JP2020070584A - Assembly structure, moving structure, and storage device - Google Patents

Abstract

To provide an assembly structure improved in safety by reducing labor when a plate-like member is fixed to an installation column.SOLUTION: An assembly structure comprising: a plurality of installation columns; plate-shaped members each fixed in a predetermined fixed position between oppositely disposed installation columns; a holding mechanism configured to move the plate-shaped member in a holding state in which the plate-shaped member is gripped; and a first locking mechanism configured to fix the plate-shaped member to the installation column, wherein the first locking mechanism automatically fixes the plate-shaped member to the installation columns when the holding state by the holding mechanism is released in a state where the plate-shaped member is moved to the fixed position of the installation columns.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an assembly structure, a moving structure, and a storage device.

  There is known a structure in which a plate-like member such as a panel is fixed to an installed support pillar such as a pillar or a beam with a bolt (for example, refer to Patent Document 1). In Patent Document 1, a bolt is inserted into a groove of an elongated hole formed in an installation column, and after positioning the panel, the panel is fixed to the installation column by tightening a nut screwed with the bolt. A method of doing is disclosed. Patent Document 2 discloses a structure in which two panels are fixed by fitting a female metal piece attached to the side surface of a panel with a male metal piece attached to the side surface of another panel. Patent Document 3 discloses a method in which a crane lifts a plate-shaped member, lowers the plate-shaped member inside a flange of an H-shaped rope so as to pass through the plate-shaped member, and then fixes the plate-shaped member to an installation column by a specially shaped component. Is disclosed.

  Patent Document 4 discloses a structure in which a panel is dropped inside a flange of an H-shaped rope, and a spiral leaf spring is previously arranged inside the flange of the panel and the H-shaped rope. After the panel is dropped, the locking portion that locks the leaf spring in the folded state is released, so that the panel is fixed by the urging force of the released leaf spring. Patent Document 5 discloses a structure in which adjacent solar cell panels are fixed to each other by fitting a concave portion formed on the side surface of one panel and a convex portion formed on the side surface of the other panel. It is disclosed. Patent Document 6 discloses a structure in which an external member is fixed to an installation column by hooking the external member on a bolt-shaped component attached to the installation column.

Japanese Unexamined Patent Publication No. 9-119179 JP, 10-37349, A JP-A-5-10035 JP, 2005-196948, A JP, 10-18468, A JP, 2011-226262, A

  When the structures and methods disclosed in Patent Documents 1 to 6 are used, the plate-shaped member and the like are fixed to the installation column, but the labor such as tightening parts such as nuts to fix the plate-shaped member to the installation column is required. There was a problem of this. In addition, there is room for improvement in safety when the plate-shaped member is fixed to the installation column manually. Further, there is a problem that it is desired to reduce the time and effort of various works performed after fixing such as maintenance for the plate-shaped member fixed to the installation column. Further, when a plurality of plate-shaped members are fixed to the installation column, there is a problem that the plate-shaped members should be more easily transported.

  The present invention has been made to solve at least a part of the above-described problems, and provides an assembly structure in which the time and effort required when a plate-shaped member is fixed to an installation column is reduced and safety is improved. The purpose is to do.

  The present invention has been made to solve at least a part of the problems described above, and can be realized as the following modes.

(1) According to one aspect of the present invention, an assembly structure is provided. This assembly structure includes a plurality of installation columns, a plate-shaped member fixed at a predetermined fixed position between the installation columns arranged facing each other, and the plate in a gripping state in which the plate-shaped member is gripped. A gripping mechanism for moving the plate-shaped member, and a first lock mechanism for fixing the plate-shaped member to the installation column, wherein the first lock mechanism is configured such that the plate-shaped member is moved to the fixed position of the installation column. In this state, when the gripped state by the gripping mechanism is released, the plate member is automatically fixed to the installation column.

  According to this structure, the plate-shaped member fixed between the opposing installation columns is gripped by the gripping mechanism and moved to the fixed position. When the gripped state is released with the plate-shaped member in the fixed position, the plate-shaped member is automatically fixed to the installation column by the first lock mechanism. That is, in the assembled structure of the present embodiment, the release of the grip state after the plate-shaped member is arranged at the fixed position serves as a trigger for fixing the plate-shaped member to the installation column. Therefore, after releasing the gripped state, the work for fixing the plate-shaped member to the installation column by the operator or the like is not necessary, and the labor for fixing the plate-shaped member to the installation column can be reduced. Further, it is possible to improve safety when fixing the plate member to the installation column.

(2) In the assembled structure according to the above aspect, the installation column has a first hole formed in a surface facing the other installation column, and the plate-shaped member includes a plate-shaped main body portion, and A protrusion protruding from the side surface along an axis intersecting with the side surface of the main body portion in a changeable state, arranged in the fixed position, and fitted into the first hole when the protrusion amount is a predetermined amount or more. No. 1 protrusion, a first urging unit for urging the first protrusion in a direction projecting to the outside of the side surface, and a plurality of keyholes formed in the main body along the thickness direction of the plate member. In the case of an initial posture, the gripping mechanism is rotatably supported around a predetermined axis and has a fixed position with respect to the frame, and the rotation angle around the predetermined axis is a specific angle. A plurality of keys to be inserted into the keyhole, and the key around the predetermined axis. A distance between the installation columns that face each other, and the first protrusions are more than the predetermined amount due to the urging force of the first urging portions. Smaller than the distance between the tips of the parts, the first protrusion reduces the protrusion amount as the rotation angle of the key inserted into the keyhole from the initial posture increases, The first protrusion and the first biasing portion may function as the first lock mechanism.
According to this configuration, when the gripping mechanism grips the plate-shaped member, the key of the gripping mechanism is first inserted into the key hole of the plate-shaped member. As the rotation angle of the inserted key becomes larger than the initial posture at the time of insertion, the protrusion amount of the first protrusion protruding from the side surface becomes smaller. In addition, since the key is rotated more than the initial posture, the key cannot be pulled out from the keyhole when the key is rotated, and as a result, the plate member is gripped by the gripping mechanism. When the protrusion amount of the first protrusion becomes smaller than a predetermined amount, the distance between the tips of the first protrusion becomes smaller than the distance between the installation columns, so that there is no interference with the installation columns, and the gripping mechanism has a plate-like shape. The member can be moved from another location to a fixed position. When the rotating key is returned from the initial posture to the initial posture after the movement, the protrusion amount of the first protrusion is increased by the urging force of the first urging portion, and the first protrusion is inserted into the first hole. .. As a result, the plate-like member is fixed to the installation column by fitting the first protrusion functioning as the first lock mechanism and the first hole. After that, the gripping mechanism moves so as to pull out the key that has returned to the initial posture from the key hole, so that the gripping mechanism can release the grip of the plate-shaped member that has been gripped. On the contrary, when the plate-shaped member fixed to the installation column is removed, the work opposite to the above-mentioned fixing may be performed. According to this aspect, the rotation angle of the key of the gripping member inserted into the key hole of the plate-shaped member is adjusted, so that the gripping mechanism and the plate-shaped member can be easily attached / detached and the plate-shaped member can be easily fixed to the installation column. Can be run to

(3) In the assembled structure according to the above aspect, the installation column has a second protrusion formed so as to project to the surface facing the other installation column, and the plate-shaped member is the gripping member. It may have a groove portion that engages with the second protrusion when being gripped by a mechanism and arranged at the fixed position.
With this configuration, when the plate-shaped member gripped by the gripping mechanism moves from the other place to the fixed position, the groove of the plate-shaped member engages with the second protrusion of the installation column. Therefore, the second protrusion and the groove function as positioning when the plate-shaped member is moved to the fixed position. Thereby, even when it is difficult to align the first protrusion and the first hole, it becomes easy to move the plate-shaped member to an accurate fixed position.

(4) In the assembly structure of the above-mentioned form, the rotation drive section may have one drive motor and a link for transmitting the drive force of the drive motor to each of the keys.
According to this structure, since the rotation angles of the plurality of keys can be controlled by the driving force of one driving motor, the number of constituent parts of the gripping mechanism can be reduced.

(5) In the assembled structure according to the above aspect, further, in a state where the key is inserted into the keyhole, the gripping mechanism causes the plate-shaped member to increase as a rotation angle at which the key rotates from the initial posture increases. A gripping force adjusting mechanism for increasing the gripping force may be provided.
According to this configuration, when the key is inserted into the keyhole and rotated from the initial posture so that the protrusion amount of the first protrusion becomes smaller than the predetermined amount and the plate-shaped member can be arranged at the fixed position, the gripping is performed. The force with which the mechanism grips the plate-shaped member increases. Therefore, the gripping mechanism can grip the plate-shaped member being transported with a sufficiently strong force.

(6) In the assembled structure according to the above aspect, the key is supported by the link connecting portion fixed to the link and rotatably around the predetermined axis with respect to the link connecting portion, and is inserted into the keyhole. The key body has a second urging portion for urging the rotation of the key body with respect to the link connecting portion so as to return to a preset initial angle, and the body has two key holes. The gripped portion is located on an axis parallel to the connected straight line and is arranged so as to be movable along the straight line with respect to the main body portion, and the gripped portion includes the key main body portion in the keyhole. In the inserted state, the key body moves along the straight line toward the center of the body as the rotation angle from the initial posture increases in the range from the initial posture to the predetermined angle. However, the rotation angle of the key body is a predetermined angle. In the above case, the movement of the gripped portion is restricted, and the link connecting portion, the key body portion, the second biasing portion, and the gripped portion function as the gripping direct adjustment mechanism. You may.
According to this configuration, when the two key bodies are inserted into the corresponding keyholes and rotated, and when the rotation amounts of the key body and the link connecting portion reach a predetermined angle, the key body and the plate-shaped member are rotated. The part to be grasped comes into contact. From this state, when the driving force for rotation is transmitted to the link connecting portion, the rotation angle of the link connecting portion further increases from the initial posture, while the rotation angle of the key main body portion is restricted by the movement restricted. Rotation is restricted by contact with the grip. When the link connecting portion rotates but the key main body portion does not rotate, the key main body portion causes the second biasing portion to return the rotation of the link connecting portion to the initial angle, that is, the link connecting portion is rotated. It receives a biasing force that tries to follow the rotation angle. Due to this biasing force, as the rotation angle of the link connecting portion increases, the force with which the key body portion pushes the gripped portion increases. That is, the key body portion, the grip contact surface, the link connecting member, and the second biasing portion function as a grip force adjusting mechanism, so that the grip mechanism can grip the plate-shaped member with a larger force.

(7) In the assembled structure according to the above aspect, the main body is a plate having a substantially quadrangular surface, the keyhole is formed near a vertex of the main body, and the key is inserted into the keyhole. The insertion direction is a direction orthogonal to the surface of the substantially quadrangle, and the key main body is configured such that a rotation angle of the key main body in the state where the key main body is inserted into the keyhole is the predetermined angle from the initial posture. In this case, the gripped portion has a third protrusion protruding in the radial direction of the predetermined shaft so as to come into contact with the gripped portion, and the gripped portion is movable along the protrusion direction of the first protrusion. May be.
According to this structure, the third protrusion of the key body inserted into the key hole comes into contact with the grasped portion when the third protrusion rotates by a predetermined angle from the initial posture. Since the insertion direction of the keyhole is orthogonal to the surface direction of the plate-shaped member, the gripped portion moves along the surface direction connecting the plurality of keyholes. Since the third protrusion projects in the radial direction of the insertion direction, the circumferential direction of the predetermined axis that moves with the third protrusion and the movement direction of the gripped portion are orthogonal to each other. Thereby, the rotational force of the key main body can be easily and efficiently made to function as a force for pushing the grasped portion.

(8) In the assembled structure according to the above aspect, the frame has a frame side that is angled from a plane that is in contact with the link connecting portion and is orthogonal to the predetermined axis in a state where the key body portion is inserted into the key hole. The link connecting portion has a contact surface, and the link connecting portion has a link side contact surface that comes into contact with the frame side contact surface in a state where the key main body portion is inserted into the key hole, and the key is inserted into the key hole. The key is supported so as to be movable with respect to the frame along the insertion direction, and the key restores the distance when the link connection part is separated from the frame along the insertion direction. You may have the 3rd biasing part which produces a force.
According to this configuration, when the key body is inserted into the keyhole, the link-side contact surface of the link connecting portion that rotates around the predetermined axis together with the link contacts the frame-side contact surface. Since the frame-side contact surface is not a plane orthogonal to the predetermined axis, when the key main body is inserted into the keyhole and rotated from the initial posture, the position where the link-side contact surface contacts the frame-side contact surface changes. As a result, as the amount of rotation increases, the link connecting portion moves in the direction away from the keyhole along the insertion direction with respect to the frame. When the key body is rotating, the third biasing portion exerts a biasing force that restores the link connecting portion that is separated along the insertion direction. Therefore, after the plate-shaped member is fixed to the installation column, the rotation of the key main body is likely to return to the initial posture by the urging force of the third urging unit, so that the gripped state can be easily released after the plate-shaped member is fixed.

(9) In the assembly structure of the above-mentioned form, the plate-shaped member is formed with an engagement groove having a concave center side on the side surface, and the assembly structure is further engaged with the engagement groove to move. A moving structure, the moving structure is movably connected to the base part, and a plurality of engaging drive parts that move by engaging with the engaging groove are provided on the base part. A movable part that is movably connected to the movable part and faces the assembled structure in a state where the engagement drive part is engaged with the engagement groove; and a plurality of the engagement drive parts with respect to the base part. By controlling the movement of the movable structure between the plurality of plate-shaped members, and by controlling the movement of the movable portion with respect to the base portion, the movable portion with respect to the plate-shaped member. It may have a drive control unit for moving.
According to this configuration, the engagement drive portion engaging with the engagement groove of the plate-shaped member and the movable portion are movable with respect to the base portion. Since the movable portion faces the assembly structure while the engagement drive portion is engaged with the engagement groove, the movable portion is assembled with various devices (for example, a device for cleaning the plate-shaped member) attached thereto. When the movable part moves with respect to the structure, various devices can work on the entire surface of the plate member. Further, when the moving structure moves to the boundary between the engaging groove in one plate-shaped member and the engaging groove in the other plate-shaped member, the base is fixed with the position of the base portion with respect to the assembled structure. Each engagement drive part can move with respect to the part. Therefore, by moving a part of the engagement drive parts with respect to the base part, it is possible to change the engagement groove in which the part of the engagement drive parts is engaged. After that, only the other engagement drive section, which has not changed the engagement groove, moves with respect to the base section to change the engaged groove. As described above, in the moving structure of the present embodiment, the moving structure is always aligned with the engaging groove of the assembly structure by changing the engaging groove in which the plurality of engaging drive units are engaged in sequence. It is possible to move between the plurality of plate-like members in the assembly structure in a state where the engagement drive part of the part is engaged. Thereby, the movement of the movable structure with respect to the assembled structure can be automated, and the work on the plate member can be simplified.

(10) In the assembled structure according to the above aspect, the movable portion may include a first movable portion that is movably connected to the base portion along a first direction, and the first movable portion. It may have a 2nd movable part which is parallel to the plane containing the 1st direction, and is movably connected along the 2nd direction orthogonal to the 1st direction.
According to this configuration, the second movable portion is configured as the base portion with a simple configuration in which the first movable portion that moves along the first direction and the second movable portion that moves along the second direction are combined. On the other hand, it can move on a plane including the first movable portion and the second movable portion.

(11) In the assembled structure of the above-mentioned aspect, the base portion may have a substantially rectangular shape, and the four engagement driving portions may be connected to four corners of the base portion.
According to this structure, the loads generated by the base portion and the movable portion are supported by the engagement drive portions connected to the four corners of the base portion, so that the postures of the base portion and the movable portion are stable. This makes it easier for the moving structure to move between the plate-shaped members.

(12) In the assembled structure according to the above aspect, among the four engagement driving portions, two of the engagement driving portions are along the third direction parallel to one side of the substantially quadrangle with respect to the base portion. And the other two engagement driving portions are parallel to a plane including the third direction with respect to the base portion and along a fourth direction orthogonal to the third direction. It may be movably connected.
According to this configuration, of the four engagement drive units, two engagement drive units move along the third direction, and the remaining two engagement drive units move in the fourth direction orthogonal to the third direction. Move along. Therefore, it is easy to perform control for moving the moving structure. In particular, when the plate-shaped members are arranged in a grid, it is easy to control the moving structure.

(13) In the assembled structure according to the above aspect, the base portion has a substantially trapezoidal frame, the third direction is a direction along two parallel sides of the trapezoidal shape, and the four engagements are provided. The two engagement drive parts, which are movable along the third direction, of the drive parts are arranged at the apexes of the longer sides of the two parallel sides of the trapezoidal shape, and along the third direction. It may be movable inside the apex.
According to this configuration, when the moving structure is attached to the assembly structure, the two engagement driving units arranged at the vertices of the long sides are movable along the long side parallel to the third direction. Moving. By setting the moving region of the engagement driving tool that moves in the third direction on the inner side of the long side, it is possible to prevent the moving structure from becoming large.

(14) In the assembled structure according to the above aspect, a storage device that further stores a plurality of the plate-shaped members is provided, and the storage device includes a storage space forming portion that forms a storage space that stores the plate-shaped members. With respect to the accommodation space forming section, a delivery section movable along a delivery direction from the inner side of the accommodation space toward a preset accommodation initial position, and a predetermined length preset along the delivery direction. A second lock mechanism that is arranged at a distance and fixes the plate-shaped member that is arranged at the accommodation initial position to the delivery portion, and the plate-shaped member that is arranged at the accommodation initial position is the second lock. After being fixed by a mechanism, it may have an accommodation control section that performs accommodation control for moving the delivery section to the inner part of the accommodation space by the predetermined length.
According to this configuration, in the accommodation control, the plate-shaped member that has moved to the accommodation initial position is fixed to the delivery section by the second lock mechanism. The plate-shaped member fixed to the delivery section moves to the inner side of the accommodation space along the delivery direction by a predetermined length. Since the second lock mechanism is arranged at the sending portion with a predetermined length of space, when the plate-shaped member fixed by the second lock mechanism moves to the inner side of the accommodation space, the new second lock mechanism causes the second lock mechanism to move. , The state in which the plate-shaped member arranged at the initial housing position can be fixed is changed. Therefore, when the accommodation control is performed, the accommodation device can automatically accommodate the plurality of plate-shaped members sequentially conveyed to the accommodation initial position in the accommodation space.

(15) In the assembled structure according to the above aspect, the accommodation device includes a regulation portion that regulates the movement of the plate-shaped member arranged at the accommodation initial position, and the accommodation unit that is arranged in the delivery direction more than the accommodation initial position. A first detection unit that detects the plate-shaped member located at a position away from the storage space by a predetermined distance, and the storage control unit detects the plate-shaped member by the first detection unit. In this case, the detected plate member may be moved to a position regulated by the regulation portion.
According to this configuration, the plate-shaped member carried to the initial housing position is detected by the first detection unit before being placed in the initial housing position. The detected plate member is moved to the position regulated by the regulation unit. Since the regulated position is the initial accommodation position, the plate member can be moved to the accurate initial accommodation position.

(16) In the assembled structure according to the above aspect, the accommodation device includes the plate-like member fixed in the accommodation space by the second locking mechanism that is farthest from the accommodation initial position along the delivery direction. The delivery control unit has a second detection unit for detecting, and when the plate-shaped member is detected by the second detection unit while performing the accommodation control, the delivery control unit ends the accommodation control. Good.
According to this configuration, the second detection unit can detect the plate-shaped member housed in the innermost space in the housing space, and therefore determines whether or not the plate-shaped member can be housed in the housing space. There is. That is, when the plate-shaped member is detected by the second detection unit, the storage control ends, and thus the storage device can automatically end the storage operation when another plate-shaped member cannot be stored.

(17) In the assembly structure according to the above aspect, the delivery parts are arranged so as to face each other in parallel to the delivery direction with the accommodation space interposed therebetween, and each of the opposing delivery parts extends along the delivery direction. The two second holes that are formed at a position facing the first protrusion when the plate-shaped member is arranged at the accommodation initial position with a space of the predetermined length, and the two second holes facing each other are provided. The distance between the two second holes is such that each of the two first protrusions protrudes in a different direction in a state where the first protrusion protrudes more than the predetermined amount by the urging force of the first urging portion. The two second holes, the first protrusion, and the first biasing portion may be smaller than the distance between the tips of the two, and may function as a second lock mechanism.
According to this configuration, when the gripping mechanism grips the plate-shaped member, the key of the gripping mechanism is first inserted into the key hole of the plate-shaped member. As the rotation angle of the inserted key becomes larger than the initial posture at the time of insertion, the protrusion amount of the first protrusion protruding from the side surface becomes smaller. When the protrusion amount of the first protrusion becomes smaller than a predetermined amount, the distance between the tips of the two first protrusions protruding in different directions becomes smaller than the distance between the two opposing second holes. This eliminates the interference between the first protrusion and the delivery unit, and thus the gripping mechanism can place the plate-shaped member at the initial accommodation position. In this state, when the rotating key is returned from the initial posture to the initial posture, the projecting amount of the first projecting portion increases due to the biasing force of the first biasing portion, and the first projecting portion is inserted into the second hole. It As a result, the plate-shaped member is fixed to the delivery portion by the fitting of the first protrusion functioning as the second lock mechanism and the second hole. After that, the gripping mechanism moves so as to pull out the key that has returned to the initial posture, so that the gripping mechanism can release the grip of the plate-shaped member that has been gripped. On the contrary, when the plate-shaped member fixed to the delivery unit is removed, the work opposite to the above-described fixing may be performed. According to this aspect, the rotation angle of the key of the holding member inserted in the key hole of the plate-shaped member is adjusted, and the plate-shaped member can be easily attached to and detached from the accommodation device.

(18) In the assembled structure according to the above aspect, the delivery section is disposed at a position separated along the delivery direction and rotates about an axis parallel to an axis orthogonal to a plane including the delivery direction. One gear, a chain that engages with the two gears and in which the second hole is formed, and a gear motor that rotates at least one of the two gears may be included.
According to this structure, a simple delivery unit can be configured by a pair of gears, a chain, and a gear motor.

(19) In the assembled structure according to the above aspect, the accommodation device includes a third detection unit that detects the plate-shaped member fixed by the second lock mechanism at a preset delivery start position in the accommodation space. From the state in which the plate-shaped member fixed by the second lock mechanism is detected by the third detector, the plate-shaped member is released by the third detector after the fixation of the second lock mechanism is released. Is changed to a state where it is not detected, the plate-like member fixed by the second lock mechanism is moved to the delivery start position on the inner side of the accommodation space along the delivery direction from the delivery start position. It may have the sending control part which sends out.
According to this structure, first, the plate-shaped member fixed to the delivery unit by the second lock is detected by the third detection unit. After the second lock is released, when the plate-shaped member is removed from the delivery start position by the gripping mechanism or the like, the third detection unit detects that there is no plate-shaped member at the delivery start position. After that, the delivery section moves to the front side, and a new plate-shaped member accommodated in the accommodation space is delivered to the delivery start position. In this way, when the delivery control unit performs the control, the accommodating device can automatically deliver the plate-shaped members to the delivery start position one after another.

(20) According to another aspect of the present invention, there is provided a moving structure that moves in engagement with an engaging groove formed on a side surface of a plate-shaped member in an assembled structure to which a plurality of plate-shaped members are fixed. Provided. The moving structure includes a base portion, a plurality of engagement drive portions that are movably connected to the base portion, and that move by engaging with the engagement grooves, and are movable with respect to the base portion. Controls the movement of each of the plurality of the engagement drive portions that are connected to each other and the movable portion that faces the assembly structure in a state where the engagement drive portion is engaged with the engagement groove and the base portion. By moving the movable structure between the plurality of plate-shaped members and controlling the movement of the movable unit with respect to the base unit, a drive control unit that moves the movable unit with respect to the plate-shaped member. With.
According to this configuration, the movable portion and the engagement drive portion engaged with the engagement groove of the plate-shaped member are movable with respect to the base portion. Since the movable portion faces the assembly structure in a state where the engagement drive portion is engaged with the engagement groove, various devices (for example, a member cleaning device) are attached to the movable portion, and When the movable part moves, various devices can work on the entire surface of the plate-shaped member. Further, when the moving structure moves to the boundary between the engagement groove in one plate-shaped member and the engagement groove in another plate-shaped member, the base is fixed with the position of the base portion with respect to the plate-shaped member fixed. Each engagement drive part can move with respect to the part. Therefore, by moving a part of the engagement drive parts with respect to the base part, it is possible to change the engagement groove in which the part of the engagement drive parts is engaged. After that, only the other engagement drive section, which has not changed the engagement groove, moves with respect to the base section to change the engaged groove. As described above, in the moving structure of the present embodiment, the moving structure is always aligned with the engaging groove of the assembly structure by changing the engaging groove in which the plurality of engaging drive units are engaged in sequence. It is possible to move between the plurality of plate-shaped members in a state where the engagement drive portion of the portion is engaged. Thereby, the movement of the moving structure between the plurality of plate-shaped members can be automated, and the work on the plate-shaped members can be simplified.

(21) According to another aspect of the present invention, there is provided a storage device that stores a plurality of plate-shaped members. The accommodation device includes an accommodation space forming portion that forms an accommodation space that accommodates the plate-shaped member, and a delivery direction from the back of the accommodation space toward a preset accommodation initial position with respect to the accommodation space forming portion. And a plate-shaped member, which is arranged at the accommodation initial position and is spaced apart by a preset length along the delivery direction, is fixed to the delivery unit. Housing control for moving the delivery section to the inner part of the housing space by the predetermined length after the second locking mechanism and the plate-shaped member arranged at the housing initial position are fixed by the second locking mechanism. And a storage control unit for performing the above.
According to this configuration, the plate-shaped member that has moved to the initial housing position is fixed to the delivery section by the second lock mechanism. The plate-shaped member fixed to the delivery section moves to the inner side of the accommodation space along the delivery direction by a predetermined length. Since the second lock mechanism is arranged at the sending portion with a predetermined length of space, when the plate-shaped member fixed by the second lock mechanism moves to the inner side of the accommodation space, the new second lock mechanism causes the second lock mechanism to move. , The state in which the plate-shaped member arranged at the initial housing position can be fixed is changed. Therefore, the accommodation device can automatically accommodate the plurality of plate-shaped members, which are sequentially transported to the accommodation initial position, in the accommodation space.

  The present invention can be implemented in various modes, for example, an assembly structure, a moving structure, a housing device, an assembly method, and an assembly structure in which a plurality of plate members are fixed. A method for moving a body, a housing method for housing a plurality of plate-shaped members, a system including these structures and devices, a device and a system for performing these methods, a computer program for performing these methods, and a computer program. It can be realized in the form of a stored non-transitory storage medium or the like.

It is a schematic diagram of a panel installation system provided with an assembly structure in this embodiment, a maintenance device, and an accommodation device. It is a schematic perspective view of the installation stand which an assembly structure has. It is an enlarged view of the A section in FIG. It is a schematic perspective view of a panel. It is an enlarged view of the B section in FIG. It is a schematic perspective view of a holding device. It is a schematic diagram of the key vicinity in the state where the key of the grasping device was inserted in the keyhole of the panel. It is a schematic diagram showing an example of the state where the key inserted in the keyhole rotated from the initial posture. It is explanatory drawing of a longitudinal engagement groove and a lateral engagement groove with which the wheels of the maintenance device are engaged. It is the schematic of the DD cross section in FIG. It is the schematic of the EE cross section in FIG. It is a front view of a maintenance device. It is a front view showing an example of a state where a maintenance device is attached to an assembly structure. It is a front view which shows the state after the position of the maintenance apparatus with respect to an assembly structure changes from the state shown in FIG. It is a schematic perspective view of the accommodation apparatus which accommodates a panel. It is an expansion perspective view of a set of 4th primary detecting element and control part. It is sectional drawing of the ZX plane in a set of 4th detection part and a control part. FIG. 7 is an enlarged perspective view showing the vicinity of the second hole in a state where the panel protrusion of the panel is inserted into the second hole of the accommodation device. It is a schematic diagram showing the state where the panel was arranged at the initial housing position by the gripping device. FIG. 6 is a schematic view showing a state after the panel arranged at the initial housing position is fixed to the delivery unit and the gripping device moves. It is a schematic diagram showing a state after a chain moves along a sending direction in accommodation control. It is a schematic diagram showing the state where the maximum number of panels were accommodated in the accommodation space. It is a schematic diagram showing an example of a state of an accommodation space when sending control by an accommodation device is performed. It is a schematic diagram showing an example of a state where a grasping device has moved to a delivery start position. FIG. 25 is a schematic view showing a state after the panel, which has been fixed at the delivery start position, has been moved by the gripping device from the state shown in FIG. 24. FIG. 26 is a schematic diagram showing a state in which the chain has moved to the front side from the state shown in FIG. 25. It is a schematic diagram showing the state where all the panels in the accommodation space were sent out by sending-out control. It is a schematic diagram of the key 320 vicinity in the state where the key 320 of grasping device 300 was inserted in keyhole 220 of panel 200A of a modification.

<Embodiment>
The embodiments will be described in the following order.
1. Panel installation system configuration:
2. Assembly structure:
3. Maintenance device:
4. Storage device:

1. Panel installation system configuration:
FIG. 1 is a schematic diagram of a panel installation system 1 including an assembly structure 10, a maintenance device 400, and a storage device 500 according to the present embodiment. As shown in FIG. 1, the panel installation system 1 includes an assembly structure 10 having an installation base 100 fixed to the ground and a plurality of panels (plate-shaped members) 200 fixed to the installation base 100, and an assembly structure. 10, a maintenance device (moving structure) 400 movably attached to the robot 10, a robot RB having a gripping device 300 (grasping mechanism) for gripping the panel 200 attached to its tip, and a plurality of panels 200 accommodated therein. An accommodating device 500, a robot built-in control unit (accommodation control unit, delivery control unit) 600 that is built in the robot RB and controls each part of the panel installation system 1, and an external control device that controls the maintenance device 400 by wireless communication ( Drive control unit) 700 is shown.

  As shown in FIG. 1, the robot RB and the housing device 500 are movable because they have wheels. The robot built-in control unit 600 of the present embodiment controls the operation of the robot RB, and controls the gripping of the gripping device 300 and the containing device 500 by wireless communication. The gripping device 300 and the accommodating device 500 receive a control signal transmitted from the robot built-in control unit 600 by a wireless communication unit (not shown). The external control device 700 controls the operation of the maintenance device 400 by wireless communication. The maintenance device 400 receives a control signal transmitted from the external control device 700 by a wireless communication unit (not shown). Details of the control performed by the robot built-in control unit 600 and the external control device 700 will be described later. In other embodiments, various controls performed by the robot built-in control unit 600 of the present embodiment may be performed separately by different control devices. The robot built-in control unit 600 may not be built in the robot RB but may be configured as another device like the external control device 700, or each device may have a built-in control device for controlling itself. May be.

2. Assembly structure:
2-1. Assembly structure configuration:
FIG. 2 is a schematic perspective view of the installation table 100 included in the assembly structure 10. As shown in FIG. 2, the installation table 100, to which the panel 200 is not fixed, has five installation columns 50, one end of which is fixed to the ground and which extends vertically upward from the ground (Z axis positive direction in the figure). The upper horizontal member 20 fixed to the upper end of each of the installation columns 50 is provided, and the lower horizontal member 30 fixed in the vicinity of the ground of the five installation columns 50 in parallel with the upper horizontal member 20. The upper horizontal member 20 and the lower horizontal member 30 fix the relative positions of the five installation columns 50 to each other. Although the installation column 50, the upper horizontal member 20, and the lower horizontal member 30 in the present embodiment are formed of a rigid body made of metal, in other embodiments, if the rigid body is a rigid body, they are made of different materials. Good.

  As shown in FIG. 1, in this embodiment, three panels are fixed between the two opposing installation columns 50 along the vertical direction. For the sake of explanation, in FIG. 2, one panel 200 fixed between the installation columns 50 is shown by a broken line. Further, FIG. 2 shows an orthogonal coordinate system defined by an X axis, a Y axis, and a Z axis. The Z axis is an axis along the vertical direction, which is known with respect to the ground. The X axis is an axis that is parallel to the horizontal direction and that is parallel to the longitudinal directions of the upper horizontal member 20 and the lower horizontal member 30. The X-axis defines the direction from the left side of the paper to the right side as the positive direction. The Y-axis defines the direction from the front of the paper to the back as the positive direction. The coordinate system shown in FIG. 2 corresponds to the coordinate system shown in FIGS. 1 and 3 and subsequent drawings.

  First holes 53a and 53b and positioning projections (second projections) 52a and 52b are formed on the facing surface 51 of the installation support column 50 that is opposed to sandwich the panel 200 indicated by the broken line in FIG. Has been done. FIG. 3 is an enlarged view of part A in FIG. In the present embodiment, the facing surface 51 is a surface parallel to the YZ plane. As shown in FIG. 3, the first holes 53 a and 53 b have a circular sectional shape centered on an axis (X axis) orthogonal to the facing surface 51 and are recessed from the facing surface 51. The first hole 53a and the first hole 53b have the same shape, although the positions formed on the facing surface 51 are different. In the facing surface 51, the first hole 53a is formed vertically above the first hole 53b (Z axis positive direction).

  The positioning protrusions 52 a and 52 b have a cylindrical shape centered on an axis (X axis) orthogonal to the facing surface 51 and project from the facing surface 51. The positioning protrusion 52a and the positioning protrusion 52b have the same shape, although the positions formed on the facing surface 51 are different. On the facing surface 51, the positioning protrusion 52a is formed vertically above the positioning protrusion 52b (Z axis positive direction). As shown in FIGS. 2 and 3, the first hole 53a is formed vertically above the positioning protrusion 52a, and the first hole 53b is formed vertically below the positioning protrusion 52b. The positioning protrusions 52a, 52b and the first holes 53a, 53b are formed on the facing surface 51 so that the central axes of the positioning protrusions 52a, 52b and the first holes 53a, 53b are aligned on the Z axis. .. The first holes 53a and 53b are fitted into panel protrusions 201a and 201b formed on a side surface 205 of the panel 200, which will be described later. The positioning protrusions 52a and 52b engage with groove portions 203a and 203b described later.

  FIG. 4 is a schematic perspective view of the panel 200. The panel 200 of this embodiment is a solar cell panel. As shown in FIG. 4, the panel 200 has a shape in which another substantially rectangular parallelepiped projecting from the substantially rectangular parallelepiped is combined. The panel 200 is a substantially rectangular parallelepiped main body portion 250 having a rectangular surface parallel to the ZX plane, and a substantially rectangular parallelepiped panel portion protruding in the Y axis negative direction side along the thickness direction (Y axis direction) of the main body portion 250. 260, four keyholes 220 formed through the four corners of the main body 250 along the thickness direction, and four panel protrusions protruding outward from the side surface 205 of the main body 250 parallel to the YZ plane. It is provided with (first protrusions) 201a and 201b and four groove portions 203a and 203b formed so as to cut out the side surface 205 of the main body portion 250. A vertical engagement groove (engagement groove) 208 and a lateral engagement groove (engagement groove) 209 are formed in a portion connecting the main body portion 250 and the panel portion 260, and are recessed toward the center of the panel 200. .. Details of the vertical engagement groove 208 and the horizontal engagement groove 209 will be described together with the description of the maintenance device 400 described later.

  In FIG. 4, since it is a blind spot, among the four groove portions 203a and 203b, the groove portions 203a and 203b formed on the side surface 205 of the main body portion 250 in the negative direction of the X axis are not shown. The panel projections 201a, 201b and the grooves 203a, 203b formed on the side surface 205 on the X-axis negative direction side are the same as the panel projections 201a, 201b and the grooves 203a, 203b formed on the side surface 205 on the X-axis positive direction side. They have the same shape but different orientations. Therefore, only the panel projections 201a and 201b and the grooves 203a and 203b on the positive side of the X axis will be described.

  FIG. 5 is an enlarged view of part B in FIG. As shown in FIG. 5, the panel protrusions 201 a and 201 b have a circular sectional shape centered on an axis (X axis) orthogonal to the side surface 205 and project from the side surface 205. As shown in FIGS. 4 and 5, the panel protrusions 201a and 201b have a tapered shape in which the cross-sectional area decreases along the axial direction from the middle to the tip. The panel projections 201a and 201b are urged by a first spring 204, which will be described later, in a direction projecting from the side surface 205.

  The groove portions 203a and 203b have a shape in which a rectangular shape on the Y axis positive direction side and a semicircular shape on the Y axis negative direction side are combined. The length of the rectangular side surface 205 along the longitudinal direction (Z-axis direction) is the same as the diameter of the semicircular shape. Note that, hereinafter, this length is also referred to as "width of the groove portions 203a and 203b".

  The first holes 53a and 53b in the facing surface 51 of the installation column 50 are as follows when the panel 200 is arranged at the position where the panel 200 is fixed between the installation columns 50 (hereinafter, also referred to as “fixed position”). It is formed at a position where the panel protrusions 201a and 201b are inserted. Further, the size of the cross-sectional area of the first holes 53a and 53b formed in the facing surface 51 is slightly larger than the cross-sectional area of the panel protrusions 201a and 201b. Therefore, the panel 200 is fixed between the installation columns 50 by fitting the panel protrusions 201a and 201b of the panel 200 arranged at the fixed position into the first holes 53a and 53b.

  The distance L1 (FIG. 2) between the opposing installation columns 50 arranged with the fixed position sandwiched between them is the distance between the tips of the two panel projections 201b projecting from the both side surfaces 205 of the main body 250 of the panel 200 to the opposite sides. Is smaller than the distance L2 (FIG. 4). Therefore, when the panel protrusions 201a and 201b are projected, when the panel 200 is moved from another place to the fixed position, the installation column 50 and the panel protrusions 201a and 201b interfere with each other. Cannot move to a fixed position. The operation for moving the panel 200 to the fixed position will be described later.

  The positioning protrusions 52a and 52b of the installation column 50 are formed at positions that engage with the grooves 203a and 203b when the panel 200 moves from another place to a fixed position. The diameter of the cross section of the positioning protrusions 52a and 52b formed on the facing surface 51 is smaller than the width of the groove portions 203a and 203b. Therefore, the positioning protrusions 52a and 53a engage with the groove portions 203a and 203b to function as positioning when the panel 200 moves to the fixed position.

  As shown in FIG. 4, each of the four keyholes 220 has the same shape but different orientations. Therefore, one keyhole 220 will be described and the description of the remaining three keyholes 220 will be omitted. The front surface side (Y-axis negative direction side) of the keyhole 220 has a shape in which a circular hole 221 and a convex shape 222 opened along the radial direction of the circular hole 221 are combined. The inner side of the keyhole 220 (Y-axis positive direction side) has a cross-sectional shape in which a key 320, which will be described later, inserted into the keyhole 220 can rotate about the central axis of the circular hole 221 within a predetermined angle range.

  FIG. 6 is a schematic perspective view of the gripping device 300. As shown in FIG. 6, the gripping device 300 includes a rectangular frame 310, a mounting portion 304 connected to the frame 310 and fixed to the robot RB, and a central axis (predetermined axis) OL1 around the frame 310. Four keys 320 that are rotatably supported on the frame 310 and are fixed in position with respect to the frame 310, a drive motor 301 that is fixed to the mounting portion 304, and the rotational driving force of the drive motor 301 is transmitted to each of the four keys 320. Two upper link parts (links) 302 and two lower link parts (links) 303, and a camera 305 for photographing the installation support side (Y-axis positive direction side) when the panel 200 is attached to the installation support 50. When the gripping device 300 moves to a position where the panel 200 can be gripped, the panel contact sensor 306 that contacts the panel 200 and the gripping device 300 are And a four distance sensors 307 for measuring the distance to a panel 200 for lifting. The respective positions of the four keys 320 correspond to the respective positions of the four keyholes 220 in the panel 200. Note that, hereinafter, the upper link part 302 and the lower link part 303 are collectively referred to as link parts 302 and 303.

  As shown in FIG. 6, the link portions 302 and 303 are composed of a plurality of rod-shaped links and a plurality of support shaft portions that rotatably support the plurality of links. The rotational driving force of the drive motor 301 causes the four keys 320 to rotate about the central axis OL1 by the same rotation angle via the link portions 302 and 303. In the present embodiment, the directions in which the four keys 320 rotate are different. The image captured by the camera 305 is transmitted to the robot built-in control unit 600 by a communication unit (not shown). Each of the four distance sensors 307 measures the distance to the target using laser light. The distance sensor 307 measures the distance to the object on the front surface side (Y-axis positive direction side) along the central axis OL1. The robot built-in control unit 600 adjusts the position and orientation of the gripping device with respect to the panel 200, using the image transmitted from the camera 305 and the distance to the panel 200 transmitted from each of the four distance sensors 307.

  FIG. 7 is a schematic view of the vicinity of the key 320 in a state where the key 320 of the grip device 300 is inserted in the key hole 220 of the panel 200. Note that in FIG. 7, the configuration of the gripping device 300 is shown by a solid line, and the configuration of the panel 200 is shown by a broken line. The gripping device 300 can fix the panel 200 by inserting four keys 320 into each of the four keyholes 220 and rotating the inserted keys 320 around the central axis OL1.

  As shown in FIG. 7, the key 320 is supported by the link connecting portion 324 fixed to the upper link portion 302 and the link connecting portion 324 so as to be rotatable about the central axis OL1 and inserted into the keyhole 220. The key body portion 321, a second spring (second biasing portion) 325 that is a compression spring that biases the rotation of the key body portion 321 with respect to the link connecting portion 324 in a direction to return to the initial posture, and the radial direction of the central axis OL1. A key protrusion (third protrusion) 326 formed on the key body 321 so as to protrude in the direction of the key body 321; and a third spring 328 for urging the link connecting portion 324 toward the tip side of the key body 321. There is. The link connecting portion 324 has a key side cam surface 327 that comes into contact with the frame 310 on the front end side (Y-axis positive direction side) of the key body portion 321. The key-side cam surface 327 is inclined at a predetermined angle with respect to a plane (ZX plane) orthogonal to the central axis OL1. The key body 321 is inserted into the keyhole 220 when the key protrusion 326 is in the position of being located in the convex shape 222 of the keyhole 220. Hereinafter, this attitude is also referred to as an initial attitude.

  As shown in FIG. 7, the frame 310 of the grip device 300 has a frame-side cam formed on the opposite side of the tip of the key body 321 (Y-axis negative direction side) so as to project along the central axis OL1. It has a surface 317. The frame-side cam surface 317 contacts the key-side cam surface 327 of the link connecting portion 324. The frame-side cam surface 317 is in full contact with the key-side cam surface 327 when the key body portion 321 can be inserted into the key hole 220 in the initial posture. That is, the frame side cam surface 317 is formed as a flat surface forming the same angle as the key side cam surface 327 in the initial posture. In the initial posture, the key-side cam surface 327 and the frame-side cam surface 317 are formed such that the distance L3 between the end surfaces along the central axis OL1 which are not in contact with each other is the shortest. Therefore, with the key 320 inserted in the keyhole 220, the distance L3 between the end faces increases as the link connecting portion 324 rotates from the initial posture. When the distance L3 between the end faces increases, the third spring 328 generates a biasing force that restores the distance L3 between the end faces, that is, returns the key 320 to the initial posture.

  As shown in FIG. 7, the panel 200 includes a first spring (first urging portion) 204 that urges the panel protrusion 201a in the protruding direction. The panel protrusion 201 a has a key contact portion (holding portion) 206 that protrudes in the radial direction toward the keyhole 220. The amount of protrusion of the key contact portion 206 from the surface of the panel protrusion 201a is set so that the key body 321 inserted into the keyhole 220 contacts the key protrusion 326 when the key body 321 is rotated from the initial position by a predetermined angle. There is. The key contact portion 206 is located on an axis parallel to the axis of the panel protrusion 201a. It can also be said that the key contact portion 206 is positioned on an axis parallel to a straight line connecting two keyholes 220 positioned in the horizontal direction (X-axis direction). The key contact portion 206 is formed so as to be movable by a predetermined distance with respect to the main body portion 250 along the protruding direction of the panel protrusion 201a.

  FIG. 8 is a schematic diagram showing an example of a state in which the key 320 inserted in the keyhole 220 is rotated from the initial posture. Note that, in FIG. 8, as in FIG. 7, the configuration of the gripping device 300 is shown by a solid line, and the configuration of the panel 200 is shown by a broken line. The state shown in FIG. 8 is a state in which the key contact portion 206 is moved by the key protrusion portion 326 along the protrusion direction to the maximum side toward the center of the main body portion 250. In this state, the key contact portion 206 restricts further rotation of the key protrusion portion 326, that is, further rotation of the key body portion 321. On the other hand, the link connecting portion 324 is rotated around the central axis OL1 from the initial posture by the rotational driving force of the drive motor 301, as compared with the key main body portion 321. Therefore, the key body portion 321 receives a biasing force that follows the rotation angle of the link connecting portion 324 by the second spring 325.

  As shown in FIG. 8, when the link connecting portion 324 rotates, the contact portion between the key side cam surface 327 formed on the link connecting portion 324 and the frame side cam surface 317 changes. As the rotation angle of the link connecting portion 324 increases, the link connecting portion 324 moves away from the frame 310 along the central axis OL1 and increases from the distance L3 between the end faces in the initial posture to the distance L3a. Accordingly, the third spring 328 generates a biasing force that returns the link connecting portion 324 to the initial posture.

  In this embodiment, when the key contact portion 206 shown in FIG. 8 is retracted to the maximum, the protrusion amount of the panel protrusion 201a from the side surface 205 is set to disappear. In this state, the first spring 204 generates an urging force that causes the panel projection 201a to project from the side surface 205 along the projecting direction. On the other hand, when the key contact portion 206 is not in contact with the key body portion 321, the amount of protrusion of the panel protrusion 201a from the side surface 205 is set to be maximum.

2-1. Gripping operation of the panel 200 by the gripping device 300:
The robot built-in control unit 600 is in a state where the central axes OL1 of the four keys 320 of the gripping device 300 and the central axes of the circular holes 221 of the key holes 220 of the main body unit 250 are overlapped with each other, and the keys 320 are rotating. The four keys 320 corresponding to the four keyholes 220 are inserted in a state where there is no initial posture. When the drive motor 301 rotates after inserting the keys 320, the rotational driving force of the drive motor 301 causes the link connecting portions 324 of the four keys 320 to rotate via the upper link portion 302 and the lower link portion 303. When the link connecting portion 324 rotates, the key body portion 321 also rotates around the central axis OL1 together with the link connecting portion 324. Further, as the link connecting portion 324 rotates, as shown in FIG. 8, the portion where the link side cam flat surface 327 contacts the frame side cam surface 317 changes. With the change in the contact portion, the link connecting portion 324 moves away from the frame 310 along the central axis OL1.

  When the amount of change in the rotation angle of the key 320 inserted in the keyhole 220 reaches a predetermined angle from the initial posture at the time of insertion, the key protrusion 326 of the key body 321 contacts the key contact portion 206 of the panel 200. When the key 320 further rotates after the contact, the key contact portion 206 moves to the center side of the main body portion 250 of the panel 200 along the protruding direction of the panel protrusion 201a. Along with the movement of the key contact portion 206, the panel protrusion 201a also moves in the direction in which the protrusion amount from the side surface 205 is reduced.

  When the key 320 is further rotated, the movement amount of the key contact portion 206 is maximized and cannot be moved, and the panel protrusion 201a is completely retracted from the side surface 205. When the key 320 further rotates from this state, the key contact portion 206 restricts the rotation of the key body portion 321 while the link connecting portion 324 continues to rotate. When a difference occurs between the rotation angle of the key body portion 321 and the rotation angle of the link connecting portion 324, the second spring 325 generates a biasing force that causes the key body portion 321 to follow the rotation of the link connecting portion 324. .. That is, the biasing force of the second spring 325 acts as a force by which the key body portion 321 pushes the key contact portion 206. Accordingly, the gripping device 300 sandwiches and grips the panel 200 by the force using the biasing force of the second spring 325 by the key protrusions 326 of the keys 320 arranged at the four corners of the gripping device 300.

2-2. Fixing operation of the panel 200 to the installation column 50:
The panel 200 gripped by the gripping device 300 is moved to a fixed position between the opposing installation columns 50 by the robot RB. During the movement, the panel protrusions 201a and 201b of the panel 200 are retracted inside the side surface 205 by the rotation of the key 320 of the grip device 300. Therefore, since the panel protrusions 201a and 201b do not interfere with the installation column 50, the panel 200 can be moved to the fixed position. Grip so that the four groove portions 203a and 204b (FIGS. 4 and 5) formed on the side surface 205 engage with the four positioning protrusions 52a and 52b (FIG. 2-3) protruding from the facing surface 51. The device 300 moves the panel 200 to a fixed position.

  When the panel 200 is moved to the fixed position, the drive motor 301 of the holding device 300 holding the panel 200 releases the rotational driving force generated in the four keys 320, thereby releasing the holding state. To be done. The urging force of the third spring 328 that urges the link connecting portion 324 along the central axis OL1 releases the rotational driving force, that is, acts in the direction of returning the key 320 to the initial posture. When the key 320 rotates to the initial posture in the gripped state, first, the rotation angle of the key protrusion 326 that pushes the key contact portion 206 of the panel 200 toward the center side of the main body 250 changes the link connecting portion 324. It becomes the same as the rotation angle. When further rotated from here, the biasing force of the second spring 325 is not generated, and the key body portion 321 rotates at the same angle as the rotation angle of the link connecting portion 324.

  The key contact portion 206 with which the key protrusion 326 is in contact starts to return to the original position by the biasing force of the first spring 204. As a result, the panel protrusions 201 a and 201 b that move together with the key contact portion 206 start to protrude from the side surface 205. Since the panel 200 is arranged at the fixed position, the panel protrusions 201a and 201b that have begun to protrude are inserted into the first holes 53a and 53b formed in the facing surface 51 of the installation column 50. Note that the tip ends of the panel protrusions 201a and 201b have a tapered shape in which the cross-sectional area becomes smaller toward the tip ends. Therefore, even if the central axes of the panel protrusions 201a and 201b and the central axes of the first holes 53a and 53b are slightly deviated, the panel protrusions 201a and 201b are moved to the first holes 53a and 53b due to the tapered shape. Be guided.

  After the key body 321 further rotates and returns to the initial posture, when the gripping device 300 moves in the direction away from the panel 200 along the central axis OL1, the key 320 in the initial posture is pulled out from the key hole 220, and the installation column 50. The fixing of the panel 200 to the panel is completed. When removing the panel 200 fixed to the installation column 50, the key 320 of the gripping device 300 is inserted into the key hole 220 of the fixed panel 200 until the key 320 retracts the panel protrusions 201a and 201b into the side surface 205. When rotated, the panel 200 is ready for removal.

  As described above, according to the assembly structure 10 of the present embodiment, the plurality of installation columns 50, the panel 200 fixed at a fixed position between the opposing installation columns 50, and the fixed position in the gripped state of the panel 200. And a gripping device 300 for moving up to. When the state in which the key 320 inserted into the keyhole 220 is rotated is released while the panel 200 is arranged at the fixed position, the panel 200 is automatically fixed to the installation column 50 at the same time as the release. Therefore, after releasing the gripped state, the work for fixing the panel 200 to the installation column 50 becomes unnecessary, and thus the panel 200 can be easily fixed to the installation column 50.

  Further, according to the assembly structure 10 of the present embodiment, the installation column 50 has the first holes 53a and 53b formed in the facing surface 51. The panel 200 biases the main body 250, the panel projections 201a and 201b projecting from the side surface 205 of the main body 250 and inserted into the first holes 53a and 53b, and the direction in which the panel projections 201a and 201b are projected. It has a first spring 204 and a plurality of keyholes 220 formed along the thickness direction of the main body 250. The gripping device 300 includes a frame 310, a plurality of keys 320 that are rotatably supported by the frame 310 about the central axis OL1, and are inserted into the keyhole 220 in the initial posture, a drive motor 301 that rotates the keys 320, and a link. It has parts 302 and 303. The distance L1 (FIG. 2) between the opposing installation columns 50 is smaller than the distance L2 (FIG. 4) between the tips when the two panel protrusions 201b are protruding. The first holes 53a and 53b, the panel protrusions 201a and 201b, and the first spring 204 function as a lock mechanism that fixes the panel 200 to the installation column 50. With the configuration of the present embodiment, the rotation angle of the key 320 inserted into the keyhole 220 of the panel 200 is adjusted, so that the gripping device 300 is attached to and detached from the panel 200, and the panel 200 is fixed to the installation column 50. It can be easily released.

  Further, according to the assembled structure 10 of the present embodiment, the installation column 50 has the positioning protrusions 52a and 52b formed so as to protrude from the facing surface 51. The panel 200 has grooves 203a and 203b that engage with the positioning protrusions 52a and 52b when the panel 200 is arranged at the fixed position. Therefore, when the gripping device 300 moves the panel 200 from another place to the fixed position, the engagement between the positioning protrusions 52a and 52b and the groove portions 203a and 203b functions as positioning, so that the panel up to the fixed position is reached. The movement of 200 becomes easy.

  Further, according to the assembly structure 10 of the present embodiment, the key 320 is supported so as to be rotatable about the central axis OL1 with respect to the link connecting portion 324 fixed to the link portions 302 and 303 and the link connecting portion 324. The key body portion 321 is inserted into the keyhole 220, and the second spring 325 that biases the rotation of the key body portion 321 with respect to the link coupling portion 324 to be the same as when the key body portion is inserted. The main body portion 250 of the panel 200 has a key contact portion 206 that is movable on an axis (on the X axis) parallel to the protruding direction of the panel protrusions 201a and 201b. The key contact portion 206 moves toward the center side of the main body portion 250 along the protruding direction as the rotation angle of the key 320 inserted into the key hole 220 increases from the initial posture. The movement of the key contact portion 206 is restricted when the rotation angle of the key 320 is a predetermined angle or more. With this configuration, when the rotation amount of the key 320 inserted in the keyhole 220 reaches a predetermined angle, the key body portion 321 and the key contact portion 206 come into contact with each other. When the rotation amount further increases, the movement of the key contact portion 206 changes to a restricted state, and the rotation of the key body portion 321 contacting the key contact portion 206 is also restricted. When the rotational driving force is further applied to the key 320 from here, only the link connecting portion 324 rotates. The biasing force of the second spring 325 generated according to the rotation amount of the link connecting portion 324 and the key main body portion 321 becomes a force for pushing the key contact portion 206 toward the center side of the main body portion 250. That is, the linking unit 324, the key body 321, the key protrusion 326, the second spring 325, and the key contact unit 206 function as a gripping force adjusting mechanism, so that the gripping device 300 grips the panel 200 more strongly. it can.

3. Maintenance device 400:
3-1. Configuration of maintenance device 400:
FIG. 9 is an explanatory diagram of the vertical engagement groove 208 and the lateral engagement groove 209 with which the wheels of the maintenance device 400 engage. FIG. 9 shows a partial perspective view of the assembly structure 10 to which the panel 200 is fixed. FIG. 10 is a schematic diagram of a DD cross section in FIG. 9. FIG. 11 is a schematic view of the EE cross section in FIG. 9. 10 and 11, the dimensions of the vertical engaging groove 208 and the lateral engaging groove 209 are shown larger than the actual size for the sake of explanation.

  As shown in FIG. 10, the panel portion 260 of the panel 200 is formed with a lateral engagement groove 209 which is recessed toward the center side of the panel portion 260. The upper horizontal member 20 has a lateral engagement groove 29 that is recessed toward the center side of the upper horizontal member 20 on the surface of the panel 200 side fixed to the assembly structure 10. The lateral engagement groove 29 of the upper horizontal member 20 has the same shape as the lateral engagement groove 209 of the panel 200. Although not shown, the lower horizontal member 30 has a lateral engagement groove having the same shape as the lateral engagement groove 209 on the surface on the panel 200 side, like the upper horizontal member 20.

  As shown in FIG. 11, the panel portion 260 is formed with a vertical engagement groove 208 that is recessed toward the center side of the panel portion 260. The installation column 50 has a vertical engagement groove 58 that is recessed toward the central axis of the installation column 50 on the surface of the panel 200 side fixed to the assembly structure 10. The shape of the vertical engagement groove 58 in the installation column 50 is the same as the shape of the vertical engagement groove 208 in the panel 200. Longitudinal engagement grooves 58 formed between the installation column 50 and the panel portion 260, between the upper horizontal member 20 and the panel portion 260, between the lower horizontal member 30 and the panel portion 260, and between the panel portions 260. , 208 and the lateral engagement grooves 29, 209 engage wheels of the maintenance device 400 described later. By the engagement, the maintenance device 400 is movably supported with respect to the assembly structure 10.

  FIG. 12 is a front view of the maintenance device 400. As shown in FIG. 12, the maintenance device 400 includes a base portion 410 having a trapezoidal frame, vertical engagement grooves 58 and 208, and a lateral engagement groove when the maintenance device 400 is attached to the assembly structure 10. Two vertical engagement drive parts (engagement drive parts) 450 and two horizontal engagement drive parts (engagement drive parts) 460 engaged with 29 and 209, and movably connected to the base part 410. First movable portion (movable portion) 420, second movable portion (movable portion) 430 movably connected to the first movable portion 420, and panel portion attached to the second movable portion. And a maintenance body 440 for polishing the surface of 260. The external control device 700 controls the operations of the vertical engagement drive unit 450, the horizontal engagement drive unit 460, the first movable unit 420, and the second movable unit 430. The coordinate system shown in FIG. 12 is a coordinate system when the maintenance device 400 is attached to the assembly structure 10.

  The base portion 410 is formed in a trapezoidal shape by combining metal pipes each having a hollow circular cross section. The base portion 410 includes a short short pipe 411 and a long long pipe 412 of the two parallel pipes, and two oblique pipes 413 and 414 that connect both ends of the short pipe 411 and both ends of the long pipe 412. Have. Of the four apexes of the base portion 410, the vertical engagement drive portions 450 are arranged at both ends of the short pipe 411, and the horizontal engagement drive portions 460 are arranged at both ends of the long pipe 412.

  The vertical engagement drive unit 450 is provided on the vertical movement rail 451 fixed to the base unit 410, and on the vertical movement rail 451 on an axis that is parallel to the plane including the base unit 410 and orthogonal to the short pipe 411. It is provided with four vertically moving wheels 452 that can move along the wheel and a wheel drive motor 453 that rotates the vertically moving wheels 452. The lateral engagement drive unit 460 is parallel to the horizontal movement rail 461 fixed to the base unit 410 and the plane including the base unit 410 on the lateral movement rail 461 and along the longitudinal direction of the long pipe 412. It is provided with four laterally moving wheels 462 that can be moved, and a wheel drive motor (not shown) that rotates the laterally moving wheels 462.

  As shown in FIG. 12, the lateral movement wheels allow the lateral movement wheels to move from the top of the long pipe 412 to a predetermined distance from the center of the long pipe 412. That is, the lateral movement wheel 462 does not move to the outside of the base portion 410. The vertical moving wheel 452 and the horizontal moving wheel 462 engage with the vertical engaging groove 208 or the lateral engaging groove 209. The vertical moving wheel 452 and the horizontal moving wheel 462 move in the vertical engaging groove 208 and the horizontal engaging groove 209 based on the control signal transmitted from the external control device 700.

  The first movable portion 420 includes four frame engaging wheels 421 that engage the outer surfaces of the short pipe 411 and the long pipe 412, a wheel drive motor (not shown) that rotates the frame engaging wheels 421, and the short pipe 411. And an orthogonal frame 423 composed of two frames straddling the long pipe 412. The orthogonal frame 423 is a metal pipe having a circular sectional shape smaller than that of the frame forming the base 410. The frame engagement wheel 421 moves on the short pipe 411 and the long pipe 412 by the driving force of the wheel drive motor of the first movable portion 420. Thereby, the first movable portion 420 can move along the longitudinal direction of the short pipe 411.

  The second movable portion 430 includes four orthogonal frame engaging wheels 431 that engage with the outer surface of the orthogonal frame 423, a wheel drive motor (not shown) that rotates the orthogonal frame engaging wheels 431, and four orthogonal frames. The engaging wheel 431 is supported, and the mounting plate 433 is arranged so as to straddle the two orthogonal frames 423. The second movable portion 430 moves along the longitudinal direction of the orthogonal frame 423 by the driving force of the wheel drive motor of the second movable portion 430. The mounting plate 433 is a plate-shaped member having a flat surface parallel to the trapezoid of the base portion 410. Therefore, when the maintenance device 400 is attached to the assembly structure 10, the mounting plate 433 faces the surface of the panel portion 260 of the assembly structure 10. The attachment plate 433 is a member to which the maintenance main body 440 and other various devices can be attached and detached. The first movable portion 420 and the second movable portion 430 move based on a control signal transmitted from the external control device 700, and the mounting plate 433 and the maintenance main body portion 440 change their relative positions with respect to the base portion 410.

3-2. Operation of maintenance device 400:
FIG. 13 is a front view showing an example of a state in which the maintenance device 400 is attached to the assembly structure 10. In the example shown in FIG. 13, each of the vertically moving wheels 452 of the maintenance device 400 is engaged with the vertically engaging groove 208 of the adjacent panel 200. The frictional force due to this engagement fixes the position of the maintenance device 400 with respect to the assembly structure 10. On the other hand, the laterally moving wheel 462 is not engaged with either the vertical engaging groove 208 or the lateral engaging groove 209. Therefore, the laterally moving wheels 462 do not generate a frictional force for fixing the assembly structure 10 to the maintenance device 400. That is, in order to fix the maintenance device 400 to the assembly structure 10, at least one of the vertical moving wheel 452 and the horizontal moving wheel 462 is arranged in the vertical engaging groove 58, 208 or the lateral engaging groove 29, 209. Must be engaged.

  FIG. 14 is a front view showing a state after the position of the maintenance device 400 with respect to the assembly structure 10 is changed from the state shown in FIG. The state shown in FIG. 14 is a state in which the relative positions of the vertically moving wheels 452 and the horizontally moving wheels 462 shown in FIG. 13 are fixed, and the entire maintenance device 400 of FIG. It is in a state of moving upward in the direction (Z axis positive direction). As shown in FIG. 14, the vertically movable wheel 452 is changed from a state in which it is engaged in the vertical engagement groove 208 to a state in which it is not engaged in any engagement groove. On the other hand, the laterally-moving wheel 462 is changed from the state in which it is not engaged in the engaging groove to the state in which it is engaged in the vertical engaging groove 208. As described above, in the maintenance device 400, at least one of the vertical moving wheel 452 and the horizontal moving wheel 462 engages with any one of the vertical engaging grooves 58, 208 and the lateral engaging grooves 29, 209. The position with respect to the assembly structure 10 is changed while maintaining this state.

  As described above, according to the assembly structure 10 of the present embodiment, the panel 200 is formed with the vertical engagement groove 208 and the horizontal engagement groove 209 which are recessed toward the center side of the panel 200. The maintenance device 400 includes a base portion 410, a vertical engagement drive portion 450 and a horizontal engagement drive portion 460 which are movable by engaging with the vertical engagement groove 208 or the horizontal engagement groove 209. The first movable portion 420 and the second movable portion 430 facing the panel 200 when attached to the assembly structure 10, the vertical engagement drive portion 450, the horizontal engagement drive portion 460, and the first movable portion 420. , And an external control device 700 that controls the operation of the second movable portion 430. According to this assembly structure 10, the position of the second movable portion with respect to the base portion can be changed. Therefore, by attaching various devices to the second movable portion 430, it is possible to perform various operations on the assembly structure 10 to which the maintenance device 400 is attached. Work is done. At least one of the vertical engagement drive unit 450 and the horizontal engagement drive unit 460 engages with the vertical engagement groove 208 or the horizontal engagement groove 209, so that the maintenance device 400 is provided with respect to the assembly structure 10. It is movably attached.

4. Storage device:
4-1. Containment device configuration:
FIG. 15 is a schematic perspective view of a storage device 500 that stores the panel 200. The housing device 500 includes a housing space forming portion 510 that forms a housing space SP that houses the panel 200, and four drive wheels 520 (only two are shown in the figure, which are fixed to the housing space forming portion 510 to move the housing device 500. ), The two sending units 530 that attach and detach the panel 200 to perform accommodation in the accommodation space SP and delivery from the accommodation space SP, and first detection for detecting that the accommodated panel 200 is arranged at a predetermined position. A part 540, a second detector 570 for detecting the panel 200 arranged at a position away from the initial housing position, and a second detector 570 for detecting the panel 200 arranged on the inner side of the accommodation space SP than the first detector 540. The third detection unit 550 includes a third detection unit 550, a fourth detection unit 580 that detects contact with the panel 200, and a restriction unit 560 that restricts the position of the panel 200 in the delivery direction. The coordinate system shown in FIG. 15 is a coordinate system corresponding to the case where the accommodation device 500 is arranged in the orientation shown in FIG.

  As shown in FIG. 15, the accommodation space forming portion 510 includes a bottom plate 512 to which the drive wheels 520 are attached, and two side plate frames 511 that are parallel to the delivery direction and are located on a plane orthogonal to the bottom plate 512. A reinforcement frame 513 that connects the two side plate frames 511 is provided. The accommodation space SP is formed as a rectangular parallelepiped space surrounded by the bottom plate 512 and the two side plate frames 511. In the accommodation space SP, the side surface orthogonal to the sending direction is open. Note that, hereinafter, among the released side surfaces, the side on which the first detection unit 540 is arranged is also referred to as the front surface, and the side on which the second detection unit 570 is arranged is also referred to as the rear surface. The panel 200 is accommodated and delivered via the front surface of the accommodation space SP.

  The two delivery parts 530 are arranged on each of the two side plate frames 511. As shown in FIG. 15, the delivery portion 530 disposed on one side plate frame 511 is provided with a gear motor (drive motor) 532 that generates a rotational driving force and a gear fixed to a rotation shaft of the gear motor. The rotation transmission chain 535, two meshing gears 536a and 536b that mesh with the rotation transmission chain 535, chain side gears (gears) 531a and 531b that rotate about the coaxial axes of the meshing gears 536a and 536b, and along the delivery direction. Rear-side chain gears 537a, 537b arranged on the rear side of the chain-side gears 531a, 531b, chains 533a, 533b meshing with the teeth of the chain-side gears 531a, 531b and rear-side chain gears 537a, 537b, and a chain. Intervals of distance L4 to 533a and 533b along the sending direction And a second hole 534 only a plurality of which are formed.

  The mesh gear 536a, the chain gear 531a, the rear chain gear 537a, and the chain 533a arranged on the one side plate frame 511 respectively include a belt mesh gear 536b, a chain gear 531b, a rear chain gear 537b, and It has the same structure as the chain 533b and is arranged vertically above the axis orthogonal to the bottom plate 512 in these structures. When the gear motor 532 is driven, the rotation driving force is also transmitted to the chains 533a and 533b via the rotation transmission chain 535. Therefore, the position of the second hole 534 formed in the chains 533a and 533b moving in the delivery direction is adjusted by the control of the robot built-in control unit 600.

The plurality of second holes 534 are holes having the same diameter as the first holes 53a and 53b (FIGS. 2 and 3) formed in the facing surface 51 of the installation column 50. The panel protrusions 201a and 201b of the panel 200 are inserted into the second holes 534. The distance L4 between the adjacent second holes 534 is larger than the thickness of the panel 200. Further, the distance between the chains 533a and the chains 533b that are respectively arranged and opposed to each other in each of the two side plate frames 511 is the same as the distance between the opposed surfaces 51 of the opposed installation columns 50 described above. Therefore, the panel 200 can be accommodated in the accommodation space SP by inserting the panel protrusions 201a and 201b into the second hole 534. Further, even if the adjacent second holes 534 fix the panels 200, the adjacent panels 200 do not contact each other.
It

  The first detection unit 540, the second detection unit 570, and the third detection unit 550 are infrared sensors, and detect the panel 200 by emitting infrared light and receiving reflected light of the infrared light from the panel 200. The first detection unit 540, the second detection unit 570, and the third detection unit 550 are arranged on each side plate frame 511. When accommodating the panel 200 in the accommodating space SP, the first detection unit 540 detects the panel 200 located on the front surface side of the initial accommodation position where the panel 200 is initially arranged. At the initial housing position, one surface of the panel 200 contacts a restricting portion 560, which will be described later, along the delivery direction, and the panel protrusions 201a and 201b face the second holes 534 located on the lower side of the chains 533a and 533b. The position.

  The second detection unit 570 detects the panel 200 accommodated on the rear surface side farthest from the initial accommodation position in the accommodation space SP. In the present embodiment, as shown in FIG. 15, the accommodation space SP can accommodate up to 11 panels 200. For example, the second detector 570 detects the eleventh panel 200 counted from the initial accommodation position when eleven panels 200 are accommodated in the accommodation space SP. The third detection unit 550 detects the panel 200 located on the back side by the distance L from the initial housing position along the delivery direction. Note that, hereinafter, the position on the back side of the accommodation initial position by the distance L is also referred to as a delivery start position.

  In the accommodation device 500, two sets of the fourth detection unit 580 and the restriction unit 560 are arranged with one fourth detection unit 580 and one restriction unit 560 as one set. The fourth detection unit 580 is arranged at the same position as the first detection unit 540 in the sending direction, and contacts the panel 200. FIG. 16 is an enlarged perspective view of a pair of the fourth detection unit 580 and the restriction unit 560. FIG. 17 is a cross-sectional view of the ZX plane in the pair of fourth detection unit 580 and restriction unit 560. The fourth detection unit 580 is a contact-type sensor and moves within a predetermined range along a direction (Z-axis direction) orthogonal to the bottom plate 512. Note that FIG. 17 shows a state in which the fourth detection unit 580 is in contact with the panel 200 (not shown) and is lowered to the maximum in the Z-axis negative direction.

  As shown in FIG. 17, the accommodation device 500 includes a connection member 590 that connects the fourth detection unit 580 and the restriction unit 560. The connecting member 590 is rotatably supported by the bottom plate 512, and is rotatably supported by the support shaft 591 centered on an axis parallel to the bottom plate 512 and orthogonal to the delivery direction. And a bar 592. As shown in FIGS. 16 and 17, the fourth detection unit 580 includes a detection unit side base point 583 supported at one end of a bar 592 and a contact surface 581 having a rectangular surface parallel to the bottom plate 512 (FIG. 16). ) And a fifth spring 582 that urges the contact surface 581 in a direction away from the bottom plate 512. The detection unit side base point 583 permits movement of the rod 592 that rotates around the axis of the support shaft 591 along the delivery direction. Therefore, the fourth detection unit 580 does not move along the delivery direction, but moves only along the axis (Z axis) orthogonal to the bottom plate 512.

  As shown in FIG. 17, the restricting portion 560 includes a restricting portion side base point 562 supported by the other end of the bar 592 and a cylindrical restricting main body portion 561 that moves only along the Z-axis direction. There is. The regulation unit side base point 562 allows the rod member 592 to move along the delivery direction similarly to the detection unit side base point 583 of the fourth detection unit 580. Therefore, the restricting portion 560 does not move along the X-axis direction but moves only along the Z-axis direction. The restriction portion side base point 562 is located at the end portion on the opposite side of the detection portion side base point 583 with the support shaft portion 591 interposed therebetween. Therefore, when the fourth detection unit 580 comes into contact with the panel 200 and the contact surface 581 starts to drop toward the bottom plate 512 side due to the weight of the panel 200, the protrusion amount of the restriction unit 560 from the bottom plate 512 starts to increase. When the contact surface 581 is lowered by a predetermined amount or more, the restriction portion 560 projects toward the accommodation space SP side from the contact surface 581 of the fourth detection portion 580. When the panel 200 is not in contact with the contact surface 581, the contact surface 581 protrudes in the direction away from the bottom plate 512 by the biasing force of the fifth spring 582, and the regulation portion 560 has the tip approaching the bottom plate 512. Go down.

  FIG. 18 is an enlarged perspective view showing the vicinity of the second hole 534 when the panel protrusion 201a of the panel 200 is inserted into the second hole 534 of the housing device 500. As shown in FIG. 18, in a state in which the panel 200 is not arranged at the initial accommodation position, the panel projection is formed in the second hole 534 at the delivery start position separated from the initial accommodation position by the distance L4 along the delivery direction. 201a is inserted and the panel 200 is being fixed to the sending part 530.

4-2. Containment control operation:
In the accommodation control for accommodating the panel 200 in the accommodation device 500, first, the robot built-in control unit 600 uses the detection values of the respective detection units to confirm that the panel 200 is not present at the initial accommodation position in the accommodation space SP. .. As in the state shown in FIG. 15, the first detector 540, the second detector 570, and the fourth detector 580 have not detected the panel 200, and the third detector 550 has detected the panel 200. If so, the robot built-in control unit 600 determines that the accommodation control can be executed. In the accommodation control of the present embodiment, in order to accommodate as many panels 200 as possible in the accommodation space SP, the robot built-in control unit 600 also uses the detection value of the third detection unit 550 for determination of the accommodation control. In another embodiment, it may be determined whether the panel 200 can be accommodated in the accommodation space SP without considering the detection value of the third detection unit 550.

  When the robot built-in control unit 600 determines that the panel 200 can be housed, the gripping device 300 is moved to move the panel 200 to the housing initial position. When the panel 200 approaches the initial housing position, the first detection unit 540 detects the panel 200 before reaching the initial housing position. When the first detection unit 540 detects the panel 200, the robot built-in control unit 600 moves the gripping device 300 and the panel 200 vertically downward from the detected position.

  When the panel 200 continues to move, the contact surface 581 of the fourth detection unit 580 contacts the lower end of the panel 200, and the fourth detection unit 580 is pushed downward in the vertical direction. When the fourth detection unit 580 is pushed down, the restricting unit 560 connected to the fourth detection unit 580 by the connecting member 590 increases the protrusion amount from the bottom plate 512. When the fourth detection unit 580 detects that the fourth detection unit 580 is pushed vertically downward to the maximum, the robot built-in control unit 600 moves the gripping device 300 and the panel 200 to the rear side along the delivery direction. When the panel 200 continues to move, the panel 200 comes into contact with the restriction portion 560 protruding from the bottom plate 512. Since the position at which the movement of the panel 200 is restricted by the restriction unit 560 is the initial housing position, the fixing operation to the housing device 500 is performed thereafter.

  FIG. 19 is a schematic diagram showing a state in which the panel 200 is arranged at the initial accommodation position by the gripping device 300. Note that the robot RB fixing the gripping device 300 is not shown in FIG. 19. When the panel built-in control unit 600 moves the panel 200 to the initial housing position, it rotates the key 320 inserted into the key hole 220 of the panel 200 to the initial posture. After that, the robot built-in control unit 600 moves the gripping device 300 to the front side along the sending direction in order to pull out the key 320 from the keyhole 220.

  As described in the operation of fixing the panel 200 to the installation column 50, the panel protrusions 201a and 201b of the panel 200 protrude from the side surface 205 as the key 320 that has been rotated in the grip state is brought closer to the initial posture. By inserting the protruding panel protrusions 201 a and 201 b into the second holes 534 of the delivery portion 530, the panel 200 arranged at the initial accommodation position is fixed to the delivery portion 530.

  FIG. 20 is a schematic diagram showing a state after the panel 200 arranged at the initial accommodation position is fixed to the delivery unit 530 and the gripping device 300 moves. As shown in FIG. 20, when the panel 200 is fixed to the delivery unit 530, the robot built-in control unit 600 next moves the chains 533a and 533b along the delivery direction to the rear surface side of the accommodation space SP by the distance L4. And move.

  FIG. 21 is a schematic diagram showing a state after the chains 533a and 533b have moved along the delivery direction in the housing control. The second hole 534 is formed at a distance L4 from the delivery portion 530. Therefore, as shown in FIG. 21, after the chains 533a and 533b have moved along the arrow MK1, the second hole 534 to which the panel 200 is not newly fixed is arranged at the initial housing position, and the housing device 500 changes into a state in which a new panel 200 can be accommodated. Thereafter, the panel 200 is housed in the housing device 500 one after another by repeatedly moving the panel 200 to the housing initial position by the gripping device 300 described above.

  FIG. 22 is a schematic diagram showing a state in which the maximum number of panels 200 are accommodated in the accommodation space SP. In the state shown in FIG. 22, when the panel 200 is detected by the second detection unit 570 (not shown in FIG. 22), the robot built-in control unit 600 cannot store any more panels 200 in the storage space SP. judge. The robot built-in control unit 600 stops the movement of the sending unit 530 and ends the accommodation control.

4-3. Operation of sending control:
In the sending control performed when sending out the panel 200 housed in the housing apparatus 500, first, the robot built-in control unit 600 uses the detection values of the respective detecting units and does not send the panel 200 to the housing initial position and sends the panel 200. Check that the panel 200 is at the starting position. FIG. 23 is a schematic diagram showing an example of a state of the accommodation space SP when the delivery control is performed by the accommodation device 500. In the state shown in FIG. 23, the first detection unit 540 and the fourth detection unit 580 do not detect the panel 200, and the third detection unit 550 detects the panel 200 at the sending start position. In this case, the robot built-in control unit 600 can execute the delivery control.

  When the delivery control is possible, the robot built-in control unit 600 moves the gripping device 300 to the delivery start position by using the image information captured by the camera 305 of the gripping device 300. When the key 320 of the gripping device 300 is inserted into the keyhole 220 of the panel 200 at the sending start position, the robot built-in control unit 600 uses the detection value of the panel contact sensor 306 of the gripping device 300 to determine that the panel 200 is the gripping device. It is detected by 300 that it is located at a grippable distance.

  FIG. 24 is a schematic diagram showing an example of a state in which the grip device 300 has moved to the delivery start position. When the panel 200 is detected by the panel contact sensor 306 and the key 320 inserted into the keyhole 220 starts to rotate, the panel protrusions 201a and 201b of the panel 200 inserted into the second hole 534 of the housing device 500 are moved to the side surface 205. Begins to retract. When the rotation angle of the key 320 becomes a certain value or more, the key protrusion 326 of the key 320 contacts the key contact portion 206 of the panel 200. When the key 320 further rotates, the key protrusion 326 grips the key contact portion 206, and the grip device 300 can move the panel 200 that has been fixed at the sending start position. 24, the panel protrusions 201a and 201b, the side surface 205 of the panel 200, and the key protrusion 326 of the key 320 are not shown.

  FIG. 25 is a schematic diagram showing a state after the panel 200, which has been fixed at the delivery start position from the state shown in FIG. 24, has been moved by the gripping device 300. When the panel 200 gripped by the grip device 300 moves, the second detector 570 no longer detects the panel 200. When the second detection unit changes from the state in which the panel 200 is detected to the state in which it is not detected, the robot built-in control unit 600 moves the chains 533a and 533b of the delivery unit 530 toward the front side along the delivery direction by the distance L4. To move.

  FIG. 26 is a schematic diagram showing a state in which the chains 533a and 533b have moved to the front side from the state shown in FIG. As shown in FIG. 26, when the panel 200 at the delivery start position moves, the robot built-in control unit 600 moves a new panel 200 accommodated in the accommodation space SP to the delivery start position along the arrow MK2. Let The control of moving the new panel 200 to the delivery start position is executed until there is no panel 200 accommodated in the accommodation space SP. FIG. 27 is a schematic diagram showing a state in which all the panels 200 in the accommodation space SP have been sent out by the sending control. In the state shown in FIG. 27, the panel 200 does not exist at the sending start position, so the third detection unit 550 does not detect the panel 200. The robot built-in control unit 600 determines that the panel 200 is not housed in the housing device 500 when the detected value of the third detection unit 550 does not change. In this case, the robot built-in control unit 600 ends the delivery control without driving the gear motor 532 that moves the chains 533a and 533b.

  As described above, the assembly structure 10 of the present embodiment includes the housing device 500 that houses the plurality of panels 200, and the robot built-in controller 600 that controls the housing device 500. The accommodation device 500 includes an accommodation space forming unit 510 that forms an accommodation space SP that accommodates the panel 200, a delivery unit 530 that moves the panel 200 in the accommodation space SP to an accommodation initial position along the delivery direction, and a delivery unit. 530 is provided with a plurality of second holes 534 formed at intervals of a distance L4 along the delivery direction. When the panel protrusions 201a and 201b of the panel 200 are inserted and fixed in the plurality of second holes 534, the robot built-in control unit 600 performs accommodation control for moving the delivery unit 530 to the rear side by the distance L4. According to this configuration, the panel 200 placed at the initial housing position is fixed to the delivery section 530 by the second hole 534 and the panel projections 201a and 201b that function as a lock mechanism. After the fixing, when the sending portion 530 moves to the rear surface side by the distance L4 along the sending direction, the new second hole 534 is arranged at the initial housing position. Therefore, when the accommodation control is performed, the accommodation device 500 can automatically accommodate the plurality of panels 200 that are successively transported to the accommodation initial position in the accommodation space SP.

  Further, in the assembly structure 10 of the present embodiment, the accommodation device 500 includes the second detection unit 570 that detects the panel 200 fixed to the delivery unit 530 at the position farthest from the initial accommodation position in the accommodation space SP. .. When the panel 200 is detected by the second detector 570 while the accommodation control is being performed, the accommodation control ends. With this configuration, when the second detection unit 570 detects the panel 200, the delivery unit cannot be moved to the rear surface side while the detected panel 200 is fixed to the delivery unit 530. That is, the fact that the second detector 570 detects the panel 200 indicates that no more panels 200 can be accommodated in the accommodation space SP. Therefore, the accommodation control can be automatically terminated by the detection value of the second detection unit 570.

<Modification of this embodiment>
The present invention is not limited to the above-described embodiment, and can be implemented in various modes without departing from the scope of the invention, and the following modifications are possible, for example.

[Modification 1]
The installation table 100 of the assembly structure 10 of the above-described embodiment is composed of five installation columns 50 installed on the same line, but various installation columns 50 and panels 200 fixed between the installation columns 50 are various. It can be transformed. For example, the number of installation columns 50 may be less than 4, or 6 or more. The installation columns 50 do not have to be installed on the same axis, and may be installed horizontally. The shape and arrangement of the installation columns 50 may be changed according to the shape and number of the panels 200. The maintenance device 400 does not necessarily need to be attached to the assembly structure 10.

  The panel 200 may have a circular shape instead of a rectangular parallelepiped shape. Although the panel 200 of the present embodiment is a solar cell panel, it may be another panel, for example, a wall installed on a highway. The shape and number of the panel protrusions 201a and 201b of the panel 200 can be variously modified. For example, one of the panel protrusion 201a and the panel protrusion 201b may be omitted. The panel projections 201a and 201b do not need to project along the axis orthogonal to the side surface, but may project at an angle from the side surface. Further, as a lock mechanism (first lock mechanism) that fixes the panel 200 and the installation support column 50, a mechanism that does not use the panel protrusions 201a and 201b, and another lock mechanism that fixes the panel 200 and the gripping device 300. May be used. For example, a lock mechanism that grips the panel 200 from the outside along the thickness direction according to the angle of the key of the gripping device 300 inserted into the keyhole 220 may be adopted. The panel 200 does not include the grooves 203a and 203b, and the installation column 50 does not need to include the positioning protrusions 52a and 52b.

[Modification 2]
FIG. 28 is a schematic diagram of the vicinity of the key 320 in a state where the key 320 of the grip device 300 is inserted into the keyhole 220 of the panel 200A of the modified example. The panel 200A of the modified example is different from the panel 200 of the embodiment in that the first spring 204 is not provided and the second key contact portion 207 is provided. Therefore, here, only different points from the embodiment will be described, and description of the same points as the embodiment will be omitted.

  As shown in FIG. 28, the panel protrusion 201 a has a second key contact portion 207 that protrudes in the radial direction toward the keyhole 220, similarly to the key contact portion 206. The second key contact portion 207 is formed on the tip side of the panel protrusion 201a with respect to the key contact portion 206. A gap is provided between the second key contact portion 207 and the key contact portion 206 such that the key protrusion 326 is inserted when the key 320 inserted in the key hole 220 rotates.

  When the gripping device 300 grips the panel 200A, the key 320 is inserted into the keyhole 220, and the key 320 starts to rotate from the initial posture. When the key 320 rotates about the central axis OL1 by a certain angle or more, the key protrusion 326 of the key 320 enters between the second key contact portion 207 and the key contact portion 206 and contacts the key contact portion 206. When the key 320 further rotates, the gripping device 300 grips the panel 200A as described in the embodiment. When releasing the gripped state, when the rotating key 320 starts to return to the initial posture, the key protrusion 326 comes into contact with the second key contact portion 207. When the key 320 further rotates in the direction to return to the initial posture, the second key contact portion 207 in contact with the key 320 moves toward the side surface 205 as the key 320 rotates. By this movement, the panel protrusion 201a increases the amount of protrusion from the side surface 205. As described above, the panel 200A of the modified example can project the panel protrusion 201a from the side surface 205 when the gripped state is released even if the panel 200A is not provided with the first spring 204.

[Modification 3]
The gripping device 300 in the above embodiment is an example, and the shape and number of each component of the gripping device 300 can be variously modified. For example, the gripping device 300 may have a smaller number of keys 320 than the keyholes 220 formed in the panel 200, and a known shape can be applied to the shape of the keys 320. The "key" and "keyhole" referred to in the present specification can be inserted when the key with respect to the keyhole has a predetermined posture (predetermined angle range), and the inserted key can be rotated with respect to the keyhole. It has a unique shape. When the key inserted in the key hole rotates, a part of the key and a part of the key hole come into contact with each other, and the rotational force received from the key through the contact part causes the panel 200 in which the key hole is formed. Generate a function.

  The grip device 300 may not include the panel contact sensor 306 and the distance sensor 307. In this case, for example, the robot built-in control unit 600 may detect the position of the gripping device 300 with respect to the panel 200 by using the detection value of the sensor arranged on the key 320 or the like. The number of drive motors 301 that rotate the key 320 may be two or more, and the respective rotation angles of the key 320 may be controlled to be different. For example, a drive motor 301 corresponding to each key 320 may be provided, or the rotation angle of each key 320 may be changed by changing the configuration of the link portions 302 and 303. The gripping device 300 may not include the second spring 325 or the third spring 328. Even without the second spring 325, the gripping device 300 is provided by the contact between the key 320 inserted into the keyhole 220 and the key contact portion 206, and the contact between the outer peripheral surface of the key body portion 321 and the inner peripheral surface of the keyhole 220. Can hold the panel 200. The second spring 325 and the third spring 328 may be formed as differently biased portions.

  The maintenance device 400 in the above embodiment is an example attached to the assembly structure 10, and the shape and the like of the maintenance device 400 can be variously modified. The maintenance device 400 only needs to be movably attached to the assembly structure 10, and a device other than the maintenance body 440 may be attached to the attachment plate 433. Although the maintenance device 400 includes the trapezoidal base portion 410, the maintenance device 400 does not have to be trapezoidal, and the vertical engagement drive unit 450 and the horizontal engagement drive unit 460 are attached to a rectangular plate member. Good. The maintenance device 400 includes a total of four engagement drive units as the vertical engagement drive unit 450 and the horizontal engagement drive unit 460, but it is sufficient that the maintenance device 400 includes at least two engagement drive units. If two engagement drive parts are provided, one of the engagement drive parts always engages with the vertical engagement grooves 58, 208 and the lateral engagement grooves 29, 209, so that the maintenance device 400 can be installed in the assembly structure. Can move with respect to 10. Further, the vertical engagement drive unit 450 and the horizontal engagement drive unit 460 for the base unit 410 can be variously modified.

  Although the maintenance device 400 includes the second movable portion 430, the maintenance device 400 may not include the second movable portion 430. In this case, the first movable part 420 may be configured to be movable on the plane with respect to the base part 410, or the maintenance device 400 itself may be moved with respect to the assembly structure 10 to cause the panel 200 to move. The position of the maintenance main body portion 440 may be changed with respect to. The engagement grooves formed in the assembly structure 10 may be, for example, only the vertical engagement grooves 58 and 208. Even in this case, by enlarging the movable regions of the first movable portion 420 and the second movable portion 430, the maintenance device 400 can perform work on all the panels 200 fixed to the assembly structure 10. The vertical engagement drive unit 450, the horizontal engagement drive unit 460, the first movable unit 420, and the second movable unit 430 have their positions relative to each other changed by engagement by the wheels. Well-known techniques can be used.

[Modification 4]
The accommodation device 500 only needs to be able to accommodate the plurality of panels 200 in the accommodation space SP, and the shape and configuration of the accommodation device 500 can be variously modified. The accommodating device 500 may have a configuration that does not include the drive wheels 520 and cannot move, or may have, for example, an operation unit that receives an input from an operator and that can move by an operation received by the operation unit. Good. The accommodation space SP formed by the bottom plate 512, the side plate frame 511, and the reinforcing frame 513 does not necessarily have to be a rectangular parallelepiped shape, and may be freely formed according to the shape of the panel 200. Further, some components such as the reinforcing frame 513 may not be provided.

  The delivery unit 530 that accommodates and delivers the panel 200 in the accommodation space SP may have a configuration different from the configuration of the above-described embodiment. A belt made of resin may be used instead of the various chains, and the number and positions of the side plate frames 511 may be variously modified. Further, the lock mechanism (second lock mechanism) for fixing the panel 200 can be changed according to the shape and configuration of the panel 200 side, and may have a configuration other than the second hole 534. Further, the number of the panels 200 accommodated in the accommodation space SP may be less than 10, or 12 or more. When the thickness of the panel is different from that of the panel 200 of the above embodiment, it may be dealt with by specifying the second hole 534 to be used. Further, depending on the panel 200 to be housed, the chains 533a and 533b in which the second holes 534 are formed may be replaced and the housing device 500 may be used.

  The housing device 500 does not have to include various detection units. For example, even if the accommodation device 500 does not include the first detection unit 540, the fourth detection unit 580, and the restriction unit 560, the panel 200 can be moved to the initial accommodation position. The robot built-in control unit 600 can move the panel 200 to the initial housing position by using the image information of the camera 305 included in the grip device 300 and the detection value of the panel contact sensor 306. Although the accommodation initial position and the delivery start position are different in the above embodiment, they may be the same position, or the accommodation initial position and the delivery start position may be different from those in the above embodiment. Good. Further, the position of the panel 200 in the housing device 500 may be detected by a contact sensor arranged in the restriction unit 560 or a contact sensor arranged in the second hole 534 instead of the detection units.

  Although the present aspect has been described above based on the embodiment and the modified examples, the embodiment of the aspect described above is intended to facilitate understanding of the present aspect, and does not limit the present aspect. The present embodiment can be modified and improved without departing from the spirit and scope of the claims, and the present embodiment includes the equivalents thereof. If the technical features are not described as essential in this specification, they can be deleted as appropriate.

DESCRIPTION OF SYMBOLS 1 ... Panel installation system 10 ... Assembly structure 20 ... Upper horizontal member 29,209 ... Horizontal engagement groove (engagement groove)
30 ... Lower horizontal member 50 ... Installation column 52a, 52b ... Positioning projection (second projection)
53a, 53b ... First hole 58, 208 ... Vertical engaging groove (engaging groove)
100 ... Installation stand 200, 200A ... Panel (plate-shaped member)
201a, 201b ... Panel protrusion (first protrusion)
203a, 203b ... Groove portion 204 ... First spring (first biasing portion)
206 ... Key contact part (holding part)
207 ... Second key contact portion 220 ... Key hole 250 ... Main body portion 260 ... Panel portion 300 ... Grip device (grip mechanism)
301 ... Drive motor 302 ... Upper link part (link)
303 ... Lower link part (link)
304 ... Attachment part 310 ... Frame 317 ... Frame side cam surface (frame side contact surface)
320 ... Key 321 ... Key body portion 324 ... Link connecting portion 325 ... Second spring (second biasing portion)
326 ... Key protrusion (third protrusion)
327 ... Key side cam surface (link side contact surface)
328 ... Third spring (third biasing portion)
400 ... Maintenance device 410 ... Base part 420 ... 1st movable part 430 ... 2nd movable part 433 ... Attachment plate 440 ... Maintenance main body part 450 ... Vertical engagement drive part (engagement drive part)
460 ... Lateral engagement drive unit (engagement drive unit)
Reference numeral 500 ... Housing device 510 ... Housing space forming portion 511 ... Side plate frame 520 ... Drive wheel 530 ... Sending portion 531a, 531b ... Chain side gear (gear)
532 ... Gear motors 533a, 533b ... Chain 534 ... Second hole 537a, 537b ... Rear surface side chain gear 540 ... First detection part 550 ... Third detection part 560 ... Restriction part 570 ... Second detection part 580 ... Fourth Detection unit 590 ... Connecting member 600 ... Robot built-in control unit (accommodation control unit, delivery control unit)
700 ... External control device (drive control unit)
L1 ... Distance between installation columns L2 ... Distance between tips of panel projections L3, L3a ... Distance between frame side cam surface and key side cam surface L4 ... Distance between second holes OL1 ... Central axis (predetermined axis)
RB ... Robot SP ... Accommodation space

Claims (21)

An assembled structure,
With multiple mounting posts,
Between the installation columns arranged to face each other, a plate-like member fixed at a predetermined fixed position,
A gripping mechanism that moves the plate-shaped member in a gripping state in which the plate-shaped member is gripped,
A first lock mechanism for fixing the plate member to the installation column,
The first locking mechanism is
An assembly structure for automatically fixing the plate-shaped member to the installation column when the plate-shaped member is moved to the fixed position of the installation column and the holding state by the holding mechanism is released. .. The assembled structure according to claim 1, wherein
The installation pillar has a first hole formed on a surface facing the other installation pillar,
The plate-shaped member,
A plate-shaped main body,
The protrusion amount from the side face is variably protruded along an axis intersecting with the side face of the main body portion, and the protrusion is arranged at the fixed position and fitted into the first hole when the protrusion amount is equal to or more than a predetermined amount. The first protrusion,
A first urging portion that urges the first protrusion in a direction projecting to the outside of the side surface;
A plurality of keyholes formed in the body along the thickness direction of the plate-shaped member,
The gripping mechanism is
Frame and
A plurality of keys that are rotatably supported around a predetermined axis and are fixed in position with respect to the frame, and in the case of an initial posture in which the rotation angle around the predetermined axis is a specific angle, and
A rotation driving unit that rotates the key about the predetermined axis,
The distance between the opposing installation columns is smaller than the distance between the tips of the respective first protrusions in a state where the first protrusions are projected more than the predetermined amount by the urging force of the first urging portions. ,
The first protrusion reduces the protrusion amount as the rotation angle of the key inserted into the keyhole from the initial posture increases,
The assembly structure, wherein the first hole, the first protrusion, and the first biasing portion function as the first locking mechanism. The assembled structure according to claim 2, wherein
The installation column has a second protrusion formed so as to project on the surface facing the other installation column,
The assembly structure, wherein the plate-shaped member has a groove portion that engages with the second protrusion when the plate-shaped member is gripped by the gripping mechanism and placed at the fixed position. The assembled structure according to claim 2 or claim 3,
The rotation driving unit,
One drive motor,
And a link for transmitting the driving force of the drive motor to each of the keys. The assembled structure according to claim 4, further comprising:
In a state where the key is inserted into the keyhole, a gripping force adjusting mechanism that increases a force with which the gripping mechanism grips the plate-shaped member as the rotation angle of the key rotating from the initial posture increases. , Assembly structure. The assembled structure according to claim 5, wherein
The key is
A link connecting portion fixed to the link,
A key main body that is rotatably supported around the predetermined axis with respect to the link connecting portion, and is inserted into the key hole;
A second urging portion that urges the rotation of the key body portion with respect to the link connecting portion to return to a preset initial angle,
The main body portion is located on an axis parallel to a straight line connecting the two keyholes, and has a gripped portion arranged movably along the straight line with respect to the main body portion,
The gripped portion is in a range in which the rotation angle of the key body portion is in the state where the key body portion is inserted into the keyhole, from the initial posture to the predetermined angle, as the rotation angle from the initial posture increases. , Moving toward the center of the body along the straight line,
When the rotation angle of the key body is equal to or greater than a predetermined angle, movement of the gripped portion is restricted,
An assembly structure in which the link connecting portion, the key body portion, the second biasing portion, and the gripped portion function as the gripping direct adjustment mechanism. The assembled structure according to claim 6, wherein
The main body is a plate having a substantially square surface,
The keyhole is formed near the apex of the main body,
The insertion direction in which the key is inserted into the keyhole is a direction orthogonal to the surface of the substantially quadrangle,
When the rotation angle of the key body is the predetermined angle from the initial posture in a state where the key body is inserted into the keyhole, the key body is provided with the predetermined shaft so as to come into contact with the gripped portion. Has a third protrusion protruding in the radial direction,
The assembled structure, wherein the gripped portion is movable along a protruding direction of the first protrusion. An assembled structure according to claim 6 or claim 7,
The frame has a frame-side contact surface that is angled from a plane orthogonal to the predetermined axis that contacts the link connecting portion in a state where the key body portion is inserted into the key hole,
The link connecting portion is
A link-side contact surface that contacts the frame-side contact surface in a state where the key main body is inserted into the key hole,
Movably supported with respect to the frame along an insertion direction in which the key is inserted into the keyhole,
The key has a third urging portion that generates an urging force that restores the separated distance of the link connecting portion when the link connecting portion is separated from the frame along the insertion direction. Assembly structure. The assembled structure according to any one of claims 2 to 8, wherein
On the plate-shaped member, an engagement groove having a concave center side is formed on the side surface,
The assembly structure further comprises
A moving structure that moves by engaging with the engaging groove,
The moving structure is
Base part,
A plurality of engagement drive units that are movably connected to the base unit and that move by engaging with the engagement grooves;
A movable part that is movably connected to the base part and faces the assembly structure in a state where the engagement drive part is engaged with the engagement groove;
By controlling the movement of each of the plurality of engagement drive portions with respect to the base portion, the moving structure is moved between the plurality of plate-shaped members, and the movement of the movable portion with respect to the base portion is controlled. And a drive control unit that moves the movable unit with respect to the plate-shaped member. The assembled structure according to claim 9, wherein
The movable part is
A first movable portion that is movably connected to the base portion along a first direction;
An assembly comprising: a second movable part, which is parallel to a plane including the first direction, and is movably connected to the first movable part along a second direction orthogonal to the first direction. Structure. The assembly structure according to claim 9 or 10, wherein
The base portion has a substantially rectangular shape,
An assembly structure in which the four engagement driving units are connected to four corners of the base unit. The assembled structure according to claim 11, wherein:
Of the four engagement drive units,
The two engagement driving units are movably connected to the base unit along a third direction parallel to one side of the substantially quadrangle,
The other two engagement driving units are connected to the base unit in parallel to a plane including the third direction and movably along a fourth direction orthogonal to the third direction. , Assembly structure. The assembled structure according to claim 12, wherein:
The base portion has a substantially trapezoidal frame,
The third direction is a direction along two parallel sides of the trapezoidal shape,
Of the four engagement drive units,
The two engagement driving units movable along the third direction are arranged at the vertices of the longer sides of the two parallel sides of the trapezoidal shape, and are located inside the vertices along the third direction. Assembly structure that is movable. The assembled structure according to any one of claims 2 to 13, further comprising:
A housing device for housing a plurality of the plate-shaped members,
The storage device is
An accommodation space forming portion forming an accommodation space for accommodating the plate-shaped member,
With respect to the accommodation space forming section, a delivery section that is movable along a delivery direction from the back of the accommodation space toward a preset accommodation initial position,
A second locking mechanism that fixes the plate-shaped member, which is arranged at the accommodation initial position and is spaced apart by a preset length along the delivery direction, to the delivery section;
An accommodation control unit that performs accommodation control for moving the delivery unit to the inner part of the accommodation space by the predetermined length after fixing the plate-shaped member arranged at the accommodation initial position by the second lock mechanism. And an assembled structure. The assembled structure according to claim 14, wherein:
The storage device is
A restricting portion that restricts the movement of the plate-shaped member arranged at the accommodation initial position,
A first detection unit for detecting the plate-shaped member located at a position apart from the accommodation space by a predetermined distance from the accommodation initial position along the delivery direction,
An assembly structure in which the accommodation control unit moves the detected plate-shaped member to a position regulated by the regulation unit when the plate-shaped member is detected by the first detection unit. The assembled structure according to claim 14 or claim 15,
The accommodation device includes a second detection unit that detects, in the accommodation space, the plate-shaped member fixed by the second lock mechanism that is most distant from the accommodation initial position along the delivery direction.
An assembly structure in which the delivery control unit ends the storage control when the plate-shaped member is detected by the second detection unit during the storage control. The assembly structure according to any one of claims 14 to 16, wherein:
The delivery section is arranged so as to face the delivery direction in parallel with the accommodation space interposed therebetween.
Each of the facing delivery portions is located at a position facing the first protrusion when the plate-shaped member is arranged at the accommodation initial position with a space of the predetermined length along the delivery direction. Has two second holes formed,
The distance between the two second holes facing each other is such that each of the two first holes protrudes in different directions with the first protrusion protruding more than the predetermined amount by the urging force of the first urging portion. Less than the distance between the tips of one protrusion,
An assembly structure in which the two second holes, the first protrusion, and the first biasing portion function as a second locking mechanism. The assembly structure according to claim 17, wherein:
The sending unit,
Two gears that are arranged apart from each other along the delivery direction and rotate about an axis parallel to an axis orthogonal to a plane including the delivery direction;
A chain that engages with the two gears and has the second hole formed therein;
And a gear motor for rotating at least one of the two gears. The assembled structure according to any one of claims 14 to 18,
The storage device is
A third detector that detects the plate-like member fixed by the second lock mechanism at a preset delivery start position in the accommodation space;
From the state where the plate-shaped member fixed by the second lock mechanism is detected by the third detection unit, the plate-shaped member is detected by the third detection unit after the fixation of the second lock mechanism is released. When the state is changed to the non-detection state, the plate-like member fixed by the second lock mechanism is sent to the delivery start position on the inner side of the accommodation space along the delivery direction from the delivery start position. An assembly structure having a delivery control. A moving structure that moves by engaging with an engaging groove formed on a side surface of a plate-shaped member in an assembly structure in which a plurality of plate-shaped members are fixed,
Base part,
A plurality of engagement drive parts that are movably connected to the base part and that move by engaging with the engagement grooves;
A movable portion that is movably connected to the base portion and that faces the plate-shaped member in a state where the engagement drive portion is engaged with the engagement groove;
Controlling the movement of each of the plurality of engagement drive units with respect to the base unit to move the moving structure between the plurality of plate-shaped members and controlling the movement of the movable unit with respect to the base unit. And a drive control unit configured to move the movable unit with respect to the plate-shaped member. A housing device for housing a plurality of plate-shaped members,
An accommodation space forming portion forming an accommodation space for accommodating the plate-shaped member,
With respect to the accommodation space forming section, a delivery section that is movable along a delivery direction from the back of the accommodation space toward a preset accommodation initial position,
A second locking mechanism that fixes the plate-shaped member, which is arranged at the accommodation initial position and is spaced apart by a preset length along the delivery direction, to the delivery section;
An accommodation control unit that moves the delivery unit into the interior of the accommodation space by the predetermined length after the plate-shaped member arranged at the accommodation initial position is fixed by the second locking mechanism. apparatus.

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