members are not arranged. .

As shown in FIG. 4, the base 20 is provided with a bracket member 23 for mounting the display plate at a position corresponding to the left waist. The bracket member 23 is integrally formed with a mounting piece 23A for inserting and mounting one end of the display plate 8 at the tip. A right shoulder bracket member 24 and a left shoulder bracket member 25 for supporting the right arm portion 15 and the left arm portion 16 are attached to the body frame structure 22 at corresponding portions of the left and right shoulder portions, respectively.

The right shoulder bracket member 24 is a pair of substantially triangular bracket members 24A and 24B facing each other.
As shown in FIG. 5, both ends of the shoulder joint shaft 43 are supported between these members. This shoulder joint axis 4
3, one end of an upper right arm frame structure 26 constituted by a channel-shaped frame base material whose detailed configuration will be described later is rotatably supported in a cantilever state.

Both ends of an elbow joint shaft 54 are supported by the right upper arm frame structure 26 at positions corresponding to the right elbow 18 which is the free end side. This elbow joint shaft 54 has a right forearm 19
One end of the right forearm frame structure 27 constituting the above is rotatably supported. This forearm frame structure 27
A frame member that constitutes the hand portion 19A is attached to the other end.

The left shoulder bracket member 25 is composed of a pair of members facing each other, and as shown in FIG. 5, a left arm attachment piece 25A is attached at a position corresponding to the shoulder portion,
The left arm portion 16 is attached and supported via the left arm attachment piece 25A as described later. As described above, the traffic guidance robot 10 includes the right arm 15 through the trunk frame structure 22.
The whole is supported as a movable arm, and the left arm portion 16 is assembled as a fixed arm held in a horizontal state. Further, a left arm frame structure 28 is supported by the left shoulder bracket member 25 in a horizontal state in a cantilever manner. A mounting piece 29 for mounting the head portion 11 is attached to the upper end of the body frame structure 22.

Although not described in detail, the left arm portion 16 has a built-in damper means composed of a coil spring between mounting portions provided at the base end portion and the tip end portion. The display plate 8 described above is integrated with the left arm 16 by assembling the both ends of the upper portion by these mounting portions.
As for the display plate 8 and the left arm portion 16, the mounting portions provided on the upper and lower sides on the base end side are respectively inserted into the left arm mounting piece 25A of the left shoulder bracket member 25 and the mounting portion 23A of the bracket member 23, so that FIG. As shown, it is assembled to the body 12.

The damper means expands and contracts when a pedestrian or the like accidentally hits the left arm 16 and an excessive load is applied when the traffic guiding robot 10 is installed at a construction site or the like. It operates to absorb this load, prevent injury to pedestrians, and prevent damage to the left arm 16. Further, the display plate 8 and the left arm portion 16 are attachable to and detachable from the body portion 12 by the above-mentioned configuration, but it goes without saying that they may be attached by screwing, for example.

In the traffic guiding robot 10, after the exterior bodies, which are not described in detail, are assembled to the above-mentioned frame structures, respectively, the uniforms, boots or helmets 6 are attached to these exterior bodies, so that the traffic guide robot 10 can be operated as described above. It is constructed to look like an inducer. The outer casings are made of synthetic resin such as polypropylene or vinyl chloride.

In the traffic guiding robot 10, the right arm 15 constructed as a movable arm as described above swings the arm around the right shoulder 17 as a fulcrum and the right arm around the right elbow 18 as a fulcrum. The bending and stretching motions of the forearm portion 19 are performed in conjunction with each other. The traffic guiding robot 10 sequentially performs the arm swinging motion and the bending and stretching motion to guide the driver of the traveling vehicle 3 to change the course.

The traffic guiding robot 10 includes the right arm 1
In order to perform the operation of 5, the drive motor 30 serving as a drive source
And a driving force transmission mechanism 31 configured by a link mechanism that transmits the driving force of the drive motor 30, and the right arm portion 15.
Is provided with a right shoulder drive mechanism 32, which is a first transmission drive mechanism for vertically swinging the entire body of the right shoulder 17 as a fulcrum. In addition, the traffic guidance robot 10 has a right arm 15
The right elbow drive mechanism 33, which is a second transmission drive mechanism for swinging the right forearm 19 with the right elbow 18 as a fulcrum, is provided.

As shown in FIG. 4, the drive motor 30 is firmly fixed to the base 20 via a mounting bracket member 34. The output shaft 35 of the drive motor 30 is shown in FIG.
As shown in, the first link member 36 forming the driving force transmission mechanism 31 is fixed. Driving force transmission mechanism 31
Is composed of the first link member 36, the link lever 37, and the second link member 38. As shown in the figure, the first link member 36 is configured as an entire rectangular member, and is eccentrically positioned at one end side in the longitudinal direction to fix the output shaft 35, and at the other end side, a link lever 37. Has one end connected via a universal joint 39A.

The link lever 37 is connected to the vicinity of one end of the second link member 38 via a universal joint 39B provided on the other end side extending in the height direction. The second link member 38 is configured as a substantially rectangular member, and the other end thereof is fixed to a drive mechanism support shaft 40 supported by the body frame structure 22. The second link member 38 is provided with a turning tendency in the clockwise direction in FIG. 4 by the end portions of the tension springs 41 being engaged with each other.

Driving force transmission mechanism 3 constructed as described above
1 is the first link member 3 driven by the drive motor 30.
When 6 rotates, the link lever 37 swings vertically as a whole. When the upper end of the link lever 37 swings between the top dead center and the bottom dead center, the universal joint 3
The second link member 38 connected via 9B is repeatedly oscillated within a range of an oscillating angle of 60 ° about the drive mechanism supporting shaft 40 as a fulcrum.

The drive mechanism support shaft 40 is used for the body frame structure 2
The shoulder drive chain wheel 42 that constitutes the right shoulder drive mechanism 32 and the right elbow drive chain wheel 48 that constitutes the right elbow drive mechanism 33 are fixed to each other and are mounted on the center line 2. Has been done. Also, the right shoulder bracket member 2
A shoulder joint shaft 43 is rotatably supported at the apex of the first intermediate chain wheel 51, which rotatably supports a first intermediate chain wheel 51 that constitutes the right elbow drive mechanism 33. The intermediate support shaft 50 is supported.

As shown in FIGS. 4 to 6, the right shoulder drive mechanism 32 includes a shoulder drive chain wheel 42 and a driven chain wheel 44.
And a chain 45 and a coil spring 46. The shoulder drive chain wheel 42 includes the drive mechanism support shaft 4
It is fixed at 0 and supported in the rotational direction. The driven chain wheel 44 is fixed to and supported by the shoulder joint shaft 43 in the rotational direction. The chain 45 is configured as an endless chain body as a whole by connecting both ends with coil springs 46.
The driven chain wheel 44 and the driven chain wheel 44 are lapped around each other. Further, the chain 45, when it is hung between the shoulder drive chain wheel 42 and the driven chain wheel 44,
The length is adjusted by the adjuster device 47.

The coil spring 46 connecting both ends of the chain 45 is used when the traffic guiding robot 10 is installed at a construction site or the like and the right arm 15 is swinging.
For example, when a pedestrian or the like accidentally hits the right arm 15 and an excessive load is applied to the right arm 15, the telescopic motion is performed. Therefore, the coil spring 46 prevents the pedestrian from being injured by damaging the excessive load and prevents the right arm 15 and other parts from being damaged.

As shown in FIGS. 4 to 6, the right elbow drive mechanism 33 includes an elbow drive chain wheel 48, a first intermediate chain wheel 51, a second intermediate chain wheel 49, and a third intermediate chain wheel 53. Each of the driven chain wheels 55 is composed of a chain wheel, and a chain 56 and a coil spring 57 which are hung on the chain wheels.

The elbow drive chain wheel 48 is fixed to and supported by the drive mechanism support shaft 40 in the rotational direction similarly to the shoulder drive chain wheel 42 described above. The first intermediate chain wheel 51 is rotatably supported by the first intermediate support shaft 50 supported by the right shoulder bracket member 24. The second intermediate chain wheel 49 is rotatably supported by the shoulder joint shaft 43 described above. The third intermediate chain wheel 53 is rotatably supported by a second intermediate support shaft 52 supported near the base of the upper right arm frame structure 26. Driven chain car 5
The numeral 5 is fixed in the rotational direction to and supported by an elbow joint shaft 54 which is located at a position corresponding to the right elbow 18 and is supported near the other end of the upper right arm frame structure 26.

One end of the chain 56 is fixed to the elbow drive chain wheel 48.
The intermediate chain wheel 51, the second intermediate chain wheel 49, and the third intermediate chain wheel 53 are guided along the route from the body portion 12 into the right arm portion 15 and are hung on the driven chain vehicle 55. The chain 56 is folded back to the base end side of the right arm 15 by the driven chain wheel 55, and the other end is connected to the coil spring 57. The other end of the coil spring 57 is fixed to the upper right arm frame structure 26.

The drive force transmission mechanism 31, the right shoulder drive mechanism 32, and the right elbow drive mechanism 33 are the drive motor 30.
Although the driving force is transmitted to each portion by the chain 56 and each chain wheel, it is needless to say that the driving force may be transmitted via a transmission means such as a timing belt and a timing gear. It is preferable that the transmission mechanism is a mechanism that accurately transmits a relatively large load.

The embodiment traffic guiding robot 10 configured as described above is installed at a construction site or the like, and the drive motor 30 is powered on by connecting a power cord (not shown) to the power source. When the power supply of the drive motor 30 is turned on, the output shaft 35 rotates clockwise in FIG. 6 to drive the drive force transmission mechanism 31. The driving force transmission mechanism 31 transfers the driving force of the driving motor 30 to the right shoulder driving mechanism 32.
To the right elbow drive mechanism 33 by transmitting the driving force of the drive motor 30 to the right elbow drive mechanism 33 while transmitting the entire arm swinging motion of the right arm 15 to the right elbow part 18 from the right elbow part 18. The right forearm portion 19 is bent and stretched.

Since the first link member 36 is fixed at a position eccentric to the output shaft 35 of the drive motor 30 as described above, when the output shaft 35 is rotationally driven, it is indicated by an arrow in FIG. As shown, it rotates clockwise.
The link lever 37 is connected to one end side of the first link member 36 via the universal joint 39A, and thus swings vertically.

The swinging motion of the link lever 37 is performed by the second link member 38 connected through the universal joint 39B.
The second link member 38 is repeatedly rocked together with the drive mechanism support shaft 40 in the clockwise direction and the counterclockwise direction as shown by the arrow in FIG. That is, the second link member 38 rotates counterclockwise while the link lever 37 operates from the bottom dead center to the top dead center. The second link member 38 rotates clockwise while the link lever 37 moves from the top dead center toward the bottom dead center.

The drive mechanism support shaft 40 is rotated integrally with the second link member 38 in the clockwise and counterclockwise directions, and the shoulder drive chain wheel 42 is fixedly supported in the rotational direction. Also, the elbow drive chain wheel 48 is repeatedly rotated simultaneously in the clockwise direction and the counterclockwise direction. Therefore, the shoulder drive chain wheel 42 repeatedly rotates the driven chain wheel 44 in the clockwise direction and the counterclockwise direction via the chain 45. Further, the elbow drive chain wheel 48 moves the driven chain wheel 55 clockwise and counterclockwise by the route of the first intermediate chain wheel 51-second intermediate chain wheel 49-third intermediate chain wheel 53 via the chain 56. Rotate repeatedly.

Therefore, the right shoulder drive mechanism 32 and the right elbow drive mechanism 33 are simultaneously driven by using the drive motor 30 as a common drive source, and the entire right arm 15 is swung with the right shoulder 17 as a fulcrum. The right forearm portion 19 is bent and extended using the elbow portion 18 as a fulcrum.

Next, referring to FIGS. 8 to 10, the arm swinging motion and bending / extending motion of the right arm portion 15 of the embodiment traffic guiding robot 10 will be described in more detail. In the driving force transmission mechanism 31, as shown in FIG. 8, when the right arm 15 is extended horizontally, the link lever 37 is at the top dead center position and the second link member 38 is the link lever 37.
It has been pushed up by. When the drive motor 30 is activated, the driving force transmission mechanism 31 gradually lowers the link lever 37 from the top dead center position to the bottom dead center position via the output shaft 35 and the first link member 36. .

The link lever 37 causes the second link member 38 connected by the universal joint 39B to gradually rotate clockwise in FIG. In addition, the tension spring 41, which is hung on the second link member 38,
The elastic force is applied to the link lever 37 from the top dead center so that the relatively heavy right arm portion 15 can be reliably swung up by arranging the constituent members of the right elbow drive mechanism 33. The second link member 38 moves to the bottom dead center and acts as an auxiliary driving force when the second link member 38 rotates clockwise in FIG.

The rotation operation of the second link member 38 is carried out via the drive mechanism support shaft 40 by the shoulder drive chain wheel 42 which is fixed and supported in the rotational direction with respect to the drive mechanism support shaft 40.
Also, the elbow drive chain wheel 48 is gradually rotated integrally in the clockwise direction. The shoulder drive chain wheel 42 constituting the right shoulder drive mechanism 32 transmits the rotational force to the driven chain wheel 44 via the chain 45 by this clockwise rotation operation, and the driven chain wheel 44 is clocked. Rotate in the direction.

The driven chain wheel 44 is rotated clockwise to gradually rotate the shoulder joint shaft 43 supported by the right shoulder bracket member 24 integrally in the clockwise direction. The shoulder joint shaft 43 causes the right upper arm frame structure 26 having one end fixed and supported in the rotational direction to gradually rotate clockwise. Therefore, the right arm 1
As shown in FIG. 9, in No. 5, the swinging motion is gradually performed from the horizontal position toward the head.

The traffic guiding robot 10 includes a drive motor 3
When 0 is further driven and the link lever 37 is lowered to the bottom dead center position via the output shaft 35 and the first link member 36, the driving force causes the second force forming the driving force transmission mechanism 31. Via the link member 38 and the drive mechanism support shaft 40,
It is transmitted to the upper right arm frame structure 26 by the route of the shoulder drive chain wheel 42-chain 45-driven chain wheel 44-shoulder joint shaft 43-right shoulder bracket member 24 which constitutes the right shoulder drive mechanism 32, and is shown in FIG. So the right arm 1
5 is swung up into a vertical position.

On the other hand, the elbow drive chain wheel 48 rotates in the clockwise direction, via the chain 56 constituting the right elbow drive mechanism 33, to the first intermediate chain wheel 51-second intermediate chain wheel 49-third. Rotational force is transmitted to the driven chain wheel 55 by the route of the intermediate chain wheel 53, and the driven chain wheel 55 is rotated clockwise. The driven chain wheel 55 is rotated clockwise to gradually rotate the elbow joint shaft 54 integrally in the clockwise direction. The elbow joint shaft 54 gradually rotates clockwise in the clockwise forearm frame structure 27, one end of which is fixed and supported in the rotational direction. Therefore, the right forearm portion 19 interlocks with the swinging motion of the entire right arm portion 15, and as shown in FIG. 9, the right forearm portion 19 gradually bends from the stretched state toward the body side.

The traffic guiding robot 10 includes a drive motor 3
When 0 is further driven and the link lever 37 is lowered to the bottom dead center position via the output shaft 35 and the first link member 36, the driving force causes the second force forming the driving force transmission mechanism 31. Via the link member 38 and the drive mechanism support shaft 40,
Elbow drive chain vehicle 48-chain 56-first intermediate chain vehicle 51-second intermediate chain vehicle 49-third intermediate chain vehicle 53-driven chain vehicle 5 that constitutes the right elbow drive mechanism 33.
5-Transmitted to the right forearm frame structure 27 by the route of the elbow joint shaft 54, and the right forearm 19 is further bent toward the body.

The embodiment of the traffic guiding robot 10 further includes the drive motor 30 from the above-described swinging motion of the right arm portion 15.
The rotating motion of the right arm 15 causes the right arm 15 to swing down to the horizontal position. Traffic guidance robot 10
As shown in FIG. 10, the link lever 37 is at the bottom dead center position when the right arm 15 is swung up above the head. When the drive motor 30 is activated, the driving force transmission mechanism 31 gradually raises the link lever 37 from the bottom dead center position to the top dead center position via the output shaft 35 and the first link member 36. . The link lever 37 causes the second link member 38 connected via the universal joint 39B to gradually rotate counterclockwise in FIG. 10 by this raising operation.

In this swing-down motion, the elastic force of the tension spring 41 acts as a reaction force with respect to the movement direction, but the weight of the right arm portion 15 acts with respect to the movement direction, so that the whole body moves. As a balance is achieved.

The rotation operation of the second link member 38 is carried out via the drive mechanism support shaft 40 by the shoulder drive chain wheel 42 which is fixed and supported in the rotational direction with respect to the drive mechanism support shaft 40.
And the elbow drive chain wheel 48 is gradually rotated counterclockwise integrally. The shoulder drive chain wheel 42 that constitutes the right shoulder drive mechanism 32 transmits the rotational force to the driven chain wheel 44 via the chain 45 by this counterclockwise rotation operation, and in FIG. 44
Rotate counterclockwise.

The driven chain wheel 44 is rotated counterclockwise to gradually rotate the shoulder joint shaft 43 supported by the right shoulder bracket member 24 integrally in the counterclockwise direction. The shoulder joint shaft 43 has an upper right arm frame structure 26 whose one end is fixed and supported in the rotational direction.
Is gradually rotated counterclockwise. Therefore, as shown in FIG. 9, the right arm 15 is gradually swung down from the position where it is raised above the head toward the horizontal position.

The traffic guiding robot 10 includes a drive motor 3
When 0 is further driven and the link lever 37 is moved up to the top dead center position via the output shaft 35 and the first link member 36, the driving force transmission mechanism 31 and the right shoulder drive mechanism 3 are driven.
2 causes the right arm 15 to swing down. The driving force of the drive motor 30 is transmitted to the upper right by the transmission system of the second link member 38-drive mechanism support shaft 40-shoulder drive chain wheel 42-chain 45-driven chain wheel 44-shoulder joint shaft 43-right shoulder bracket member 24. After being transmitted to the arm frame structure 26, the right arm 15 is swung down to a horizontal position as shown in FIG.

The traffic guiding robot 10 includes a drive motor 3
0 is driven, and as the link lever 37 is moved up to the top dead center position via the output shaft 35 and the first link member 36, in conjunction with the swinging down motion of the right arm 15 described above. The driving force transmission mechanism 31 and the right elbow driving mechanism 33 perform the unfolding operation of the right elbow portion 18. Drive motor 30
Is transmitted to the elbow drive chain wheel 48 via the drive force transmission mechanism 31 to rotate the elbow drive chain wheel 48 in the counterclockwise direction.

The right elbow drive mechanism 33 follows the rotation of the elbow drive chain wheel 48 by the route of the first intermediate chain wheel 51-second intermediate chain wheel 49-third intermediate chain wheel 53 via the chain 56. The torque is transmitted to the car 55. Therefore, the driven chain wheel 55 is rotated counterclockwise.

The driven chain wheel 55 is rotated counterclockwise to gradually rotate the elbow joint shaft 54 integrally in the counterclockwise direction. This elbow joint shaft 54
Causes the right forearm frame structure 27 whose one end is fixed and supported in the rotation direction to gradually rotate counterclockwise. Therefore, as shown in FIG. 9, the right forearm portion 19 is interlocked with the swinging motion of the entire right arm portion 15, and as a result, the right forearm portion 19 is gradually expanded from the bent state.

The traffic guiding robot 10 includes a drive motor 3
When 0 is further driven and the link lever 37 is moved up to the top dead center position via the output shaft 35 and the first link member 36, the driving force transmission mechanism 31 and the right elbow driving mechanism 3
With 3, the unfolding operation of the right forearm portion 19 is performed. The driving force of the driving motor 30 is transmitted through the second link member 38 and the driving mechanism support shaft 40 that constitute the driving force transmission mechanism 31,
Elbow drive chain vehicle 48-chain 56-first intermediate chain vehicle 51-second intermediate chain vehicle 49-third intermediate chain vehicle 53-driven chain vehicle 5 that constitutes the right elbow drive mechanism 33.
5-By the route of the elbow joint shaft 54, the right forearm portion 19 is transmitted to the right forearm frame structure 27, and the right forearm portion 19 in which the entire right arm portion 15 is horizontally extended is unfolded.

Therefore, the traffic guiding robot 10 is
As described above, the right arm portion 15 shaken up in the vertical state by the right shoulder drive mechanism 32 bends the right forearm portion 19 from the right elbow portion 18 to the head portion 11 side as shown in FIG. The motion form is displayed. Generally, in the motion form of the human body, the arm that is swung up above the head does not remain straight like a stick, but it is natural that the forearm from the elbow is bent. Is.
Since the right arm 15 exhibits the above-described motion form, the traffic guidance robot 10 has substantially the same motion form as the right arm of the traffic guide member during traffic guidance, and does not cause the driver of the vehicle 3 to feel discomfort. It exhibits an extremely natural movement.

By the way, in the driving force transmission mechanism 31, when the first link member 36 makes one rotation and the link lever 37 performs one reciprocating vertical movement between the top dead center position and the bottom dead center position, As described above, the second link member 38 is swung about the drive mechanism support shaft 40 as a fulcrum within the swing angle range of 60 °. The swinging motion of the second link member 38 causes the shoulder drive chain wheel 42 to repeatedly rotate within the swing angle range of 60 ° via the drive mechanism support shaft 40.

On the other hand, the shoulder drive chain wheel 42 and the driven chain wheel 44 are set to have a rotation ratio of 2: 3. Therefore, the driven chain wheel 44 constituting the right shoulder drive mechanism 32 is repeatedly rotated in the angle range of 90 ° via the drive system described above. The rotation operation of the driven chain wheel 44 is performed by the right arm 15 as described above.
The whole is subjected to a swing-up operation and a swing-down operation over a range of a horizontal state and a vertical state.

Since the elbow drive chain wheel 48 is fixed to the drive mechanism support shaft 40 as described above,
Repeatedly rotate in the angular range of. By the way, the second intermediate chain wheel 49 which constitutes the right elbow drive mechanism 33 is mounted on the shoulder joint shaft 43, but like the driven chain wheel 44 of the right shoulder drive mechanism 32, the second intermediate chain wheel 49 is mounted on this shoulder joint shaft 43. Is not fixed. Therefore, the driven chain wheel 55 driven by the elbow drive chain wheel 48 also repeatedly rotates within the range of 60 °. The right arm part frame structure 26 integrally connected to the driven chain wheel 55 via the right elbow joint shaft 54 has the right elbow part 18 irrespective of the fact that the right arm part 15 is repeatedly rotated in the angle range of 90 °. The rotary motion is repeated in an angle range of 60 °.

As described above, the traffic guiding robot 10 has an operation mode in which the right arm portion 15, which is entirely swung up above the head, bends the right forearm portion 19 from the right elbow portion 18 toward the head 11 side. Present. As described above, the traffic guidance robot 10 sets the rotation ratio of the shoulder drive chain wheel 42 and the driven chain wheel 44 to 2: 3, so that the right forearm portion 19 is bent at an unnatural right angle. The refraction operation is performed with a very natural refraction angle of 60 °, instead of the rotation. Therefore, in the traffic guidance robot 10, the motion form of the right arm portion 15 is substantially the same as the motion form of the right arm of the traffic guide member during traffic guidance, and the driver of the vehicle 3 or the like does not feel uncomfortable. The lane change is guided by presenting a natural motion pattern.

By the way, the right arm portion 15 constructed as a movable arm needs to be locked by an appropriate lock mechanism so as not to rotate during transportation. In the embodiment traffic guiding robot 10, since the lock mechanism of the right arm portion 15 is configured by the driving force transmission mechanism 31 described above, a special lock mechanism is unnecessary. The driving force transmission mechanism 31 connects the first link member 36 and the link lever 37 via the universal joint 39A, and the link lever 37 and the second link member 3 are connected.
8 and 8 are connected via a universal joint 39B.

The driving force transmission mechanism 31 includes a link lever 37.
7 is in the top dead center or the bottom dead center, as shown in FIG. 7, the first link member 36, the link lever 37, and the second link member 38 are in a deadlock state in which they are positioned in a straight line. . The driving force transmission mechanism 31 is held in the locked state when the driving force from the drive motor 30 is not transmitted in the deadlock state.

Therefore, the robot 1 for guiding traffic according to the embodiment.
0 sets the right arm 15 in the locked state by setting the right arm 15 in the upper position, in other words, setting the link lever 37 at the bottom dead center and setting the driving force transmission mechanism 31 in the deadlock state. It is held and transported. The right arm portion 15 is held in the locked state even when it is extended to the horizontal position and the link lever 37 is located at the top dead center. However, the traffic guidance robot 10
When the transportation or the like is performed in such a state, the right arm portion 15 projects laterally and space efficiency deteriorates. Therefore, the transportation is performed with the above-described link lever 37 set to the top dead center position. Is handled.

In the traffic guiding robot 10 of the first embodiment described above, the right arm portion 15 is a movable arm, and the right arm portion 15 is
And the forearm 19 moves to the right elbow 18
However, the present invention is not limited to such a traffic guiding robot 10 and can be variously developed like the traffic guiding robots of the respective embodiments shown below.

As a second embodiment of the present invention, the traffic guiding robot 60 shown in FIGS. 11 to 15 has a structure in which the waist portion 13 is shaken in addition to the configuration of the traffic guiding robot 10 of the first embodiment described above. The present invention is characterized in that it is configured as a moving movable part, and is configured to swing the upper body part in conjunction with the arm swinging motion of the right arm part 15 and the bending and stretching motion of the right forearm part 19. Hereinafter, this second embodiment traffic guiding robot 60 will be described.
Will be described with reference to the drawings. In order to make the basic configuration equivalent to that of the traffic guiding robot 10 of the first embodiment,
The same members are designated by the same reference numerals and the description thereof is omitted.

The traffic guiding robot 60 has a rotation supporting portion 61 (61A, 61B) at a portion corresponding to the right waist portion.
Is fixed to the body rotation support shaft 62, and includes a body frame structure 22 in which a guide portion 63 is provided at a portion corresponding to the left waist portion. The trunk rotation shaft 62 is pierced and supported by the tip of the right foot frame structure 14A, and the trunk frame structure 22 is fixedly attached to both ends thereof as shown in FIG.

The traffic guiding robot 60 includes a rotation support portion 6
1 and a drive motor 30 are provided with a body transmission drive mechanism 64. The body transmission drive mechanism 64 includes a rotary cam member 65, a third link member 66, and a fourth link member 67. The rotary cam member 65 is a member that is formed in a generally rectangular shape as a whole, and is a first link member that constitutes the driving force transmission mechanism 31 for transmitting the rotational output of the drive motor 30 to the right shoulder drive mechanism 32. The output shaft 35 of the drive motor 30 is fixed at an eccentric position on one end side, which is located inside 36. As shown in FIG. 13, a circular cam groove 68 is provided on the surface of the rotary cam member 65, and the third link member 66 is engaged with one end portion of which is prevented from coming off by a set screw 69. Has been done.

As shown in FIG. 12, the third link member 66 is a member disposed in the height direction inside the body frame structure 22, and the cam 66A formed at one end has a cam groove 68. The rotary cam member 65 is connected to the free end portion of the fourth link member 67 via the universal joint 70. The fourth link member 67 is a member that is disposed inside the body frame structure 22 in a substantially horizontal direction and has a substantially inverted L-shaped cross section, and has a universal joint 70 attached to one end thereof. . The other end of the fourth link member 67 bent in the vertical direction is connected to the rotation support portion 61.

In the body transmission drive mechanism 64 configured as described above, the drive motor 30 is powered on and the output shaft 35 is driven.
Is rotated, it is driven in conjunction with the operation of the right arm 15 described above. The body transmission drive mechanism 64 includes a rotary cam member 65 fixed to a position where the output shaft 35 is eccentric.
The rotation of the cam 6 causes the third link member 66 to relatively engage with the circular cam groove 68 that rotates in an eccentric state.
It swings up and down in FIG. 12 via 6A. The swinging motion of the third link member 66 is transmitted to the fourth link member 67 via the universal joint mechanism 70 to swing the fourth link member 67.

The fourth link member 67 includes the rotation support portion 61.
Since the body frame structure 22 is connected to the body frame structure 22 via the
It swings to the left and right with the fulcrum as the fulcrum.

Example The traffic guiding robot 60 is placed on an installation table 80 whose installation state is adjustable in the height and width directions according to the state of the road on which it is installed. That is, as shown in FIG. 11, the installation table 80 is configured by slidably combining left and right installation plates 81A and 81B and a central installation plate 81C.

Therefore, the installation base 80 is the central installation plate 8
The width dimension is adjusted by sliding the left and right installation plates 81A and 81B with respect to 1C in the lateral direction.
Further, stand members 82 are provided at the four corners of the left and right installation plates 81A and 81B. A handle 83 is provided on each of the stand members 82, and the height position is adjusted by rotating the handle 83.

According to the traffic guiding lot 60 of the second embodiment having the above-described structure, the body portion 12 uses the drive motor 30 as a common drive source to swing the right arm portion 15 of the right arm portion 15 and the right forearm portion 19. As it is rocked in conjunction with bending and stretching,
The guidance operation can be performed by a natural operation form extremely similar to the traffic guidance operation of the traffic guide member, and the lane change signal can be accurately transmitted to the driver or the like of the traveling vehicle 3. Further, since the installation state of the traffic guidance lot 60 is adjusted appropriately by adjusting the height of the installation table 80 according to the state of the road, the occurrence of falls or the like is prevented.

As a third embodiment of the present invention, the traffic guidance robot 90 shown in FIGS. 16 and 17 is different from the traffic guidance robots of the first and second embodiments described above in that it has a display board 91. It is characterized by the configuration of the installation table 92. Hereinafter, the third embodiment traffic guidance robot 90 will be described with reference to the drawings. However, since the basic configuration is the same as that of the first embodiment traffic guidance robot 10, the same members are designated by the same reference numerals. The description is omitted by adding.

As shown in the figure, in the traffic guiding robot 90, the left arm 16 fixed horizontally to the body frame structure 22 also serves as the display plate 91. The display plate 91 is configured such that a portion corresponding to the arm portion is color-coded into, for example, a black and yellow lattice pattern, and a portion corresponding to the hand portion is an arrow mark 93. In addition, the display plate 91 has a reflective layer treatment on the entire surface, and when illuminated by the headlights of the vehicle 3 at night or the like, the entire surface shines so that the arrow index 93 can be clearly identified. Is configured. Note that the display plate 91 is provided with, for example, an electric decoration on each of the yellow portions, and by continuously blinking these decorations, it is possible to more effectively guide the lane change to the driver or the like of the traveling vehicle 3. You may comprise.

The installation table 92 is used for the traffic guiding robot 9
It is configured to be portable so that 0 can be easily installed at construction sites. That is, the installation base 92 fixes the both legs 14 on the mounting surface so that the traffic guidance robot 90 can be installed.
And the casters 94 are provided at the four corners of the bottom surface, respectively. The installation base 92 has a handle 95 that is located on the back side and is used during movement. The casters 94 allow the installation table 92 to move in four directions, and are provided with stoppers (not shown) so that the traffic guidance robot 90 can be installed and fixed at any position by these stoppers. It is configured.

Further, as shown in FIG. 17, a power supply box 96 for driving the drive motor 30 is provided on the installation table 92.
Is mounted, and a spotlight device 97 is mounted so that the driver of the traveling vehicle 3 can be identified from a distance even at night. As shown in FIG. 17, the spotlight device 97 is configured as a foldable type, and is rotated and stored to the side of the installation table 92 during transportation or when unnecessary.

According to the traffic guiding robot 90 of the third embodiment configured as described above, since the installation table 92 is constructed as a portable type, it can be easily transported and installed at a construction site. Easy to handle. Further, in the traffic guidance robot 90, the display direction is clearly displayed on the display plate 91, and the driver of the vehicle 3 or the like can be guided more reliably to change lanes.

As a fourth embodiment of the present invention, the traffic guiding robot 100 shown in FIG.
And another installation stand 102 made of a pipe material on which the robot body 101 is placed. The fourth embodiment traffic guiding robot 100 will be described below with reference to the drawings. In order to make the robot main body 101 have the same basic configuration as that of the first embodiment traffic guiding robot 10 described above. The same members are designated by the same reference numerals and the description thereof will be omitted.

As shown in the figure, the installation base 102 is a reverse pipe-shaped first pipe member 1 that is obliquely extended from the back side of the robot body 101 to the front side along both side surfaces of the body.
03, a second pipe member 104 whose one end is connected to a substantially central portion of the first pipe member 103, and the other end is extended to the back side to support the first pipe member 103, and the first pipe member 103. The second pipe member 104 and a supporting plate 105 on which the robot main body 101 is installed are provided.

The robot main body 101 is connected to the upper end of the first pipe member 103 via a connecting member 106 which is integrally projected from the back surface of the waist 13, and the support plate 10 is also provided.
By fixing both feet 14 on the installation table 1,
02 is supported upright. Robot body 101
Is set to an optimum installation state by a height adjusting mechanism and an angle adjusting mechanism provided on the installation table 102.

The height adjusting mechanism includes adjusting pipe members 103A and 104A slidably housed in the first pipe member 103 and the second pipe member 104, and the adjusting pipe members 103A and 104A, respectively. It is constituted by stoppers 103B and 104B for fixing the above position at an arbitrary position. The adjusting pipe members 103A and 104A are adjusted in their withdrawal amounts with respect to the first pipe member 103 and the second pipe member 104 according to the road condition, and the stopper 103
The height position is appropriately adjusted by tightening B and 104B.

The angle adjusting mechanism is composed of a cam mechanism 107 arranged at the connecting portion between the second pipe member 104 and the support plate 105. The angle adjusting mechanism is capable of adjusting the opposing angle between the second pipe member 104 and the supporting plate 105 via the cam mechanism 107, and the supporting plate 105 moves to the second pipe member 104 at the set angle. Fixed against. Therefore, in the traffic guiding robot 100 of the fourth embodiment, since the installation base 102 is made of pipe material, the overall weight can be reduced, and the height adjustment mechanism and the angle adjustment mechanism can be used regardless of the road condition. Instead, it is installed in the optimal installation condition.

As a fifth embodiment of the present invention, the traffic guiding robot 120 shown in FIGS. 19 to 23 has a lower body 122B and an upper body 1 via a hinge mechanism 123.
22A is a robot body 121 that can be folded,
The robot main body 121 is characterized by being configured with an installation stand 125 capable of being housed inside. Less than,
The fifth embodiment traffic guiding robot 120 will be described in detail with reference to the drawings. In order to make the basic structure of the robot body 121 the same as that of the first embodiment traffic guiding robot 10 described above. The same members are designated by the same reference numerals and the description thereof will be omitted.

The robot body 121 includes an upper body 122A.
And a lower body 122B. The upper body 1 is attached to a support shaft 123A of a hinge mechanism 123 provided on the front side of the waist 13 of the lower body 122B.
The body portion 12 of 22A is rotatably supported on the front side. Therefore, the robot body 121 has the hinge mechanism 1
The upper body 122A is configured to be foldable with respect to the lower body 122B via 23. Robot body 12
1, a lock mechanism (not shown) is provided on the back surface of the waist portion 13, and the upright state is maintained by this lock mechanism.

Although the detailed structure of the robot main body 121 is omitted, for example, by adopting a plug-in structure, the right forearm portion 19 on the tip side of the right elbow portion 18 is detachable. Of course, since the right forearm portion 19 is bent and stretched around the right elbow portion 18 as a fulcrum as described above, the right elbow portion 18 is
It is divided at the slightly tip end of the.

Example The traffic guiding robot 120 is installed on a construction site or the like while being supported upright on the support plate 126 of the mounting table 125. The mounting table 125 is configured as a portable type in which casters 129 are provided at the four corners of the bottom surface, respectively, and although not described in detail, the mounting table 125 is transported to the installation location by a detachable transportation handle and installed by a stopper (not shown). Fixed in position. This table 12
5 is configured as a rectangular box body with an open upper portion, and a storage space portion 128 for storing the robot body 121 is formed therein.

The storage space 128 is provided in the robot body 121.
On the other hand, the length dimension is slightly larger than half the height, the depth dimension is slightly larger than the width dimension, and the height dimension is slightly larger than approximately twice the thickness dimension. Is configured. In other words, the storage space 128 is the robot body 121 folded via the hinge mechanism 123.
Is configured to have a space space sufficient to store the.

The mounting table 125 is provided with a hinge mechanism 127 located at the front upper ends of both side surfaces, and the support plate 126 is rotatably supported at one end by the hinge mechanism 127. . The support plate 126 has a length dimension slightly smaller than the height dimension of the mounting table 125, and normally, as shown in FIG. 20, the mounting table 125 is opened by a stopper mechanism (not shown). It is held in a horizontal state by closing a part of the upper part. Therefore,
The support plate 126 supports the robot main body 121 to which both legs 14 are fixed in an upright state.

When the stopper mechanism is released, the support plate 126 is mounted on the mounting table 12 via the hinge mechanism 127.
5 is rotated into the storage space 128. Therefore, the robot body 121 supported by the support plate 126
Is a storage space 128 of the mounting table 125, as will be described later.
It is stored inside.

As shown in FIGS. 19 and 20, the fifth embodiment of the traffic guidance robot 120 configured as described above is constructed such that the robot body 121 is supported on the mounting table 125 in an upright state. Etc. The robot body 121 of the traffic guiding robot 120 is housed in the housing space 128 of the mounting table 125 during transportation or when it is unnecessary. That is, the traffic guidance robot 120
Is the right arm 15 to the right forearm 19 of the robot body 121.
Is removed, and the left arm 16 and the display board 8 are removed. After that, the robot body 121 is moved to the position shown in FIG.
As shown in FIG. 1 and FIG. 22, the lock mechanism is released and the upper body 122A is moved to the lower body 1 through the hinge mechanism 123.
22B side is folded.

In the traffic guiding robot 120, with the robot body 121 folded as described above, the stopper mechanism is released so that the support plate 126 receives the storage space 128 of the mounting table 125 via the hinge mechanism 127. It is rotated inward. Therefore, the traffic guidance robot 120 includes the robot body 12 supported by the support plate 126.
As shown by the arrow in FIG. 22, 1 rotates integrally with the mounting table 125 and is stored in the storage space 128 as a whole. In the traffic guiding robot 120, the right forearm portion 19, the left arm portion 16, and the display board 8 removed by the above-described operation are stored in the empty space in the storage space portion 128 at the same time.

According to the fifth embodiment of the traffic guiding robot 120 configured as described above, the robot body 121 is configured to be foldable into the upper body 122A and the lower body 122B, and the portable carrier 125 of the portable body 125 is provided. By being configured to be able to be stored inside, handling as a whole is facilitated, space efficiency during transportation or storage to a construction site or the like is improved, and damage can be prevented.

As a sixth embodiment of the present invention, in the traffic guiding robot 130 shown in FIGS. 24 to 25, the robot main body 131 has an upper body portion as in the fifth embodiment traffic guiding robot 120 described above. 132A and lower body 132B
It is characterized in that it is divided into and is constructed as a foldable split type, and that the installation base 133 on which the robot body 131 is placed and supported is constructed by combining pipe materials. The sixth embodiment traffic guiding robot 130 will be described in detail below with reference to the drawings.
Since the basic structure of the robot body 131 is the same as that of the traffic guiding robot 10 of the first embodiment described above, the same reference numerals are given to the same members and the description thereof will be omitted.

The robot body 131 has an upper body 132
A tubular first hinge member 134 and a tubular hinge member 135 are integrally provided at the front lower end and the rear lower end of A, respectively. First hinge member 1
34 is an upper frame portion 136 of an installation table 133, which will be described later.
The upper frame portion 132A of the robot main body 131 is rotatably combined and supported with respect to the installation base 133 by inserting the front frame member 136A constituting the above. Also,
The second hinge member 135 is rotatably combined with the upper body part support frame 139 with respect to the upper body part 132A of the robot body 131 by inserting a frame material 139A constituting an upper body part support frame 139 described later. I support you.

The robot body 131 is mounted and supported on the installation table 133 by fixing both legs 14 to the support plate 140 of the installation table 133. The installation table 133 is composed of an upper frame portion 136 configured by combining pipe materials as described above, a lower frame portion 137, an outer peripheral frame portion 138, and a support plate 140 combined with the lower frame portion 137. Has been done.

The upper frame portion 136 is the robot body 1
The first hinge member 134 is rotatably assembled to the front frame member 136A as described above. Although not described in detail, the upper frame portion 136 fixedly supports the waist portion 13 that constitutes the lower body portion 132B of the robot body 131.

The lower frame portion 137 has a rectangular shape having a slightly larger outer size than the upper frame portion 136, and as described above, the support plate 140 is supported by combining the outer peripheral portions thereof, and at the four corners. Casters 141
Are provided respectively. Although not illustrated, a stopper mechanism is attached to these casters 141, and the installation stand 133 is installed and fixed at an arbitrary position.

The outer peripheral frame portion 138 is composed of four pipe members that connect the respective corner portions of the upper frame portion 136 and the lower frame portion 137. The two rear frame members 13 constituting the outer peripheral frame portion 138
As shown in FIG. 24, 8A and 138B respectively have handle portions 142 (142A and 142B) with their upper ends curved slightly and projecting rearward. The outer peripheral frame portion 138 corresponds to the upper frame portion 136.
The upper body 132 of the robot body 131 in which the lower body 132B is firmly fixed and supported by the support plate 140 and the support plate 140.
It has a space enough to store A.

The upper body supporting frame 139 is constituted by a vertically long rectangular frame having an outer dimension sufficient to support the back of the upper body 132A of the robot body 131.
Although not described in detail, the engaging means 143 for engaging with the upper body 132A
Is provided. Also, the upper body support frame 139
24, as shown in FIG. 24, is illustrated in the rear frame member of the lower frame portion 137 in a state in which the engaging means 143 is released and is pivotally operated to the mounting table 133 side through the second hinge member 135. Not locked by locking mechanism.

The traffic guiding robot 130 of the embodiment is provided with respect to the lower body 132B fixedly supported by the mounting table 133.
The upper body 132A is erected upright via the first hinge member 134 so that the robot body 131 is placed on the mounting table 13.
It is supported on 3 and installed at the construction site. The robot body 131 is fixed to the lower frame portion 137 by a lock mechanism by rotating the upper body supporting frame 139 from which the engaging means 143 is released toward the mounting table 133 side via the second hinge member 135. By this, lower body 1
The upright state of the upper body 132A with respect to 32B is maintained.

In the transportation guide robot 130, the robot main body 131 rotates the upper half body 132A toward the mounting table 133 side with respect to the lower half body 132B via the first hinge member 134 during transportation or when unnecessary. It is operated and folded. For the folding operation of the robot body 131, the lock mechanism is released to release the upper body support frame 139.
Is rotated to connect the upper body supporting frame 139 and the upper body 132A by the engaging means 143. As shown in FIG. 25, the upper body 132A includes a mounting table 133.
The upper body supporting frame 139 is housed inside and is fixed to the mounting table 133 by the lock mechanism.
The stored state is maintained.

According to the sixth embodiment of the traffic guidance robot 130 configured as described above, the robot body 131 is a split type in which the upper body 132A is foldable with respect to the lower body 132B during transportation or when unnecessary. And a mounting table 13 for mounting and supporting the robot main body 131.
Since 3 is made of a pipe material, the size and weight can be reduced, and the handling is extremely simple. Further, the mounting table 133 protects the robot body 131 by having a structure in which the outer peripheral portion of the robot body 131 is surrounded by a pipe material.

As a seventh embodiment of the present invention, the traffic guiding robot 150 shown in FIGS. 26 to 61 fully follows the features of the traffic guiding robot 130 of the sixth embodiment described above. It is intended to be more multifunctional. This traffic guiding robot 150 also has an upper body 152
And a lower body 153, which are foldable and divided, and a robot main body 151 configured to have an appearance similar to that of a traffic guide, and a mounting table formed by a pipe material for mounting and supporting the robot main body 151. And device 250.

The robot main body 151 is constructed so as to look like a traffic guide, and has a head 11 and a body 12.
And a lower body part 153 composed of a part of the waist part 13 and parts of the right arm part 15 and the left arm part 16, and a lower body part 153 composed of part of the waist part 13 and both foot parts 14A and 14B. The basic configuration is the same as that of the sixth embodiment traffic guiding robot 130 described above. Further, the robot main body 151 will be described in detail later, but each unit is an internal mechanical unit,
An exterior body for exteriorizing this internal mechanism portion is configured to be a unit, and the same uniform unit 158 as a traffic guide is attached to each exterior body.

The robot main body 151 will be described in detail later, but the right arm portion 15 shown in FIG. 26 can be moved by moving the right arm portion 15, the left arm portion 16, the front and rear exterior bodies of the body portion, and the drive mechanism portion. Robot body with specifications
The left arm 16 shown in FIG. 27 is configured to be compatible with the robot main body having a movable arm.
In the following description, the robot main body having a specification in which the right arm 15 is the movable arm is mainly described. However, as indicated by the reference numerals in FIG. 27, the shoulder 17, the elbow 18, the forearm 19 and the hand 19A are indicated. Needless to say, the left and right words are replaced according to the specifications of the right arm movable type and the left arm movable type.

In the robot body 151, the movable arm portion, which has the guide means 161 described later on the hand portion, largely swings the arm portion around the shoulder portion 17 from the horizontal position to the overhead position. At the same time, the bending and stretching operation of the forearm 19 at the tip from the elbow 18 is performed in conjunction with the overall arm swinging motion. Further, the robot main body 151 is provided with a display plate 8 on which a large arrow index 8A for displaying a traveling direction is drawn along the fixed arm portion. Of course, the entire surface of the display plate 8 including the arrow mark 8A is subjected to a reflective layer treatment, and when the headlight of the vehicle 3 or the like is illuminated at night, the surface shines and the course direction is clear. Is configured to be displayed on the display.

The mounting table device 250 for mounting and supporting the robot main body 151 is made lighter by being entirely constructed of a pipe material, and as shown in FIGS. 28 and 29, a lower body part 152, This lower body part 1
It has a storage space 250A sufficient to store the display body 8 and the upper body 153 folded with respect to 52, the fixed arm removed from the upper body 153, and the display plate 8.
The mounting table device 250 will be described later in detail with respect to the handle 25.
7 and casters 258 are provided as a portable installation base that can be easily transported and installed at a construction site or the like. Further, the mounting table device 250
Is equipped with an adjusting mechanism that allows the heights of the front and rear installation legs 255 and 256 to be adjusted, and is configured to be installed in an optimum state according to the condition such as the unevenness of the road.

An embodiment traffic guiding robot 150 having the above-described basic configuration will be described in detail below with reference to the drawings. As shown in FIGS. 31 and 32, the head unit 154 forming the head 11 of the robot body 151 is
The same helmet 160 used by traffic guides
The head 165 has a hollow interior and is fitted with the helmet 160, and a neck 168 integrally formed with the head 165.

The head portion 165 and the neck portion 168 are integrally formed by a blow molding method using an elastic skin color synthetic resin material such as vinyl chloride resin. Head 16
5 and the neck portion 168 are provided with a sprue opening 167 on the head 165 side for filling a molding resin with a material resin during molding. In addition, this spout opening 16
The cavity of the molding die forming 7 functions as a take-out portion for taking out the molded body from the inside of the molding die after the molding process.

The head 165 is formed by applying a predetermined color to the irregularities corresponding to the eyes, nose, mouth, ears, hair, etc. formed on the surface of the molded body. In addition, the head 165, as shown in FIG.
Is constructed as a flat surface, and
The gate opening 167 described above is formed at the position. The head 165 secures strength by leaving an edge on the connection ridgeline between the apex flat portion 166A and the outer peripheral portion, and at the same time, the outer peripheral portion following the connection ridgeline is formed into a gentle curved surface, so that there is no sense of discomfort. Is configured.

The head 165 has a step 165A corresponding to the hair portion of the occipital region.
Helmet 16 to be worn by 5A as described below
I try not to move 0. The robot body 151 is
Since the spout opening 167 is covered by the helmet 160 attached to the head 165, the spout opening 167 is formed.
Does not impair the appearance.

The neck portion 168 is integrally formed at its lower end portion with an engaging portion 169 which is relatively engaged with a head unit attaching portion 171 of a body portion unit 155 which will be described later. The engagement portion 169 has a flat lower end surface 169A of the neck portion 168 and a circumferential engagement recess 169B continuous with the lower end surface 169A.
And a locking flange portion 169C which is formed so as to project circumferentially continuously from the engaging recess 169B.

The head unit 154 includes the engaging portion 1 described above.
By being rotatably combined with the body unit 155 via 69, the traffic guiding robot 15
When 0 is installed at a construction site or the like, the orientation of the face of the robot body 151 is adjusted with respect to the approaching direction of the vehicle. In the head unit 154, the spout opening 167 is arranged on the head 165 side as described above, so that the engaging section 1 on the neck section 168 side serving as a pivotal fulcrum for the body section unit 155.
69 is formed with high precision.

As shown in FIG. 31, the head portion 165 has a central portion of a jaw belt 164 attached to the jaw portion.
Therefore, the helmet 160 is firmly attached to the head 165 by being attached to the head 165 and then the chin belts 164 are respectively hung on the ear straps 163 on both sides.

The body unit 155 includes a body frame structure 22, a drive motor 30, and a driving force transmission mechanism 31 which will be described later.
And the like, and a pair of front and rear body exterior members 170 (170A, 170B) which are externally mounted on the internal mechanical part. The body part exterior body 170 is molded by a blow molding method using a flesh-colored synthetic resin material having elasticity, for example, polypropylene resin, respectively, and one body part exterior body 170A constitutes a ventral side exterior body and the other body body. The partial exterior body 170B constitutes the exterior body on the back side. These front and rear body part exterior bodies 170A, 170B
Are respectively screwed and assembled to the body frame structures 22A and 22B that form the internal mechanism, as will be described later.

The front and rear body exterior members 170A, 170B are
As shown in FIG. 35, the hollow body exterior body 170 is configured by being assembled with the body frame structure 22 so that the opposite peripheral portions abut each other.
The front and rear body part exterior bodies 170A and 170B are engagement recesses 1 which are semi-circular cutouts which constitute a head unit mounting portion 171 having a circular opening in an upper portion in a combined state.
72A and 172B are provided, respectively.

Further, the front and rear body exterior members 170A, 170
B includes a right arm mounting portion 172 in a combined state.
3 is an engaging recess 173A which is a substantially semicircular cutout,
173B is provided at a position corresponding to the right shoulder, respectively. Further, the front and rear body part exterior bodies 170A, 170B are engagement recesses 174A, 17 that are substantially semicircular cutouts that constitute the left arm attachment part 174 in a combined state.
4B is provided at a position corresponding to the left shoulder.

On the rear body exterior body 170B, a large cutout is made at a position corresponding to the right flank portion, and the body frame structure 2 is formed.
An electrical equipment unit opening 175 is provided to expose an electrical equipment unit 159, which will be described later, to the outside. The electrical equipment unit opening 175 is used to open and close the power switch 235 arranged in the electrical equipment unit 159 and to fuse the fuse 2.
An operation opening for replacing 37 is formed.

A mounting stud 176 (17) for screwing to the body frame structure 22 is attached to the body exterior body 170.
6A, 176B) are integrally erected at appropriate positions on the inner surface. These mounting studs 176 are provided with mounting holes 177 (177A, 177B) into which mounting screws are screwed. In the body exterior body 170, annular drip-proof outer peripheral ribs 178 (178A, 178B) are integrally formed on the surface where the mounting holes 177 are open so as to surround the mounting holes 177.

Further, the body exterior body 170 has a plurality of drain guide ribs 179 (1) extending downward from the shoulder position.
79A, 179B) are integrally bulged on the surface. The drain guide ribs 179 are configured by at least a right arm mounting portion 173, a standing wall that extends downward with the outer peripheral positions of the left arm mounting portion 174 and the head unit mounting portion 171 as base ends.

As described above, the body exterior body 170 has a drip-proof outer peripheral rib 178 and a drain guide rib 179 on the surface thereof.
Are integrally formed to act so that rainwater and the like that have fallen down flow to the lower body 153 along the surface, and from the openings on the surface, that is, the mounting holes 177 and the left and right arm mounting portions 173, 174. Prevent entry into the interior. Therefore, the robot main body 151 is prevented from causing a short circuit phenomenon in the electrical equipment unit 159 or the drive motor 30 due to the entering rainwater or the like.

The right arm unit 156 includes an internal mechanical section including an upper right arm frame structure 26, a right forearm frame structure 27, and a right elbow drive mechanism 33, which will be described later, and an upper right arm armor body externally mounted on the internal mechanical section. 180, a right forearm exterior body 190, and a right hand exterior body 200. The upper right arm armor body 180 is integrally molded by a blow molding method using a flesh-colored synthetic resin material having elasticity similar to that of the body armor body 170, for example, polypropylene resin, and is integrally formed into a substantially tubular body portion. 181, and a shoulder joint opening 182 and an elbow joint opening 183 respectively formed at both ends of the base 181.

As shown in FIG. 36, the upper right arm armor body 180 has a cutout 1 over the entire length of the base body 181.
By providing 84, the base portion 181 can be largely expanded from the notch 184. Therefore, the upper right arm armor body 180 is attached to and assembled with the upper right arm frame structure 26 constituting the internal mechanical portion in a state where the base body 181 is largely expanded, as described later, and then fixed by screwing. .

The base portion 181 is provided on the upper right arm exterior body 180.
A mounting stud 185 for screwing to the upper right arm frame structure 26 is integrally provided upright at an appropriate position on the inner surface of the. These mounting studs 185 are provided with mounting holes 186 through which mounting screws are screwed. Further, in the upper right arm exterior body 180, an annular drip-proof outer peripheral rib 187 is integrally formed on the surface where the mounting holes 186 are open so as to surround the opening of the mounting holes 186. The drip-proof outer peripheral rib 187 of the upper right arm exterior body 180 prevents rainwater and the like that have fallen down from entering into the inside through the mounting hole 186.

Further, in the upper right arm exterior body 180, the drain guide ribs 188 (188A, 188B) are located at the shoulder joint opening 182 and the elbow joint opening 183 at both ends.
Is integrally formed around the circumference of the surface. The upper right arm exterior body 180 acts by the drain guide ribs 188 so that rainwater that has fallen down flows along the surface, and thus the opening 182A of the shoulder joint opening 182 or the elbow joint opening 183. It is prevented that the inside of the opening 183A enters.

Similarly to each of the outer casings, the right forearm outer casing 190 is also integrally formed by blow molding using a flesh-colored synthetic resin material having elasticity, for example, a polypropylene resin, and has a substantially tubular shape as a whole. Base part 191 and tubular elbow joint projection 19 formed on the base end side of the base part 191
2 and a wrist mounting portion 193 integrally formed so as to project perpendicularly to the tip side of the base portion 191.

The right forearm exterior body 190 is shown in FIGS.
As shown in FIG. 7, at an appropriate position on the inner surface of the base body 191,
A mounting stud 195 for screwing to the forearm frame structure 27 is integrally provided upright. These mounting studs 195 are provided with mounting holes 196 through which mounting screws are screwed. Also, the right forearm exterior body 190
On the surface where these mounting holes 196 open,
An annular drip-proof outer peripheral rib 197 is formed so as to integrally bulge around 96. The right forearm exterior body 190 prevents rainwater or the like that has fallen from entering the inside through the mounting hole 196 by the drip-proof outer peripheral rib 197.

Further, on the right forearm exterior body 190, a drainage guide rib 198 is integrally formed on the circumference of the surface so as to be located on the elbow joint projection 192 side. The right forearm exterior body 190 is formed by the drain guide rib 198.
The rainwater and the like that have come down act so as to flow downward along the surface, and the elbow joint opening 1 on the right arm upper arm exterior body 180 side
The opening 183A of 83 is prevented from entering the inside.

The wrist mounting portion 193 is also formed in a cylindrical shape communicating with the inner hole of the base portion 191, and the guide means 161 is provided at the tip portion.
The guide light mounting portion 194 is integrally formed for mounting the guide light 240 constituting the above. Guide light mounting part 194
As shown in FIG. 34, the connection terminal 199 is disposed in the internal hole 194A. Although not described in detail, the connection terminal 199 is connected to a lead wire drawn from the electrical component unit 159 and guided through the inside of the right arm unit 156, and is connected to the guide light 240 attached to the guide light attachment portion 194. Supply power.

Specifically, the guide light mounting portion 194 has a screw formed on the outer peripheral portion thereof, and also has an outer peripheral flange 194B which has a stopper action for restricting the mounting position of the guide light 240.
Is provided. Therefore, the guide light 240 is attached to the guide light mounting portion 194 in a state of being electrically connected to the electrical component unit 159 by screwing the base end portion into the outer peripheral screw as described later.

The right hand exterior body 200 is integrally molded by blow molding using a synthetic resin material having elasticity, for example, vinyl chloride resin, as a long tubular cap, as shown in FIG. In addition, the hand portion 203 has the appearance of holding the guide light 240. The right hand exterior body 200 has a gloved appearance due to the material color being white, and is attached to the wrist attachment portion 193 of the right forearm exterior body 190 through the fitting hole 202 on the proximal end side. .

Right arm unit 1 constructed as described above
FIG. 33 is a view for covering the opened right arm mounting portion 173 of the body exterior body 170 that constitutes the right shoulder portion 17 and the elbow joint opening 183 of the right arm upper arm exterior body 180 that constitutes the right elbow portion 18. The waterproof sheet 218 shown in FIG. The waterproof sheet 218 is formed of vinyl chloride resin or the like into a sheet having sufficient flexibility. One end of the waterproof sheet 218 is attached to the shoulder portion of the body exterior body 170 and the other end is formed as shown by a dotted line in FIG. Is attached to the right forearm exterior body 190. Therefore, the waterproof sheet 218 prevents rainwater and the like from falling into the inside through the openings of the right shoulder portion 17 and the right elbow portion 18.

In the traffic guiding robot 150, the left arm unit 157 which constitutes the fixed arm of the robot body 151 is shown in FIG. 56 (in the figure, the right arm unit 1).
56 is a specification which comprises a fixed arm part. ), A cylindrical left arm exterior body 204 into which an arm portion (not shown) of a display plate bracket member 230 serving as a core member is inserted, and a left hand exterior body body 208. Left arm exterior body 204
Like the above-mentioned body part exterior body 170, is integrally molded by a blow molding method using an elastic skin-colored synthetic resin material, for example, polypropylene resin. As shown in FIG. 33, in the left arm exterior body 204, a fitting hole 206 through which the arm portion of the display plate bracket member 230 penetrates is opened on the shoulder side of the cylindrical base body portion 205, and the tip end side is slightly thin. A diametral end attachment portion 207 is formed.

In the left arm exterior body 204, a plurality of mounting studs for screwing to the arm portion of the display plate bracket member 230 are integrally formed on the inner surface. Of course, these mounting studs are provided with mounting holes through which mounting screws are screwed. Unlike the right arm unit 156 described above, the left arm unit 157 is not provided with a drive mechanism or the like inside, so that it is not necessary to particularly provide a drip-proof outer peripheral rib surrounding the periphery of the mounting hole.

The left-hand end exterior body 208 is integrally molded by a blow molding method using an elastic synthetic resin material, for example, vinyl chloride resin as a material, and a base portion 209 having a cap shape as a whole, and the base portion 209. Fitting hole 210 and base portion 209 provided inside and opening to the base end side
And a hand portion 211 on the tip side of the. The left hand exterior body 208 has a gloved appearance due to the material color being white, and also has a lightly grasped appearance of the hand 211. Left hand exterior body 208
The left arm unit 157 is configured as a whole by being attached to the hand end attachment portion 207 of the left arm exterior body 204 through the fitting hole 210.

Left arm unit 157 (right arm unit 1
56) is integrally combined with the display plate 8 via the display plate bracket member 230, as shown in FIG. The display plate bracket member 230 is formed of a columnar member having sufficient mechanical strength that constitutes one side portion of the display plate 8, and an arm portion (not shown) is inserted through the left arm unit 157 to display at the hand portion 211 thereof. It is connected to the other end of the plate 8.

The display plate bracket member 230 is shown in FIG.
As shown in, a pair of fitting portions 231A and 231B are integrally formed on the side surface portion so as to be separated in the height direction. The fitting portions 231A and 231B are formed in a U-shaped cross section, and as shown in the figure, the bracket member 23 for mounting the display plate on the side of the upper body 152 which is formed in a hook shape.
23A and the left arm mounting piece 25A of the left shoulder bracket member 25.

The display plate bracket member 230 is provided with a damper means (not shown) on the arm part inserted through the left arm part unit 157. The damper means is such that when the embodiment traffic guidance robot 150 is installed at a construction site or the like, a pedestrian or the like mistakenly left the arm 16 of the robot body 151.
Even if it hits against the vehicle and an excessive load is applied, the left arm unit 157 is prevented from being damaged and the pedestrian is not injured.

The display plate 8 and the left arm unit 157 (the right arm unit 156) are, as shown in FIG.
The fitting portion 231A is relatively engaged with the left arm mounting piece 25A of the left shoulder bracket member 25, which is exposed to the flank of 52, and the fitting portion 231B is relatively engaged with the mounting piece 23A of the display plate mounting bracket member 23. Attached by. Further, the display board 8 and the left arm unit 157 (right arm unit 156) are removed by pulling them out to the side while being lifted slightly upward along the upper body 152.

As shown in FIG. 33, the robot main body 151 has a lower body exterior body 212 constituting the lower body 153, and as shown in FIG. 33, is entirely hollow by a blow molding method using a slightly hard synthetic resin material such as polypropylene resin. Shaped in body shape. That is, the lower body exterior body 212 is
The waist portion 213 is lightened by providing the space portion 214, the right foot portion 215 and the left foot portion 216. The right foot 215 and the left foot 216 are integrally formed with mounting portions 217A and 217B, respectively, for fixing the right foot 215 and the left foot 216 on a mounting table 260 of a mounting table device 250 described later.
Although not described in detail, these mounting portions 217A and 217B are provided with mounting holes, and the lower body 153 is mounted and fixed on the mounting table 260 by screwing mounting screws.

On the robot body 151, a uniform unit 158 divided corresponding to the body portion 12, the left and right arm portions 15 and 16 and the lower body portion 153 of the upper body portion 152 is attached. That is, as shown in FIG. 38, the uniform unit 158 includes a body part uniform 220 attached to the body part exterior body 170, a right arm part uniform 222 attached to the right arm part unit 156, and a lower body part 153.
The lower body uniform 224 worn on the lower body and the left arm uniform 228 worn on the left arm unit 157.

The body part uniform 220 has a so-called waistcoat type in which both sleeves of a uniform shirt worn by traffic guides are cut, and annular one-touch fasteners 221A are joined to the surfaces of both cuffs, respectively. The one-touch fastener 221B is joined to the inner surface of the portion. The one-touch fastener includes, for example, a fastener band on one side where many loop fibers are provided on the base cloth and a fastener band on the other side where many engaging fibers are provided on the base cloth, and these fastener bands are strongly pressed. As a result, a well-known one-touch fastener in which the loop fiber and the engaging fiber are entangled and coupled with each other is adopted.

The right arm uniform 222 is composed of one piece of cloth developed in consideration of maintainability of the internal mechanism of the right arm unit 156 which constitutes the movable arm,
This is wrapped around and attached to the right arm portion 15.
The right arm uniform 222 has a one-touch fastener 221 on the body uniform 220 side on the inner surface of the shoulder opening.
A one-touch fastener 223A joined to A is joined. The right arm uniform 222 is joined with a sleeve length one-touch fastener 223B which is paired along both side edges in the length direction.

Therefore, the right arm uniform 222
After being wound around the right arm unit 156, the sleeve length one-touch fastener 223B is coupled over the entire area in the sleeve length direction, and the one-touch fastener 223A and the one-touch fastener 221A are coupled to be integrated with the body portion uniform 220.

The lower body half uniform 224 is composed of a front lower body half uniform 224A and a rear lower body half uniform 224B which are divided into front and rear from both sides. These front lower body uniform 224A and rear lower body uniform 224B are one-touch fasteners 221 of the body uniform 220 on the surface of the trunk.
A one-touch fastener 225A forming a pair with B is joined. Further, the front lower body uniform 224A and the rear lower body uniform 224B have one-touch fasteners 225B paired with the opposite side edges, respectively.
225B is joined over almost the entire area in the length direction.

Therefore, the lower body uniform 224
The front lower body uniform 224A and the rear lower body uniform 224B are applied to the lower body exterior body 212 from the front and rear, and the one-touch fastener 225A is used.
The one-touch fastener 221B and the one-touch fastener 221B are combined to be integrated with the body unit uniform 220. Further, the lower body uniform 224 is integrated by combining the pair of one-touch fasteners 225B, 225B.

The robot main body 151 is constructed such that the lower body half uniform 224 is also attached to the lower body half 153 as described above. However, as will be described later, the lower body half 153 surrounded by the installation base device 250 is covered by the lower body exterior. Body 21
Needless to say, 2 may be molded from a resin material having the same color as the uniform. Regarding the uniform of the upper body 152, in order to make the appearance closer to the traffic guide,
It is preferable to adopt a structure in which a uniform is attached to the outer package.

Although not described in detail, the left arm uniform 228 has the same structure as the right arm uniform 222 described above, and is attached so as to be wound around the left arm unit 157. The left arm uniform 228 is attached with an armband used by a traffic guide having a white line on a green area. In addition, in the body part uniform 220,
A display band 227 whose surface is subjected to a reflective layer treatment is attached.

The robot main body 151 has the frame structure and the internal mechanism shown in FIGS. 39 to 44 for supporting the above-mentioned outer casings. Since the frame structure and the internal mechanism are substantially the same as those of the traffic guiding robot 10 of the first embodiment described above, the same members or corresponding members are designated by the same reference numerals, and the schematic configuration will be described below. .

The robot main body 151 is a frame structure constituting the internal structure of each part of the body, and the base 20 supported in a horizontal state by a mounting table device 250 described later at a position corresponding to the waist 13 and the base 20. Is provided with a pair of body frame structures 22 standing upright. The body frame structure 22 is made of a thin metal plate having sufficient mechanical strength, and in order to reduce the weight, the body frame structure 22 retains the mechanical strength and is provided in a large number at appropriate positions where the constituent members are not arranged. Individual circular openings 22a and 22b are opened.

As shown in FIG. 40, the base 20 is provided with a display plate mounting bracket member 23 at a position corresponding to the left waist. As described above, the bracket member 23 includes the lower fitting portion 231 of the display plate bracket member 230.
An attachment piece 23A with which B is relatively engaged is integrally formed at the tip end by bending. Further, the base 20 is integrally provided with a first hinge member 247, which will be described later, and which is formed of a pipe material and is located at a substantially central portion on the front side.

A right shoulder bracket member 24 and a left shoulder bracket member 25 for supporting the right arm unit 156 and the left arm unit 157 are attached to the body frame structure 22 at positions corresponding to the left and right shoulders, respectively. ing. A second hinge member 248 made of a pipe material is provided in the body frame structure 22B on the back surface side, which will be described in detail later.

As shown in FIG. 39, the right shoulder bracket member 24 is composed of a pair of bracket members 24A and 24B which are opposed to each other and have a substantially triangular shape, and are slightly tilted forward with respect to the body frame structure 22. The state, specifically, an inclination of 12 ° with respect to the vertical plane, is firmly supported on one side. A shoulder joint shaft 43 is rotatably supported on the right shoulder bracket member 24 to rotatably support the upper right arm frame structure 26 in a cantilever state. Further, an elbow joint shaft 54 that rotatably supports the right forearm frame structure 27 in a cantilever state is supported on the free end side of the upper right arm frame structure 26.

As shown in FIG. 39, the left shoulder bracket member 25 has a left arm attachment piece 25 at the tip portion corresponding to the shoulder portion.
A is provided. As described above, the upper arm 2 of the display plate bracket member 230 is attached to the left arm attachment piece 25A.
31A is relatively engaged. Also, the body frame structure 22
The neck portion 16 that constitutes the head unit 154 described above.
A mounting piece 29 that supports a locking flange portion 169C formed on the lower part of 8 is attached.

In the robot body 151, the right arm portion 15 configured as a movable arm is used for swinging the entire arm portion with the right shoulder portion 17 as a fulcrum, like the above-described first embodiment traffic guiding robot 10. On the other hand, the bending and stretching motions of the right forearm portion 19 with the right elbow portion 18 as a fulcrum are interlocked with each other. Robot body 1
The 51 includes a driving force transmission mechanism 31, a right shoulder driving mechanism 32, and a right elbow driving mechanism 33 in order to perform an arm swinging motion and a bending / extending motion of the right arm portion 15.

Further, the robot body 151 fixes and supports the right shoulder bracket member 24 in a state in which it is inclined forward with respect to the body frame structure 22, so that the right arm 1
5 is performed along an operation surface slightly inclined with respect to the vertical surface, and is positioned on the front side of the head unit 154 in a state of being swung up overhead. Therefore, the robot body 150
In the above, the arm swinging motion of the right arm portion 15 is approximated to the arm swinging motion of the traffic guide member, and exhibits an extremely natural motion mode in which the driver of the vehicle 3 does not feel uncomfortable.

As shown in FIG. 40, the driving force transmission mechanism 31 includes a driving motor 30 serving as a driving source, and the driving motor 3
It is composed of a link mechanism that transmits the output of 0. The drive motor 30 is firmly fixed to the base 20, and the first link member 36 is fixed to the output shaft 35. One end of the first link member 36 in the longitudinal direction is fixed to the output shaft 35 of the drive motor 30, and the other end thereof is connected to one end of a link lever 37 via a universal joint 39A. The link lever 37 is connected to the second link member 38 via a universal joint 39B provided on the other end side. The other end of the second link member 38 is fixed to a drive mechanism support shaft 40 that is supported on the body frame structure 22.

Driving force transmission mechanism 3 configured as described above
1 is the first link member 3 driven by the drive motor 30.
When 6 rotates, the link lever 37 swings vertically as a whole. When the upper end of the link lever 37 swings between the top dead center and the bottom dead center, the universal joint 3
The second link member 38 connected via 9B is repeatedly oscillated within a range of an oscillating angle of 60 ° about the drive mechanism supporting shaft 40 as a fulcrum.

The drive mechanism support shaft 40 has a structure shown in FIGS.
As shown in FIG. 3, a shoulder drive chain wheel 42 that constitutes the right shoulder drive mechanism 32 and a right elbow drive chain wheel 48 that constitutes the right elbow drive mechanism 33 are axially fixed and fixed in the rotational direction.
The shoulder joint shaft 43 described above is rotatably supported by the right shoulder bracket member 24, and the right elbow drive mechanism 3 is also provided.
A first intermediate support shaft 50 that rotatably supports a first intermediate chain wheel 51 that forms part 3 is supported.

As shown in FIGS. 40 and 43, the right shoulder drive mechanism 32 includes a shoulder drive chain wheel 42 supported by the drive mechanism support shaft 40, and a driven chain wheel 44 supported by the shoulder joint shaft 43. It is composed of a chain 45 and a coil spring 46. The chain 45 is configured as an endless chain body as a whole by connecting both ends with a coil spring 46 that exerts a damper action, and in a state where the length is adjusted by an adjuster device 47, the shoulder drive chain wheel 42 and the driven chain. The vehicle 44 and the vehicle 44 are lapped around each other.

As shown in FIGS. 40 and 43, the right elbow drive mechanism 33 includes an elbow drive chain wheel 48, a first intermediate chain wheel 51, and a second intermediate chain wheel 49 supported by the drive mechanism support shaft 40. The third intermediate chain wheel 53, each chain wheel of the driven chain wheel 55, the chain 56 and the coil spring 57 which are hung on each chain wheel. The first intermediate chain wheel 51 is rotatably supported by the first intermediate support shaft 50 supported by the right shoulder bracket member 24. The second intermediate chain car 49
The shoulder joint shaft 43 is rotatably supported.
The third middle chain wheel 53 has the right upper arm frame structure 26.
It is rotatably supported by the second intermediate support shaft 52 which is supported by. The driven chain wheel 55 includes an elbow joint shaft 54 which is supported at the right elbow portion 18 and is supported by the upper right arm frame structure 26.
Is fixed and supported in the direction of rotation.

One end of the chain 56 is fixed to the elbow drive chain wheel 48.
The intermediate chain wheel 51, the second intermediate chain wheel 49, and the third intermediate chain wheel 53 are guided along the route from the body portion 12 into the right arm portion 15 and are hung on the driven chain vehicle 55. The chain 56 is folded back to the base end side of the right arm 15 by the driven chain wheel 55, and the other end is connected to the coil spring 57. The other end of the coil spring 57 is fixed to the upper right arm frame structure 26.

The robot body 15 constructed as described above
The embodiment traffic guidance robot 150 including No. 1 is installed at a construction site or the like, and the drive motor 30 is powered on by connecting a power cord (not shown) to the power source. The drive motor 30 has an output shaft 35 when the power is turned on.
Rotates to drive the driving force transmission mechanism 31. The drive force transmission mechanism 31 transmits the drive force of the drive motor 30 to the right shoulder drive mechanism 32 to cause the entire right arm 15 to perform an arm swing motion, and at the same time, the drive force of the drive motor 30 is transmitted to the right elbow drive mechanism 33. To the robot main body 151, the robot main body 151 is caused to perform the bending / extending motion of the right forearm part 19 from the right elbow part 18 in conjunction with the arm swinging motion.

In the driving force transmission mechanism 31, the first link member 36 fixed at a position eccentric to the output shaft 35 of the drive motor 30 rotates together with the rotation of the output shaft 35, whereby the universal joint 39A. The link lever 37, which is connected via the, is oscillated in the vertical direction. The swinging motion of the link lever 37 is transmitted to the second link member 38 connected through the universal joint 39B, and the drive mechanism support shaft 40 is repeatedly rotated through the second link member 38. Let

By repeatedly rotating the drive mechanism support shaft 40, the shoulder drive chain wheel 42 and the elbow drive chain wheel 48 which are supported are simultaneously rotated repeatedly. Therefore, the shoulder drive chain wheel 42 repeatedly rotates the driven chain wheel 44 via the chain 45. Further, the elbow drive chain wheel 48 repeatedly rotates the driven chain wheel 55 by the route of the first intermediate chain wheel 51-second intermediate chain wheel 49-third intermediate chain wheel 53 via the chain 56.

In this way, in the robot body 151, the right shoulder drive mechanism 32 and the right elbow drive mechanism 33 are simultaneously driven by using the drive motor 30 as a common drive source in this way, and the right shoulder 17
The entire right arm 15 is swung with the fulcrum as the fulcrum, and the right forearm 19 is flexed and extended with the right elbow 18 as the fulcrum. In addition, regarding the details of the operation of the right arm portion 15,
Since the operation is the same as that of the right arm portion 15 of the traffic guiding robot 10 of the first embodiment described above, the details are omitted.

In the traffic guiding robot 10 of the first embodiment, the driving force transmission mechanism 31 sets the top dead center position and the bottom dead center position of the link lever 37 with one rotation of the first link member 36. By one reciprocating motion between the second link member 38 and the drive mechanism support shaft 40 as a fulcrum, a swing angle of 6
The swinging operation is performed in the range of 0 °, and the rotation ratio between the shoulder drive chain wheel 42 and the driven chain wheel 44 of the right shoulder drive mechanism 32 is set to 2: 3. With this configuration, the traffic guiding robot 10 swings from the horizontal position to the overhead position in the angle range of 90 ° as the entire right arm part 15, but the right forearm part 19 is in the angle range of 60 ° from the right elbow part 18. Repeatedly rotate with.

Such an operation mode is relatively similar to the operation mode of the traffic guide member, and the lane change is surely guided without making the driver of the vehicle 3 feel uncomfortable.
However, as a result of a more detailed analysis of the guidance action of the traffic guide, it was found that such a behavior form also had some unnaturalness. That is, the right arm is swung about the shoulder as a fulcrum in an angle range of about 80 °, and the right elbow 18 has a natural refraction angle of about 40 °.

Therefore, the robot 1 for guiding traffic according to the embodiment.
In 50, the right shoulder drive mechanism 3 of the robot body 151
The rotation ratio between the second shoulder drive chain wheel 42 and the driven chain wheel 44 is set to 3: 4. Therefore, the right shoulder drive mechanism 32 is integrated with the drive mechanism support shaft 40 in which the shoulder drive chain wheel 42 is repeatedly rotated in the range of 60 ° through the second link member 38 to form an angle range of 60 °. Since it is repeatedly rotated by the driven chain wheel 44 via the chain 45
Rotates repeatedly within an angle range of 80 °. In the rotational movement of the driven chain wheel 44, the shoulder joint shaft 43 is integrally and repeatedly rotated within an angle range of 80 °, and the right arm portion 15 which is swung up overhead is rotated by 80 ° around the right shoulder as a fulcrum. Swing operation is performed within a range of angles.

In the robot body 151, the rotation ratio of the drive transmission system from the right elbow drive chain wheel 48 to the driven chain wheel 55 which constitutes the right elbow drive mechanism 33 is set to 3: 2. The right elbow drive chain vehicle 48 includes the drive mechanism support shaft 4
Since the driven chain wheel 55 is repeatedly rotated integrally with 0 in the angle range of 60 °, the right elbow joint shaft 54 integrally supported by the driven chain wheel 55 is repeatedly rotated within the range of 40 °. Therefore, the right forearm portion 19 uses the right elbow portion 18 as a fulcrum, and the right elbow portion 18 as a fulcrum, in conjunction with the entire arm swing motion of the right arm portion 40.
It bends and stretches in the range of °.

In the traffic guiding robot 150, the robot main body 151 causes the entire arm swinging motion of the right arm 15 and the bending and stretching motion of the right forearm 19 as well as the overall arm swinging motion of the right arm 15 as described above. Since it is configured to be performed along an operation surface that is slightly inclined forward with respect to the surface, it exhibits an operation form almost equivalent to that of a traffic guide, and guides the driver of the vehicle 3 to accurately change lanes. I do.

The robot body 151 described above includes the right arm 1
Although 5 is a movable arm and the left arm 16 is a fixed arm, the right arm 15 can be a fixed arm and the left arm 16 can be a movable arm by combining the constituent members. Has been done. Of course, the left arm movable robot main body undergoes this rearrangement operation in the assembly process of the factory, and the details are omitted. However, the left arm unit 157 (however, the right arm unit 15 as a whole structure is used as a movable arm).
6 is also used. The left shoulder bracket member formed symmetrically with the right shoulder bracket member 24 is used to rotatably support the above).

Further, the robot main body of the left arm movable specification is
The outer casings are attached to the inner frame structure by exchanging front and rear. Further, in the robot main body with movable left arm, the uniform unit 158 is attached to each exterior body assembled in this way.

The robot main body 151 has a structure shown in FIGS.
As shown in FIG. 7, an electrical component unit 159 supported by the body frame structure 22 is provided at a position corresponding to the right flank of the body unit 155. Robot body 151
Uses a commercial power source as a drive source, and a power cord (not shown) is drawn into the electrical unit 159. Electrical unit 1
Although not shown in detail, reference numeral 59 denotes an AC-D that forms a power supply unit of the guide light 240 inside the unit box 233, for example.
The C conversion circuit board 239 and predetermined electrical components are housed and configured. The unit box 233 is arranged such that the operation panel 234 faces the electrical unit opening 175 provided in the body exterior body 170.

As shown in FIG. 57, the operation panel 234 is provided with a power switch 235, a fuse holder 236, an energization indicator 238 and the like. The power switch 235 powers the drive motor 30 by being pressed from above the body uniform 220 through the electrical unit opening 175. Power indicator 23
When the power switch 235 is operated and the power is turned on, the numeral 8 lights to indicate the energized state. Fuse holder 23
A fuse 237 is attached to the body 6 in a state in which the body unit uniform 220 is rolled up to expose the electrical unit opening 175.

As will be described later, the traffic guiding robot 150 is housed in the housing part 250A of the mounting table device 250 by folding the upper body part 152 with respect to the lower body part 153 when the robot body 151 is transported. Has been done. When the traffic guiding robot 150 is transported to a construction site or the like and installed, first, the lower body 153 is compared with the upper body 15.
2 is operated upright to set the robot body 151. In the robot body 151, if the power cord is inadvertently connected to the power source and the power switch 235 is operated for some reason before the setting operation, the right arm unit 156 starts to operate.

This malfunction of the right arm unit 156 is extremely dangerous for the worker, and the right arm unit 1 is also dangerous.
This causes an inconvenience that 56 collides with the installation table device 250 and is damaged. Therefore, the traffic guidance robot 1
The 50 is provided with a safety switch 232 that allows the power supply to the drive motor 30 to be turned on only when the upper body 152 is operated upright with respect to the lower body 153. This safety switch 232, as shown in FIG.
The body frame structure 22 including the arcuator 232A
The toggle switch is arranged at the lower end of the. The safety switch 232 is connected between the connection part of the power cord and the power switch 235, and when the upper body 152 is operated upright with respect to the lower body 153, the arc actuator 232A abuts the base 20. The internal switch is closed to allow the power to be turned on by operating the power switch 235.

In the robot body 151, the guide light 240 is held by the hand portion 211 of the right hand exterior body 208 as described above. As shown in FIG. 58, the guide light 240 includes a grip portion 241 and a red display portion 242 having a plurality of LEDs stored therein. Guide light 240
Are electrically connected and attached by being screwed into the guide light attachment portion 194 formed at the tip portion of the right forearm exterior body 190 as described above. When the traffic guidance robot 150 is installed at night or the like and guides traffic, the traffic guidance robot 150 is used in a state in which the guide light 240 is held so that the driver of the vehicle 3 can appropriately signal the lane change.

On the other hand, in the traffic guidance robot 150, when it is difficult to identify the lighting state of the LED built in the guide light 240 such as during the daytime, as shown in FIG. 59, the guide flag 243 is attached to the guide light 240. To be Induction flag 243
60 is made of a white cloth, and as shown in FIG. 60, an attachment portion 244 and an attachment string 246 that are sewn in a bag shape to be inserted into the display portion 242 of the guide light 240 are provided on one side, Piano wires 245A, 245 along the perimeter
Each B is sewn in and configured.

Therefore, as shown in FIG. 59, the guide flag 243 is attached to the display portion 242 of the guide light 240 by the mounting portion 244.
The right hand exterior body 2 with the attachment string 246 after inserting the
It is attached to 08. In this way, the guide flag 243 is
By being attached to and detached from the right arm unit 156, which is a movable arm, by a simple operation according to the installation conditions, accurate guidance is possible. In addition, the guide flag 243 is the piano wire 2
45A and 245B hold the unfolded state,
When the right arm 15 performs the arm swinging motion and the bending / extending motion described above, the occurrence of a situation in which the right arm 15 is entangled with the hand portion 19A and the like and cannot be identified is prevented.

The guide light 240 and the guide flag 243 described above
Is the robot body 151 when not in use, such as during transportation.
By being removed from the unit and attached to the installation table device 250, loss prevention can be achieved. That is, the guide light 24
Although not shown in detail, the 0 and the guide flag 243 are attached by a band provided on an upper half body supporting frame portion 254, which will be described later, which constitutes the installation table device 250 as shown in FIG.

The mounting table device 250 for mounting and supporting the robot main body 151 described above is constructed by combining pipe materials, and has a robot body including an upper frame portion 251, a lower frame portion 252 and an outer peripheral frame portion 253. The main body 151 includes an upper body supporting frame portion 254 that supports the upper body portion 152, a pair of rear installation legs 255, and a pair of front installation legs 256.

In the mounting table device 250 composed of these frame parts, the internal space fixedly supports the lower body part 153 of the robot body 151 as described later, and the upper body part folded with respect to the lower body part 153. It is configured as a storage unit 250A having a sufficient space for storing 152, the left arm unit 157 or the right arm unit 156, which is the fixed arm removed from the upper body 152, and the display plate 8. In addition, the mounting table device 25
At 0, the guide light 240 and the guide flag 243 forming the above-mentioned guide means are attached.

Also, the mounting table device 250 includes the storage section 250.
When the robot body 151 is stored in A, a cover 259 is attached as shown in FIG. The cover 259 is formed of a waterproof sheet having a shape that covers at least the front surface, both side surfaces, and the upper surface of the mounting table device 250. Further, the cover 259 has a portion of the back surface side thereof covered by a portion 259A extended from the upper surface adhered portion and a peripheral frame portion 25 formed by a string provided at an appropriate position.
Tied to 3. Example Traffic guidance robot 150
As described above, by covering the robot main body 151 with the cover 259 when not in use, the robot main body 151 is prevented from being soiled, and is treated so as not to surprise people around it.

Although not described in detail, the upper frame portion 251 constituting the mounting table device 250 is formed by combining pipe materials in a rectangular shape so as to surround the waist portion 13 of the lower body 153 of the robot body 151, and is not shown. By joining the attachment plates, the hollow portion 214 of the lower body 153 is closed and the waist 13 is fixedly supported. In the upper frame portion 251, the robot body 151 is attached to the frame material on the front side.
A first hinge member 247 for rotatably supporting the upper half body portion 152 is provided.

The first hinge member 247 is composed of a base portion made of a pipe material having a diameter slightly larger than the diameter of the frame material, and an attachment piece integrally formed on the base portion by welding or the like. The first hinge member 247 has its base portion penetrated by the frame material of the upper frame portion 251, and is attached to the robot body 151 by screwing or welding an attachment piece to the body frame structure 22. Therefore, in the robot body 151, the upper half body part 152 is rotatably combined with the installation base device 250 with the first hinge member 247 as a fulcrum, in other words, with respect to the lower half body part 153 fixed to the installation base device 250 side. The upper body part 152 is configured to be foldable.

The lower frame portion 252 is formed by combining pipe materials into a rectangular shape, and presents a rectangular shape having an outer dimension in which the length dimension in the front-rear direction is slightly larger than that of the upper frame portion 251. On the lower frame portion 252, a mounting table 260 is formed so that a bottom plate is formed between the frame materials on both sides.
Is fixed across the bridge. Further, on the lower frame portion 252, a pair of lock bracket members 264, which constitute an installation leg lock mechanism 263 for holding the rear installation legs 255, are erected on both frame members.

Further, in the lower frame portion 252, the upper half body portion support frame integrated with the upper half body portion 152 in the state where the upper half body portion 152 is stored in the storage portion 250A on the front side frame material as described later. A pair of lock bracket members 276 forming a first upper body supporting frame lock mechanism 275 for holding the portion 254 are respectively provided upright. In addition, the lower frame portion 252
Although not shown in the drawings, after the upper body 152 is upright with respect to the lower body 153 as described later, the upper body 1
By holding the upper body support frame portion 254 which is released from the engagement state with 52 and rotated, the upper body portion 1
A pair of lock bracket members forming a second upper body supporting frame lock mechanism for holding 52 in an upright state are provided upright. Since the first upper half body supporting frame lock mechanism 275 and the second upper half body supporting frame lock mechanism have a longitudinally symmetrical structure, only the first upper half body supporting frame lock mechanism 275 will be described later. To do.

The lower frame portion 252 has a mounting table 260.
The lower body portion 153 of the robot body 151 is supported by fitting the mounting portions 217A and 217B formed at the lower ends of the left and right foot portions 215 and 216 to the mounting portions (not shown) provided on the robot main body 151. As described above, the robot body 151 is supported in a state where the upper and lower end portions of the lower body 153 are upright by the upper frame portion 251 and the lower frame portion 252 of the installation table device 250.

The outer peripheral frame portion 253 is composed of four pipe members that connect the corner portions of the upper frame portion 251 and the lower frame portion 252 described above. As shown in FIG. 29, the upper two frame members of the outer peripheral frame portion 253 are bent horizontally toward the rear side so that the upper frame portion 2 is not bent.
The frame members on both sides of 51 are formed, and the tip portions thereof are slightly curved and projected upward, so that the handle portions 257 are formed.
Is composed.

In the outer peripheral frame portion 253, a rear installation leg 255 is rotatably attached to the rear frame member in the lateral direction, and a front installation leg 256 is slid in the height direction on the front frame member. It is freely assembled. Further, as shown in FIG. 30, the outer peripheral frame portion 253 is integrally provided with caster brackets 261 that project rearward and support the casters 258 on the rear frame material by welding or the like. .

As shown in FIG. 46, the caster bracket 261 is made of a substantially trapezoidal metal plate having mechanical strength, one end side of which is attached to the frame member on the rear side of the outer peripheral frame portion 253 to form the caster 258. The support shaft 262 is supported. Since the length dimension of the caster bracket 261 is slightly larger than the diameter dimension of the caster 258, the free end side of the caster bracket 261 is slightly protruded rearward with respect to the peripheral surface of the caster 258 in the region of the arrow.

The installation table device 250 has the handle 257 described above.
45, depending on the configuration of the caster bracket 261 and the caster bracket 261.
As shown in, when not in use, it can be placed horizontally in a stable state. That is, since the installation table device 250 is placed horizontally, the four points of the pair of grips 257 and the free end of the caster bracket 261 are grounded, so that the installation table device 250 can be placed in a stable state without using stopper means or the like. It is said that

The installation base device 250 can be installed by the rear installation legs 255 and the front installation legs 256 in a stable state with the robot main body 151 in an upright posture regardless of the road surface condition. The rear installation leg 255 is
As shown in FIG. 54, the installation leg frame member 270 made of a pipe material and the first hinge portion 2 integrated with the upper and lower ends of the installation leg frame member 270 by welding or the like.
69A, a second hinge portion 269B, an adjuster leg 272 made of a frame material combined with the installation leg frame material 270, and an adjuster leg locking mechanism 274 for locking the adjuster leg 272 at a predetermined position.

The first hinge portion 269A and the second hinge portion 269B are made of a frame material having a diameter slightly larger than the diameter of the frame material on both sides of the outer peripheral frame portion 253, and each of the frame materials on both sides is axially mounted. By doing so, the installation leg frame member 270 is rotatably combined with the outer peripheral frame portion 253 in the lateral direction. Although details are omitted, the first hinge portion 269A has a U-shaped upper end portion.
A groove having a V-shape is formed, and the outer peripheral frame portion 2 is formed in this groove.
When the stopper pins provided on the frame members on both sides of 53 are engaged with each other, the installation leg frame member 270 is locked in the rotational direction.

The adjuster leg 272 is supported by the bracket member 271 integrally attached to the installation leg frame member 270 by welding or the like, and the installation leg frame member 27 is supported by the bracket member 271.
It is combined slidably in the height direction with respect to 0. An installation plate 273 is attached to the lower end of the adjuster leg 272 via a universal joint mechanism whose details are omitted. The installation plate 273 is formed in the shape of a shallow disk, and is installed parallel to the road surface even if the adjuster leg 272, which is the base portion, is tilted by the universal joint mechanism. The installation plate 273 is also attached to the lower end of a front installation leg 256, which will be described later, so that the same reference numeral is given.

The adjuster leg locking mechanism 274 is incorporated between the bracket members 271. As shown in FIG. 55, one end of the adjuster leg locking mechanism 274 is rotatably supported by the bracket member 271 and a guide hole through which the adjuster leg 272 penetrates. Lock lever 285 and adjuster leg 272
A lock piece 286 with which the lock lever 285 in the locked state is engaged, and a member such as a lock spring 287 that urges the lock lever 285 toward the lock piece 286 to lock the adjuster leg 272. There is.

The adjuster leg locking mechanism 274 resists the elastic force of the lock spring 287 and lock lever 285.
By pushing down, the engagement state between the lock lever 285 and the lock piece 286 is released and the adjuster leg 27 is released.
2 is slidable with respect to the installation leg frame member 270. Thereafter, the adjuster leg 272 is appropriately slide-operated with respect to the height installation leg frame member 270 as shown by the arrow in the figure to adjust the protrusion amount, thereby adjusting the height of the installation base device 250. . In the adjuster leg lock mechanism 274, the lock lever 285 is released so that the lock spring 287 is released.
The lock piece 286 again engages with the elastic force of the lock lever 286 to lock the adjuster leg 272.

The adjuster leg lock mechanism 2 described above is used.
Although 74 has been described as being on the side of the rear installation leg 255, the adjuster leg lock mechanism 274 having the same configuration is also used for the front installation leg 256, as indicated by the same reference numeral. In this case, the adjuster leg lock mechanism 274 is disposed directly on the frame material on the front side of the outer peripheral frame portion 253, and the front installation leg 256 is slid on this frame material to adjust the height. .

As described above, in the installation table device 250, the rear installation legs 255 are greatly expanded to the side by the first hinge mechanism 269A and the second hinge mechanism 269B, and the adjuster leg lock mechanism 274 is used. The adjuster leg 272 of the rear installation leg 255 and the front installation leg 256 are each slid to be set to an optimum state according to the condition of the road surface, so that the adjuster leg 272 and the front installation leg 256 are firmly installed.

On the other hand, the above-mentioned rear installation leg 255 is shown in FIG.
As shown in FIG. 8, it is configured so that it is housed on the side of the installation table device 250 so as not to get in the way at the time of transportation, and this installed state is held by the installation leg lock mechanism 263. The installation leg locking mechanism 263 is shown in FIGS.
As shown in FIG. 11, a pair of lock bracket members 264 provided upright on the lower frame portion 252, a lock plate 266 and a lock spring 268 rotatably combined with the lock bracket member 264 via a support shaft 267.
It consists of and.

The lock bracket member 264 has an engaging groove portion which is opened at a side edge thereof with an opening dimension slightly larger than the diameter dimension of the installation leg frame member 270 and is extended downward. A hook-shaped notch 265 having 265A is provided. The lock plate 266 is supported slightly above the notch 265 by a support shaft 267 that is erected on the lock bracket member 264. The lock plate 266 is supported at its upper side edge by the lock bracket member 26.
A stopper portion 266A that is relatively engaged with the side edge of No. 4 is integrally bent. Also, the lock plate 266 is
The lower end portion formed in an arc shape has a lock bracket member 26.
It faces the inside of the notch 265 of 4 and comprises the locking part 266B. As shown in FIG. 49, the distance between the engaging portion 266B and the engaging groove portion 265A is set to the installation leg frame member 270.
It is slightly larger than the diameter dimension of.

As shown in FIGS. 49 and 50, the lock spring 268 has a coiled base portion mounted on the support shaft 267, one end fixed to the lock bracket member 264 side, and the other end fixed to the lock plate 266. It is composed of a fixed torsion spring. The lock spring 268 gives the lock plate 266 a habit of turning counterclockwise in FIG. 49. Therefore, in the lock plate 266, as shown by the solid line in the figure, the stopper portion 266A is relatively engaged with the side edge of the lock bracket member 264, and the locking portion 266B has the opening dimension of the cutout portion 265 of the installation leg frame member 270. It is slightly smaller than the diameter dimension.

In the installation leg lock mechanism 263 configured as described above, when the rear installation leg 255 is rotated to the installation base device 250 side, the installation leg frame member 270 causes the cutout portion 265 of the lock bracket member 264. To face the lock plate 266. When the rear installation leg 255 is further rotated, the installation leg lock mechanism 263 causes the installation leg frame member 270 to rotate the lock plate 266 clockwise in FIG. 49 against the elastic force of the lock spring 268. To reach the inside of the engaging groove portion 265A.

The installation leg lock mechanism 263 has a lock plate 266 which is rotated by the elastic force of the lock spring 268 to return to the initial position when the installation leg frame member 270 is located in the engagement groove portion 265A. Hold 270 locked. in this way,
The rear installation leg 255 is firmly housed and held on the installation base device 250 side by the installation leg lock mechanism 263, and there is no inconvenience that the rear installation leg 255 is deployed during transportation or the like. In addition, the rear installation leg 255 is used for the lock spring 2
By pressing the lock plate 266 against the elastic force of 68, the locked state of the installation leg frame member 270 by the lock plate 266 is released and the operation is expanded from the outer peripheral frame portion 253.

The installation table device 250 includes the robot body 15
An upper half body supporting frame portion 254 supporting the upper half body portion 152 is rotatably combined with the upper frame portion 251. This upper body support frame portion 254
Is folded with respect to the lower body part 153 and is stored in the storage part 250.
The upper body part 152 that holds the upper body part 152 housed in A is constructed and also constitutes an operation part when the upper body part 152 is raised from within the housing part 250A to stand upright with respect to the lower body part 153.
Hold 52 upright.

The upper body supporting frame portion 254 is shown in FIG.
Also, as shown in FIG. 29, pipe members are combined to form a vertically long rectangular frame having an outer dimension sufficient to support the back of the upper body 152 of the robot body 151. The upper half body supporting frame portion 254 is provided with a second hinge member 248 on the frame member at the lower end portion so as to be rotatably combined with the upper body portion 152. Although not described in detail, the hinge member 248 includes a base portion made of a pipe material having a diameter slightly larger than the diameter of the frame material on the lower end side, and a mounting piece integrally formed on the base portion by welding or the like. .

The second hinge member 248 has its base portion penetrated by the frame member on the lower end side of the upper body supporting frame portion 254, and the mounting piece is attached to the rear body frame structure 22B.
It is attached to the robot body 151 by screwing or welding to the lower end of the. Therefore, the upper body supporting frame portion 254 is rotatably combined with the upper body portion 152 of the robot body 151 with the second hinge member 248 as a fulcrum. It should be noted that, as shown in FIG. 47, the frame material on the lower end side of the upper body supporting frame portion 254 is such that both ends abut against the frame material on both sides of the upper frame portion 251 when the robot body 151 is upright. It has a sufficient length dimension.

The upper body supporting frame portion 254 and a latch mechanism 282 constituting a first lock mechanism for integrally combining with the upper body portion 152 of the robot body 151,
An upper half body supporting frame lock mechanism 275 that constitutes a second lock mechanism for being held in the storage portion 250A of the installation table device 250 is provided. That is, as shown in FIGS. 29 and 47, the latch mechanism 28 is attached to the support plate 281 attached to the upper body supporting frame portion 254 so as to bridge between the frame members on both sides.
2 are provided.

Although not described in detail, the latch mechanism 282 is provided with a push button member and a lock piece that is operated by pushing the push button member to move from a protruding state to a stored state. And the engaging portion 24 provided on the back of the upper body 152 of the robot body 151.
It is relative to 9. Therefore, the upper body supporting frame portion 254 is strongly pressed against the back of the upper body 152 as shown in FIG.
The second lock piece is relatively engaged with the engaging portion 249 of the upper body 152 to be integrated.

The upper body support frame portion 254 is
By pressing the push-button member of the latch mechanism 282, the lock piece is housed inside and the upper body portion 15 is moved.
The engagement state with the second engagement portion 249 is released. As a result, the upper body support frame portion 254 causes the upper body portion 15 of the robot body 151 to move through the second hinge mechanism 248.
It is independently rotated with respect to 2.

The upper body supporting frame portion 254 includes a first upper body frame locking mechanism 275 and a second body (not shown).
The upper half body frame lock mechanism holds the lower frame portion 252 at the front side position or the rear side position. As described above, the upper body support frame portion 25
4 is locked by the first upper body frame locking mechanism 275 at a position on the front side of the lower frame portion 252, and thereby holds the upper body portion 152 of the robot body 151 in the storage portion 250A. The upper body supporting frame portion 254 is locked by the second upper body frame locking mechanism at the rear side position of the lower frame portion 252, so that the upper body portion 152 of the robot body 151 is upright with respect to the lower body portion 153. Hold on.

As shown in FIGS. 51 to 53, the upper half body frame lock mechanism 275 is provided with a pair of lock bracket members 276 erected on the lower frame portion 252 and the lock bracket members 276 which are vertically spaced apart from each other. It is composed of a lock plate 278 and a lock spring 280 whose one end side is supported via a mounting screw 279.

The lock bracket member 276 is provided with an arcuate engagement groove 277 which is opened at a side edge thereof with an opening dimension slightly larger than the diameter dimension of the upper half body supporting frame portion 254. ing. The lock plate 278 is
It is configured by bending from the center to a height direction in a cross section in a height direction, and is attached to a mounting screw 279 provided on the lock bracket member 276 on the side of the engagement groove 277, and the free end side is outside. It is supported in an open state toward. The inner surface of the lock plate 278 on the free end side is the guide portion 278.
A cutout groove 278B having a groove width slightly larger than the diameter dimension of the upper body supporting frame portion 254 is provided from the bent portion toward the mounting portion side.

Further, the lock plate 278 is gently supported in a state in which it is prevented from coming off from the mounting screw 279, and is inserted between the head of the mounting screw 279 as shown in FIG. The elastic force of the lock spring 280 urges the lock bracket member 276 side.
Therefore, the lock plate 278 is normally held in a state where the inner surface on the mounting portion side is in contact with the side surface of the lock bracket member 276, as shown by the solid line in the figure.

In the upper body frame locking mechanism 275 configured as described above, when the upper body supporting frame portion 254 is rotated, the tip end of the frame material abuts the guide portion 278A of the lock plate 278. . When the upper body supporting frame portion 254 is further rotated, the upper body frame locking mechanism 275 locks the lock plate 27.
The frame member 8 is pushed out by the frame member in the clockwise direction against the elastic force of the lock spring 280, as shown by the chain line in FIG. The upper body frame lock mechanism 275 uses the cutout groove 2 formed from the frame material that pushes the lock plate 278 apart.
78B into the lock spring 280 again
The lock plate 278 is returned to the initial position by the elastic force of.

The upper body frame locking mechanism 275 thus holds the end of the frame material of the upper body supporting frame portion 254 in the notched groove 278 as shown in FIG. The upper body supporting frame portion 254 is firmly held by the upper body frame locking mechanism 275. The upper body supporting frame portion 254 pushes the lock plate 278 laterally against the elastic force of the lock spring 280, so that the upper body frame locking mechanism 2
The locked state by 75 is released.

The handling operation of the embodiment traffic guidance robot 150 configured as described above will be described with reference to FIG. The traffic guidance robot 150 is shown in FIG.
As shown in FIG. 5, the robot body 151 folds the upper body part 152 with respect to the lower body part 153, and the installation table device 250 is installed.
And is stored in a horizontal position with the handle 257 and the caster 258 (caster bracket 261) as the grounding point. Although not shown, a cover 259 is attached to the traffic guiding robot 150 to prevent dust and the like from adhering thereto.

The traffic guiding robot 150 is shown in FIG.
As shown in (1), the grip 257 is gripped and one side is lifted, and the caster 258 is used to convey it to a predetermined installation place. Then, when the traffic guiding robot 150 is transported to the place where it should be installed, the traffic guiding robot 150 is temporarily installed with the installation table device 250 standing upright as shown in FIG. Thereafter, the traffic guiding robot 150 releases the first upper body frame locking mechanism 275 and pivotally operates the upper body supporting frame portion 254 with the first hinge member 247 as a fulcrum. As shown in FIG. 7E, the upper body 152 is raised with respect to the lower body 153.

The traffic guiding robot 150 is shown in FIG.
As shown in FIG.
In the upright state, the latch mechanism 249 is operated to release the engagement state between the upper body part 152 and the upper body part support frame part 254. In the traffic guiding robot 150, the upper body supporting frame part 254 is rotated about the second hinge member 248 as a fulcrum, and the second upper body part frame locking mechanism moves the upper body supporting frame part 254 to the lower frame part 252. Hold in locked state.

[0240] The traffic guiding robot 150 has the upper body supporting frame portion 2 thus held in the locked state.
54, the upper body 152 to the lower body 153
Is firmly held in an upright position. In the traffic guiding robot 150, a left arm unit 157 (or a right arm unit 156), which is a fixed arm, is attached to a body unit 155 as shown in FIG.
The guide light 240 is attached to 03. A guide flag 243 is attached to the guide light 240.

In the traffic guiding robot 150, the rear leg 25 is released by releasing the leg lock mechanism 263.
After the 5 is unfolded at a predetermined angle with respect to the outer peripheral frame portion 253, the adjusting leg lock mechanism 274 is released to adjust the height. Similarly, the traffic guidance robot 1
50 is an adjusting leg lock mechanism 2 of the front installation leg 256.
74 is released and height adjustment is performed, and the height is adjusted to a predetermined height position corresponding to the state of the road surface.

In the traffic guiding robot 150, after the above setting operation is completed, the power cord is connected to the commercial power source and the power switch 235 is operated to drive the drive motor 3.
Power is turned on. The traffic guidance robot 150
As shown in FIG. 3H, the right arm 15 repeatedly performs the arm swinging motion from the horizontal position to the overhead position and the bending and stretching motions of the right forearm 19 by the operation of the drive motor 30.
Instruct the driver to change course.

According to the embodiment traffic guidance robot 150 configured as described above, handling is extremely simple, and the movable arm has a natural movement mode almost equivalent to that of a traffic guide. In order to always guide the lane change accurately, the reliable traffic guidance is performed.

[0244]

As described in detail above, according to the traffic guiding robot of the present invention, the movable arm is installed on the construction site and the driving means is activated, so that the movable arm uses the shoulder as a fulcrum. A swinging motion in which the forearm gradually bends around the elbow as a fulcrum in conjunction with the swinging motion that is greatly swung up from the horizontal position to the overhead position, and further swings down from the overhead position to the horizontal position with the shoulder as the fulcrum. The forearm gradually expands around the elbow as a fulcrum in conjunction with the descending motion, so that the movable arm moves almost as naturally as a traffic guide, and the moving vehicle is moving. Make sure to signal the person to change course. Therefore, the traffic guiding robot guides traffic with a reliable operation for a long time even under adverse conditions such as nighttime and rainy weather to prevent an accident.

Further, according to the traffic guiding robot of the present invention, the upper body part and the lower body part are configured to be foldable, and the folded upper body part is housed in the frame part supporting the lower body part and this frame part is provided. By configuring the as a portable installation table, it is possible to reduce the size and weight as a whole and to make the handling extremely simple.

[Brief description of drawings]

FIG. 1 is an explanatory diagram for explaining a method of traffic guidance on a road using a traffic guidance robot according to the present invention.

FIG. 2 is an overall front view showing a first embodiment of the traffic guiding robot according to the present invention, with a part of the exterior cut out for explaining the internal mechanism.

FIG. 3 is a front view illustrating a lane change guiding operation by the traffic guiding robot.

FIG. 4 is a view showing a part of a body part of the same traffic guidance robot in order to explain a configuration of a mechanism part for performing a swinging motion of a right arm and a bending / extending motion of a right forearm, which are configured as movable arms. FIG. 3 is a front view of the upper half of the body shown with the outer body removed and with the outer body removed, with the right arm in a horizontal state.

FIG. 5 is a partially cutaway horizontal sectional view of the mechanism section.

FIG. 6 is an exploded perspective view illustrating the basic configuration of the mechanism section.

FIG. 7 is a perspective view of relevant parts for explaining a state in which the movable arm is held in a locked state by the mechanism.

FIG. 8 is an explanatory diagram of a lane change guiding operation of the traffic guiding robot, showing a state in which a right arm portion configured as a movable arm portion is in a horizontal position.

FIG. 9 is an explanatory diagram of a lane change guiding operation by the traffic guiding robot, showing a state in which the right arm is in a position in the middle of the operation.

FIG. 10 is an explanatory diagram of a lane change guiding operation by the same traffic guiding robot, showing a state in which the right arm is in a position where the right arm is swung up overhead.

FIG. 11 is a front view of a traffic guiding robot having a waist as a movable part, which is shown as a second embodiment of the present invention.

FIG. 12 is a front view of relevant parts for explaining a drive unit and a drive force transmission mechanism that transmits the drive force of the drive unit, which form the mechanical unit of the same traffic guidance robot.

FIG. 13 is a side view of essential parts for explaining the drive means and a drive force transmission mechanism for transmitting the drive force thereof.

FIG. 14 is a side view of a main part of the driving force transmission mechanism.

FIG. 15 is a side view of a drive motor that constitutes the same mechanical section.

FIG. 16 is a front view of a traffic guiding robot mounted on a portable installation base, which is shown as a third embodiment of the present invention.

FIG. 17 is a side view of the same traffic guidance robot.

FIG. 18 is a front view of a traffic guiding robot mounted on an installation base made of a pipe material, which is shown as a fourth embodiment of the present invention.

FIG. 19 is a front view of a main part of a traffic guiding robot mounted on a portable installation table having a storage part according to a fifth embodiment of the present invention.

FIG. 20 is a side view of a main part of the traffic guiding robot.

FIG. 21 is a front view of essential parts showing a state where the upper half of the robot body is folded in the same traffic guidance robot.

FIG. 22 is a side view of essential parts showing a state where the upper half of the robot body is folded in the same traffic guidance robot.

FIG. 23 is a side view of essential parts showing a state in which the robot body is housed inside an installation stand in the same traffic guidance robot.

FIG. 24 is a perspective view showing a basic configuration of a traffic guiding robot mounted on a portable installation table having a robot body made of a pipe material, which is shown as a sixth embodiment of the present invention.

FIG. 25 is a perspective view showing a state in which the upper half of the robot body is folded in the same traffic guidance robot.

FIG. 26 shows a seventh embodiment of the present invention, in which the robot main body whose right arm is configured as a movable arm is mounted on a portable installation table device made of pipe material and installed at a construction site or the like. FIG.

FIG. 27 is a perspective view showing a state in which, in the same traffic guidance robot, a robot main body whose left arm is configured as a movable arm is installed in a portable installation table device made of pipe material and installed at a construction site or the like. Is.

FIG. 28 is a perspective view showing a state in which the upper half of the robot body is folded and stored inside the installation table device.

FIG. 29 is a perspective view showing a state in which constituent members of a robot body such as a fixed arm portion are housed together with a folded upper body portion inside an installation table device.

FIG. 30 is a perspective view showing a state in which a cover is attached to an installation table device that accommodates constituent members of the robot body such as an upper body part and a fixed arm part that are folded inside.

FIG. 31 is an exploded perspective view of relevant parts for explaining a helmet mounting operation of a head unit that constitutes the robot body.

FIG. 32 is a partially cutaway side view of the head unit.

FIG. 33 is an exploded perspective view illustrating a configuration of an exterior body of each part of the robot body.

FIG. 34 is a perspective view showing an exterior body of the upper half of the body.

FIG. 35 is a perspective view showing an exterior body of a body unit that constitutes the upper body.

FIG. 36 is a perspective view showing an exterior body of an upper right arm unit that constitutes the upper half of the body.

FIG. 37 is a perspective view showing an exterior body of the right forearm unit that constitutes the upper body.

FIG. 38 is an exploded perspective view illustrating the configuration of a split uniform that is attached to each part of the robot body.

FIG. 39 is a front view showing the internal mechanism section of the robot body, showing a state in which the right arm section configured as a movable arm section is swung up.

FIG. 40 is a perspective front view for explaining the mechanism section, showing the right arm in a horizontal state.

FIG. 41 is a perspective front view illustrating a body unit of the robot body.

FIG. 42 is a perspective side view of the body unit.

FIG. 43 is a perspective front view for explaining the configurations of a right shoulder joint drive mechanism and a right elbow joint drive mechanism arranged on the right arm portion that is the movable arm portion of the robot body.

FIG. 44 is a perspective plan view illustrating the configurations of a right shoulder joint drive mechanism and a right elbow joint drive mechanism arranged in the same right arm.

FIG. 45 is a perspective view showing a state in which the installation table device in which the upper half of the robot body is folded and stored inside is horizontally placed.

FIG. 46 is a side view of the main parts for explaining the support part of the casters provided in the installation table device.

FIG. 47 is a side view of essential parts for explaining the unfolding operation of the upper half body supporting frame portion that supports the upper half body portion of the robot body.

FIG. 48 is a perspective view of essential parts showing a lock mechanism of an installation leg portion provided in the installation table device.

FIG. 49 is a side view of a main part of the lock mechanism of the installation leg.

FIG. 50 is a front view of the main part of the lock mechanism of the installation leg.

FIG. 51 is a perspective view of a main part showing a lock mechanism of an upper body supporting frame part.

FIG. 52 is a side view of a main part of the upper body supporting frame part.

FIG. 53 is a front view of relevant parts for explaining the locking operation of the upper half body supporting frame by the locking mechanism.

FIG. 54 is a perspective view of essential parts for explaining the unfolding operation of the installation leg portion provided on the installation table device.

FIG. 55 is a perspective view of relevant parts for explaining an adjusting operation of the adjusting mechanism provided on the installation leg portion.

FIG. 56 is a perspective view of relevant parts for explaining an operation of assembling the left arm configured as a fixed arm into the body unit.

FIG. 57 is a perspective view of relevant parts for explaining a handling operation of the electrical component unit arranged in the body unit.

FIG. 58 is a perspective view of relevant parts for explaining the operation of attaching the guide light forming the guide means to the hand of the right arm formed as the movable arm.

FIG. 59 is a perspective view of relevant parts for explaining a state where a guide flag is attached to the guide light.

FIG. 60 is a partially cutaway front view illustrating the configuration of the guide flag.

[Fig. 61] Fig. 61 is an explanatory diagram of handling of the traffic guiding robot until it is transported and installed.

[Explanation of symbols]

3 Vehicle 7 Guide Light 8 Display Board 10 Traffic Guidance Robot 12 Body part 13 Lumbar part 15 Right arm part 16 Left arm part 17 Right mold part 18 Right elbow part 19 Right hand part 22 Body part frame structure 24 Right shoulder bracket member 26 Right arm part frame Structure 27 Right arm tip end frame structure 30 Drive motor (driving means) 31 Link mechanism 32 Right shoulder transmission drive mechanism (first transmission drive mechanism) 33 Right elbow transmission drive mechanism (second transmission drive mechanism) 35 Output shaft 36th 1 link member 37 link lever 38 second link member 40 support shaft 42 right shoulder drive chain wheel 43 right shoulder rotation support shaft 44 driven chain wheel 45 chain 46 coil spring (damper means) 48 right elbow drive chain wheel 54 right Elbow rotation support shaft 55 Driven chain wheel 56 Chain 57 Coil spring (damper means) 60 Second Example Traffic guiding robot 80 Mounting table 90 Third example Traffic guiding robot 100 Fourth example Traffic guiding robot 102 Mounting table 120 Fifth example Traffic guiding robot 121 Robot body 122A Upper body 122B Lower body Part 125 A mounting table in which a storage part for a robot body is formed 130 Sixth embodiment Traffic guidance robot 131 Robot body 132A Upper body part 132B Lower body part 133 Mounting table 150 made of pipe material 150 Seventh embodiment Traffic Guidance robot 151 Robot body 152 Robot body upper body 153 Same lower body 250 Installation base device 251 Upper frame 252 Lower frame 253 Peripheral frame 254 Upper body support frame

Claims (42)

[Claims] 1. A structure imitating a human body, which is installed so as to face an approaching direction of a vehicle or the like, and one arm portion is a movable arm portion and a guiding means is provided in a hand portion. In the traffic guidance robot, the movable arm moves up from the shoulder joint to raise the entire arm from a substantially horizontal position above the head, and lowers the arm to swing down the entire arm to a substantially horizontal position. A first motion of repeating the motion and an elbow bending motion and a first motion of gradually bending the forearm from the elbow joint to the head side in conjunction with the arm raising motion of the first motion. For traffic guidance, characterized by performing a second motion of repeating the elbow extension motion of extending the forearm part in the bent state in conjunction with the arm lowering motion of the arm from the elbow joint part to the initial position robot. 2. The traffic guiding robot according to claim 1, wherein each of the body parts is installed in a state of slightly facing the traveling direction of the vehicle or the like. 3. A state in which the movable arm part is fixed to the body part side and is slightly inclined forward with respect to a vertical plane with respect to the arm part support bracket member that constitutes the fixed part side of the shoulder joint part. The rotatably supported by, the hand is positioned slightly obliquely upward and forward with respect to the head when the arm is raised in the first movement. The traffic guidance robot described in. 4. The movable arm is moved up from the substantially horizontal state to a position of about 80 ° diagonally upward in the first motion, and the forearm is moved by the second motion. The traffic guiding robot according to any one of claims 1 to 3, wherein an elbow bending operation is performed to bend the elbow joint from the elbow joint to a position of about 40 °. 5. The waist portion is configured as a movable portion which is vertically swingable with one of the left and right sides as a fulcrum, and the other side is interlocked with the first movement and the second movement of the movable arm portion. The traffic guiding robot according to any one of claims 1 to 4, wherein the upper half of the body swings. 6. The other arm portion is configured as a fixed arm portion that is assembled in a state of being extended in a horizontal state with respect to the body portion of the upper body, and the fixed arm portion displays the traveling direction of the vehicle or the like. The traffic guidance robot according to any one of claims 1 to 5, further comprising guidance display means. 7. A human body configured as a movable arm part by installing each body part so as to face each other in an approaching direction of a vehicle and the like, and one arm part being rotatable by a shoulder joint part and an elbow joint part. In a traffic guidance robot of a model similar to the above, the driving means and the driving force transmission mechanism arranged inside the body portion, and the driving force of the driving means being transmitted to the shoulder joint portion via the driving force transmission mechanism. By this, the entire movable arm is driven to perform an arm raising operation of swinging up from a substantially horizontal position above the head and a arm lowering operation of swinging down from the swinging position to a substantially horizontal position with the shoulder joint as a fulcrum. By transmitting the driving force of the driving means to the elbow joint through the driving mechanism and the driving force transmission mechanism, the forearm of the movable arm works in conjunction with the arm raising operation to move from the elbow joint to the head side. Elbow bending motion and arm lowering to gradually bend The elbow joint drive mechanism, which drives the elbow joint to extend the bent forearm from the elbow joint to the initial position in conjunction with the movement, constitutes the mechanism and the shoulder of this mechanism The joint driving mechanism and the elbow joint driving mechanism have a common driving means, which is a traffic guiding robot. 8. A drive force transmission mechanism constituting a mechanism section includes a first link member that is repeatedly swung by a drive unit, and a second link member that drives a shoulder joint drive mechanism and an elbow joint drive mechanism. , The link mechanism consisting of a link lever connecting these link members, and the movable arm is locked by setting the link mechanism to a deadlock state when not in use, such as during transportation. The traffic guiding robot according to claim 7, wherein the traffic guiding robot is held by the vehicle. 9. A main rotating body on the driving side, which is repeatedly rotated by the driving force of the driving means transmitted through the driving force transmitting mechanism, a shoulder joint rotating body on the driven side, and these rotating bodies are connected to each other. A shoulder joint drive mechanism composed of a connecting body, a drive-side main rotary body that is repeatedly rotated by the drive force of the drive means transmitted through the drive force transmission mechanism, and a plurality of intermediate rotary bodies, The elbow joint drive mechanism composed of the driven elbow joint rotating body and the connecting body connecting these rotating bodies constitutes a mechanical section, and the shoulder joint drive mechanism and the elbow joint drive mechanism of the mechanical section are , The respective main rotating bodies are fixed to the rotation direction on the same support shaft that is supported by the arm supporting bracket member that is disposed on the body portion and rotatably supports the base end portion of the movable arm portion. While being supported, the shoulder joint drive mechanism rotates the shoulder joint. 9. One of the intermediate rotating bodies of the elbow joint drive mechanism is rotatably supported on the shoulder joint axis fixed in the rotational direction, and is configured to be rotatable. Traffic guidance robot. 10. A shoulder joint drive mechanism in which a connecting body is composed of an endless connecting body whose both ends are connected by spring means, and one end of the connecting body is fixed to a main rotating body and the other end is a shoulder joint rotating body. And an elbow joint drive mechanism configured by a connecting body fixed via spring means after being engaged with the spring means of the shoulder joint drive mechanism and the elbow joint drive mechanism, respectively. The traffic guiding robot according to any one of claims 7 to 9, which has a damper action of absorbing a force or the like. 11. The waist part is configured as a movable part that can swing up and down with one of the waist parts as a fulcrum, and a movable arm drive mechanism and an elbow part drive mechanism are provided via a drive force transmission mechanism. 11. The traffic guide according to any one of claims 7 to 10, wherein the driving force of the driving common driving means is transmitted to cause the movable arm portion to swing together. robot. 12. The body is configured to be separable into an upper body part and a lower body part in a waist part, and a mechanism part is arranged inside the upper body part.
The traffic guidance robot according to any one of 1. 13. The upper body part is an electrical device equipped with an electricity display means for displaying a power-on state, a motor start switch forming a common drive means, a fuse, an AC-DC conversion circuit portion, and other electric parts. The traffic guiding robot according to any one of claims 7 to 12, wherein a unit is provided. 14. The upper body part is provided with a switch means which is closed by being combined with the lower body part to turn on the power to the electrical equipment unit. The traffic guidance robot according to the item. 15. A human body is installed in a state of facing the approaching direction of a vehicle or the like, and one arm is a movable arm, and a hand is provided with a guiding means to imitate a human body. In a traffic guidance robot, a body unit provided with a driving means and a driving force transmission mechanism, and an arm raising motion and a swinging position in which the entire arm is raised from a substantially horizontal position to a head with a shoulder joint as a fulcrum. Shoulder joint drive mechanism that performs arm lowering motion that swings down to a substantially horizontal position, and elbow bending motion and arm lowering motion that gradually bends the forearm part from the elbow joint part to the head side in conjunction with arm raising motion A movable arm unit having a built-in elbow joint drive mechanism for performing an elbow extension operation for extending the forearm portion in a bent state in cooperation with the elbow joint portion to an initial position. The base end is Is rotatably assembled to an arm supporting bracket member that is provided on the seat and constitutes the fixed side of the shoulder joint, and the driving force of the driving means is transmitted to the shoulder joint via the driving force transmission mechanism that constitutes the mechanism section. A traffic guidance robot characterized by being driven by being transmitted to a drive mechanism and an elbow joint drive mechanism. 16. A body is configured to be separable into an upper body part and a lower body part at a waist part, and the upper body part is a body unit provided with a driving means and a driving force transmission mechanism, and is combined with the body unit. Fixed head unit, a movable arm unit that is rotatably supported by the shoulder joint portion with respect to the body unit via an arm supporting bracket member, and a fixed detachable combination with the body unit The traffic guiding robot according to claim 15, wherein the traffic guiding robot comprises an arm unit. 17. The traffic guiding robot according to claim 15, wherein the movable arm unit includes an upper arm unit and a forearm unit. 18. The right arm swing specification and the left arm swing specification are selected by combining the movable arm unit and the fixed arm unit by left and right rearranging and combining with the body unit. The traffic guiding robot according to any one of claims 15 to 17. 19. A lower body part constituted by an exterior body integrally molded of a synthetic resin material, each unit being attached to each part frame substrate made of metal which constitutes a core material, and each part frame substrate. It is composed of an upper body composed of each part exterior body made of synthetic resin combined in this way, and each exterior body is covered with a uniform except the exterior body of the head unit. The robot for traffic guidance according to any one of claims 15 to 18. 20. In the movable arm unit, an elbow joint shaft forming an elbow joint is supported at the tip of a frame substrate of the upper arm unit, and a hand unit is provided at the tip of the elbow joint shaft. One end of the frame substrate of the supported forearm unit is rotatably supported, and the forearm unit is configured as a hollow part in which a member that constitutes a drive mechanism is not arranged and is guided to the tip. 17. A means supporting part is provided.
20. The traffic guiding robot according to claim 19. 21. The guide means is attached to a tubular body portion of the guide lamp by forming a guide lamp supported by a guide means supporting portion provided on the forearm unit or a bag-shaped mounting portion on one end side. 21. The traffic guiding robot according to claim 20, wherein the guiding flag is detached from the tubular main body of the guiding light at night or the like. 22. Each exterior body of at least the upper half of the body is divided, except for the exterior body of the head unit, and these divided exterior bodies each have a coupling portion with the frame substrate on the inner surface. The connecting studs with screw holes are integrally formed, and the outer surface ribs surrounding the screw holes are formed on the surface corresponding to these connecting studs so as to bulge integrally. The traffic guiding robot according to any one of claims 19 to 21, which is characterized in that. 23. A plurality of drain guide ribs are integrally formed on the surface of each exterior body, excluding the exterior body of the head unit, to bulge out. 23. The traffic guiding robot according to any one of 22. 24. The uniform to be attached to the exterior body,
It consists of a lower body uniform, a torso uniform, and left and right arm uniforms.These uniforms are divided into both side parts and provided with one-touch fasteners on opposite side edges, which are applied to the exterior body of each part of the body. The robot for traffic guidance according to any one of claims 19 to 23, wherein the robot is attached by a one-touch fastener. 25. The traffic guiding robot according to claim 24, wherein a display band having a reflective layer formed on the surface thereof is attached to the body uniform. 26. The body frame is provided with an electrification display unit for displaying a power-on state, an activation switch for the driving unit, and an electrical component unit on which electrical components such as a fuse and an AC-DC conversion circuit unit are mounted. In addition, an opening is formed in the outer body of the body unit corresponding to the start switch of the electrical unit, and the start switch is opened / closed from the outside through the opening. The traffic guiding robot according to any one of claims 19 to 25. 27. The exterior body of the head unit is rotatably combined with the exterior body of the body unit by an engaging portion formed on the neck portion, and the orientation of the face is variable with respect to the approaching direction of a vehicle or the like. 27. The traffic guiding robot according to any one of claims 19 to 26, which is configured to be flexible. 28. The exterior body of the head unit is formed by arranging a spout opening on the top of the head, and the spout opening is covered by a helmet mounted on the head unit. The traffic guiding robot according to any one of claims 19 to 27. 29. The hand portion that constitutes the distal end portions of the movable arm unit and the fixed arm unit is formed in a bag shape using a flexible synthetic resin as a material, and is attached to the core material of each unit. 29. The traffic guiding robot according to claim 15, wherein the traffic guiding robot is configured by an exterior body. 30. The human body is installed in a state of facing the approaching direction of a vehicle or the like, one arm portion is a movable arm portion, and the hand portion is provided with a guiding means to imitate a human body. In a traffic guidance robot, a frame body made of metal to which each member that constitutes the mechanism section of the movable arm is assembled, and an exterior body made of synthetic resin that is assembled so as to adhere to the frame board. A traffic guidance robot comprising an upper body part and a lower body part which is composed of an outer body integrally molded of a synthetic resin material and which is foldably combined with a hinge mechanism. 31. One arm portion, which is installed facing the approaching direction of a vehicle or the like and has a guiding means provided on a hand portion, is a movable arm portion and the other arm portion is a fixed arm portion. In a traffic guidance robot configured in a form imitating a human body, at least the body is fixedly supported by the installation base and the lower body is foldably combined with the lower body through a hinge mechanism, and The driving means, the driving force transmission mechanism, and the upper body part in which the mechanism part for driving the movable arm part including the shoulder joint driving mechanism and the elbow joint driving mechanism is built-in are configured separately, and the installation base is A traffic guidance robot comprising a storage space portion sufficient for storing the upper body portion folded to the lower body portion side via a hinge mechanism together with the lower body portion. 32. The traffic guiding robot, wherein the installation stand is configured as a portable installation stand by providing at least a pair of casters and an installation leg portion. 33. The fixed arm is detachably attached to the body of the upper half of the body, and is attached to the body of the body while being extended horizontally, and the upper half of the body is accommodated in the storage space of the installation table via a hinge mechanism. 33. The traffic guiding robot according to claim 31 or 32, wherein when the vehicle is folded and stored in the unit, it is detached from the body and stored in the storage space. 34. The installation base is a combination of pipe materials,
It is characterized by being constituted by a box-shaped skeleton frame body composed of an upper frame portion and a lower frame portion having a rectangular frame body, and an outer peripheral frame portion connecting four corners of the upper frame portion and the lower frame portion. The traffic guiding robot according to any one of claims 31 to 33. 35. The installation base has a lower body part fixedly supported by the upper frame part and the lower frame part, and a base that is provided on a front frame member of the upper frame part and forms a bottom surface part of the upper body part. A hinge mechanism for rotatably supporting the front part of the upper body is provided, and the upper half of the body is rotated through the hinge mechanism from the state where it is stored in the storage space of the installation table. 35. The traffic guiding robot according to claim 34, wherein the base is supported by and is assembled in an upright state on the lower half of the body. 36. A base of the upper half of the body is provided with an upper half of the body supporting frame located on the rear side and formed of a pipe material so as to be rotatable via a hinge mechanism, and the upper half of the body supporting frame includes the upper half of the upper body. In a state in which they are combined in an upright position on the lower half of the body, the upper half of the body is rotated by a hinge mechanism and locked to the installation base by the locking means provided on the front frame material of the lower frame. 36. The traffic guiding robot according to claim 35, characterized in that the vehicle is held upright. 37. An upper half body supporting frame is provided with a lock mechanism that is detachable from the back of the upper half body, and when the upper half body is upright to the lower half body, the lock mechanism is released to allow installation. 37. The traffic guiding robot according to claim 36, which is pivoted to the side and locked by a locking means provided on the front frame member of the lower frame part to hold the upper half of the body in an upright state. 38. The installation leg is provided with an adjusting mechanism for adjusting a height position relative to the installation table, and the attitude of the installation table is adjusted by the state of the installation surface via the adjustment mechanism. The traffic guiding robot according to any one of claims 32 to 37, wherein: 39. The installation legs are respectively supported by four outer frame members forming an outer frame portion of the installation table, and at least the rear installation legs are provided with two rear outer frame members. , Respectively, are rotatably supported so that they can be set and operated in two positions, that is, a storage position and an installation position that is expanded outward, and are held by locking means provided on the installation table at these two positions. 39. The traffic guiding robot according to claim 38, wherein: 40. The installation base is entirely covered with a cover in a state where the upper half of the body is folded and stored together with the lower half of the body through a hinge mechanism in the storage space and the fixed arm removed from the body is stored. The traffic guidance robot according to any one of claims 31 to 39, wherein: 41. The two rear sides constituting the outer peripheral frame portion
The outer peripheral frame material of the book has a handle part formed by projecting the upper end part and bending toward the rear side, and this handle part also serves as an installation leg when the installation table is placed horizontally. The traffic guiding robot according to any one of claims 33 to 40, wherein: 42. The two outer peripheral frame members on the rear side include:
A pair of brackets for supporting the caster support shaft is formed at the lower end so as to project.These brackets have a length such that the tip of the bracket slightly protrudes from the outer circumference of the caster, and when the installation table is placed horizontally. 34. The tip portion also serves as an installation leg.
42. The traffic guiding robot according to claim 41.