JP6442368B2 - Panel construction machine - Google Patents

Description

  The present invention relates to a panel construction machine for improving the efficiency of a solar panel mounting operation on an inclined mount.

  In a solar power generation facility, the solar panel is attached to an inclined mount so that the solar panel is inclined with respect to the ground. There are various sizes of solar panels. As an example, there are solar panels having a length of about 1000 mm, a width of 2000 mm, and a thickness of about 40 mm, and a weight of about 25 kg. A solar panel of such a size can be carried by an operator, and may be manually transported or attached to an inclined mount. However, since such a work has a heavy load on the worker, the following Patent Document 1 proposes a panel construction machine related to the installation of a solar panel.

  The panel construction machine of the literature conveys and arrange | positions a solar panel with respect to the inclination mount frame installed in the flat ground. In the panel construction machine, a frame on which a solar panel is mounted is supported by a crawler traveling device. In addition, even if there are protrusions protruding from the ground surface, it is possible to lift the frame etc. by the lifting mechanism to avoid collision with the protrusions, and to carry the solar panel to the mounting position of the tilt base . Then, the solar panel is tilted at a predetermined angle by the stroke adjustment of the angle adjusting mechanism, and is mounted on the tilt frame.

JP 2012-201248 A

  The panel construction machine of the above-mentioned conventional example enters the inclined pedestal with the solar panel mounted thereon, where the solar panel is inclined and arranged on the inclined pedestal. That is, a series of operations from transportation of the solar panel to arrangement with respect to the inclined mount is performed by one unit. Therefore, it can be said that it is effective in reducing the burden on the worker. However, if the dozen or dozens of solar panels are repeatedly transported and arranged on an inclined rack for each sheet, the time required for construction is inevitably increased.

  Then, this invention aims at providing the panel construction machine and panel construction method for efficiently arrange | positioning a solar panel with respect to an inclination mount, in order to solve this subject.

  A panel construction machine according to the present invention includes a traveling device that transports a plurality of mounted solar panels, a panel moving device that sequentially arranges the mounted plurality of solar panels at a delivery position, and a solar panel at the delivery position. A panel tilting device that makes the tilted position and a panel feeding device that holds the solar panel at the sending position and sends it to the inclined downward side.

  According to the present invention, a plurality of solar panels are mounted and moved to a working position, and the held solar panels are sent out in a state of being inclined corresponding to the tilting frame. The solar panel can be transported, and the solar panel can be efficiently arranged with respect to the tilt base without being transferred to another work machine.

It is the external appearance perspective view which showed one Embodiment of the panel construction machine. It is the figure which showed the construction condition of the solar panel by a panel construction machine. It is the schematic which showed the panel inclination apparatus of the panel construction machine. It is the simple figure which showed the panel moving apparatus of the panel construction machine. It is the simple figure which showed the guidance apparatus of the panel construction machine. It is the simple figure which showed the panel push apparatus which pushes a sunlight panel. It is the simple figure which showed the mechanism of the panel feeder of a panel construction machine. It is AA arrow sectional drawing of FIG. 7 which showed the mechanism of the panel feeder. It is the simple figure which showed the structure of the winch which comprises a panel feeder. It is the simple figure which showed the X-axis adjustment mechanism of the panel construction machine. It is the simplified diagram which showed the (theta) 1 adjustment mechanism of the panel construction machine. It is the schematic of the side which showed the height adjustment mechanism of the panel construction machine. It is the plane simplified figure which showed the height adjustment mechanism of the panel construction machine. It is the simple figure which showed the rocking angle ((theta) 2) adjustment mechanism centering on the Z-axis of a panel construction machine. It is the simple top view which showed the Y-axis adjustment mechanism of the panel construction machine. It is the block diagram which showed simply the control structure of the panel construction machine.

  Next, an embodiment of a panel construction machine according to the present invention will be described below with reference to the drawings. FIG. 1 is an external perspective view showing a panel construction machine according to the present embodiment, and FIG. 2 is a diagram showing a construction situation of a solar panel by the panel construction machine. The solar power generation facility to be constructed by the panel construction machine 1 of the present embodiment is located on an inclined ground, and an inclined mount 300 is provided along the inclined surface 500. The inclined mount 300 is long along the inclined surface 500, and a plurality of solar panels 10 are continuously attached in the inclined direction. For example, in this embodiment, three panel rows 310 are provided, and six solar panels 10 are attached to each panel row 310.

  It is difficult for the operator to carry the solar panel 10 and place it on the inclined gantry 300 in the panel mounting operation in such an inclined place. On the other hand, it is not possible to use a flat construction panel construction machine like the conventional example. The panel construction machine 1 according to the present embodiment corresponds to the construction of a solar power generation facility installed on such an inclined land, and particularly for efficiently arranging the solar panels 10. However, the panel construction machine 1 is particularly effective for panel arrangement on an inclined land, but is not limited to this, and is also effective for panel arrangement of a solar power generation facility installed on a normal flat ground.

  In the construction site of the solar power generation facility on the slope, a work path 510 is created above the slope 500 on which the slope base 300 is installed. The inclined mount 300 is constructed so as to extend downward from the work path 510 to the inclined surface 500. In the inclined gantry 300, a plurality of gantry columns 301 are erected vertically on the slope 500 and the work path 510, and a plurality of inclined beams 302 are laid on the gantry column 301. The inclined beam 302 is fixed along the slope 500 and is at a predetermined height from the ground. In one panel row 310, two inclined beams 302 are provided in parallel at an interval narrower than the width dimension of the solar panel 10. In addition, in this embodiment, the direction orthogonal to the direction sent out with respect to the inclination mount 300 from the panel construction machine 1 is the width direction of the solar panel 10, and the longitudinal direction of the solar panel 10 shown in FIG. Will be described.

  In the construction of the solar panel 10 using the panel construction machine 1, a plurality of solar panels 10 are transported to the construction place, and are sequentially sent downward from the work path 510 above the slope 500 along the inclined mount 300. It is attached to a predetermined position of the inclined beam 302. The transportation of the plurality of solar panels 10 to the construction site and the delivery of the solar panels 10 to the inclined mount 300 are performed by one panel construction machine 1.

  The panel construction machine 1 can be moved by the traveling device 2. The traveling device 2 has a pair of crawlers 201 disposed on both sides of the traveling frame in the vehicle width direction, and can travel not only on a flat ground but also on an inclined ground. The panel construction machine 1 is provided with a travel drive unit 202 on the right side of FIG. That is, a gasoline engine and a hydraulic pump are mounted on the rear side of the machine body, and hydraulic pressure supplied from the hydraulic pump by driving the gasoline engine is a driving source of the hydraulic motor. A traveling operation unit 203 is provided at the rear of the machine body, and an operator performs a lever operation of the traveling operation unit 203 while walking along the rear side of the traveling panel construction machine 1.

  On the traveling device 2, there are configured a working unit 3 that sends the mounted solar panel 10 to the inclined gantry 300 and an adjusting unit 4 that positions the working unit 3 with respect to the inclined gantry 300. First, the configuration of the working unit 3 will be described. The working unit 3 is assembled on the unit frame 90 of the adjusting unit 4. The working unit 3 can be equipped with six solar panels. As shown in FIG. 1, the working unit 3 has a U-shaped structure in which the front side of the drawing is opened so as to be inserted from the width direction of the machine body. It has become. Therefore, the inside is a panel mounting space 8. In the present embodiment, as shown in FIG. 1, the panel construction machine 1 will be described with the front-rear direction as the X-axis direction, the width direction (lateral direction) as the Y-axis direction, and the height direction as the Z-axis direction.

  The working unit 3 has a sending position for sending the solar panel to the tilting base 300 at the top, and a U-shaped swinging frame 11 that can swing is provided there. The swing frame 11 is swingable with U-shaped end portions as fulcrums on the lateral side of the machine in front of the drawing (see FIG. 2), and the panel tilts with an electric cylinder as a drive means between the unit frame 90 and the frame. Devices 12 are provided on both the front and rear sides. The swing frame 11 is tilted as shown in FIG. 2 by the panel tilting device 12 so that the solar panel 10 held inside can be sent toward the tilting frame 300.

  Similarly to the panel tilting device 12, the panel moving device 13 is assembled between the swing frame 11 and the unit frame 90 on both the front and rear sides of the machine body. The panel moving device 13 mounts six solar panels in a horizontal posture in the panel mounting space 8 in the vertical direction, and sequentially moves them to the height of the swing frame 11. The swing frame 11 is provided with a panel feeding device 14 for holding the solar panel raised to the sending position and sending it to the tilting base 300. As shown in FIG. 2, the panel feeder 14 grips the upper end of the inclined solar panel 10 and sends the solar panel to the inclined mount 300 in a suspended state. In addition, the working unit 3 is provided with a guide device 15 that receives the solar panel that has been raised to the delivery position from the panel moving device 13 and guides the movement to the inclined mount 300. Next, the panel tilting device 12, the panel moving device 13, the panel feeding device 14, the guide device 15 and the like that are configured in the working unit 3 will be described in more detail.

  Here, FIG. 3 is a simplified diagram showing the panel tilting device 12. The panel tilting device 12 is configured in the same manner with respect to two cross beam members 111 (see FIG. 1) located in front and rear of the body of the U-shaped swing frame 11. The swing frame 11 has a U-shape in which both ends of the vertical beam member 112 are fixed to a pair of horizontal beam members 111. A column 21 is fixed to the transverse beam member 111 at an end of the U-shape so as to be orthogonal, and a lower end of the column 21 is pivotally attached to the unit frame 90. Further, the tilting actuator 22 is connected between the cross beam member 111 and the unit frame 90. The tilting actuator 22 is an electric cylinder in which a rod 222 extends and contracts with respect to the cylinder 221. As shown in the figure, the cylinder 221 side end is pivotally attached to the unit frame 90, and the rod 222 side end is pivotally attached to the swing frame 11 at the end opposite to the column 21. ing.

  The panel tilting device 12 is in a horizontal posture as shown by a solid line by the contraction operation of the tilting actuator 22, and is tilted in a posture such that the swinging frame 11 is shown by a one-dot chain line by the extension operation of the tilting actuator 22. become. Since the lower end portion of the column 21 swings around the fulcrum, the swing frame 11 in the tilted posture moves to a position where the lower end protrudes toward the tilt base 300 from the unit frame 90 and overlaps the tilt beam 302. It is supposed to be.

  Next, FIG. 4 is a simplified diagram showing the panel moving device 13, and a diagram (A) shown from the front-rear direction (viewed from the outside of the panel mounting space 8 in the X-axis direction) and a horizontal direction (Y-axis). It is the figure (B) shown from (direction). Similar to the panel tilting device 12, the panel moving device 13 is provided at two positions below the cross beam member 111, and is configured symmetrically at the front portion and the rear portion of the panel mounting space 8. The panel moving device 13 has two parallel rotary shafts 25 and 26 provided vertically, and an endless chain 28 is hung in the vertical direction via gears 27 fixed to both ends.

  A panel moving motor 29 is fixed between the left and right endless chains 28, and a transmission shaft 31 is coupled to the output shaft of the panel moving motor 29 in the vertical direction via a coupling 30. The transmission shaft 31 and the orthogonal rotation shaft 25 transmit rotation by a worm gear. That is, a worm 32 is fixed to the transmission shaft 31, and a worm wheel 33 is fixed to the rotating shaft 25. Therefore, the rotation of the panel moving motor 29 is transmitted to the rotary shaft 25, and the rotation synchronized with the endless chains 28 on both the left and right sides is given.

  Six L-shaped panel receivers 34 are fixed to the left and right endless chains 28 at equal intervals. Therefore, when the panel receiver 34 is on the panel mounting space 8 side and is positioned in the vertical portion of the endless chain 28 (other than the curved portion by the gear 27), the horizontal position as shown by the solid line in FIG. Overhangs. A plurality of such panel receivers 34 are provided at four locations in the panel mounting space 8 and function as a six-stage slot for supporting the solar panel inserted from the direction of arrow Y1 in FIG. It has become a thing. Further, a guide member 35 having a horizontal plate fixed in six stages is fixed to the unit frame 90 in front of the panel receiver 34 (see FIG. 1).

  In the panel moving device 13, by simultaneously controlling two panel moving motors 29 arranged at the front and rear of the machine body, the rotation of the four endless chains 28 coincide with each other and the four panel receivers positioned at the same height. 34 movements are aligned. Therefore, when the panel receiver 34 rises in the direction of the arrow shown in FIG. 4B, the solar panel 10 is disposed at the delivery position indicated by the alternate long and short dash line. At the delivery position, there is provided a guide device 15 that receives the solar panel 10 from the panel receiver 34 and guides the movement to the inclined mount 300 (see FIG. 1). FIG. 5 is a simplified plan view showing the guide device 15 in a non-guided state (A) and a guided state (B).

  As shown in FIG. 1, a panel guide plate 36 is fixed vertically to the cross beam member 111 of the swing frame 11, and an upper limit line rail 37 is fixed to the upper portion thereof. The panel guide plate 36 is disposed at a position to sandwich the solar panel 10 that has been raised to the delivery position from both sides in the width direction (X-axis direction), and the upper limit line rail 37 is the solar panel 10 that rises in the panel mounting space 8. This specifies the upper limit position. The panel guide plate 36 has notches formed at two locations so as not to interfere with the panel receiver 34, and through holes for passing the guide roller 38 are formed at six locations other than the notches. .

  The guide device 15 is configured such that the guide roller 38 passes through the panel guide plate 36 to the state shown in FIGS. 5A to 5B with respect to the solar panel 10 positioned by the upper limit line rail 37. Therefore, the solar panel 10 raised to the delivery position is sandwiched between the guide plates 36 at both ends in the width direction and supported by the guide rollers 38 from below. The guide roller 38 is attached to a long bracket 39 along the panel guide plate 36. The long bracket 39 is fixed to the X-axis slider 40, and can be moved between (A) and (B) as shown in FIG.

  The guide device 15 is provided with a guide actuator 41 that drives the X-axis slider 40. The guide actuator 41 is an electric cylinder, and the rod 411 is fixed so as to expand and contract in the Y-axis direction. A lead plate 42 is fixed to the tip of the rod 411. The lead plate 42 has lead holes 421 curved in two places, and a roller 43 fixed to the X-axis slider 40 is placed in each lead hole 421. Therefore, when the guide actuator 41 is driven and the lead plate 42 moves in the Y-axis direction, the roller 43 relatively moves in the lead hole 421, and the X-axis slider 40 and the guide roller 38 move in the X-axis direction. It is supposed to move.

  Next, the solar panel 10 placed on the guide roller 38 in the state shown in FIG. 5B is pushed in the direction of the arrow Y1 in FIG. FIG. 6 is a simplified view showing the panel push device 16 that pushes the solar panel 10 in the Y1 direction on the panel feeding device 14, and is a plan view (A) and a view (B) viewed from the Y-axis direction. The panel push device 16 is provided at the distal end portion of the cross beam member 111 as shown in FIG. In the panel push device 16, a push actuator 45 is fixed to the cross beam member 111. The push actuator 45 is an electric cylinder, and the rod is extended and contracted in the Y-axis direction.

  A cylindrical lead pipe 46 is fixed to the push actuator 45, and a rod extends and contracts inside the lead pipe 46. The lead pipe 46 is formed with a lead hole 461 having a straight portion and a turning portion. A pin 455 fixed orthogonally to the rod is positioned in the lead hole 461, and a slide block 47 slidable on the outer periphery of the lead pipe 46 is fitted. The slide block 47 is fixed to the pin 455. As the pin 455 linearly moves and pivots in the lead hole 461 by the expansion and contraction operation of the push actuator 45, the slide block 47 also linearly moves and pivots. Yes. A pusher 48 is attached to such a slide block 47.

  The panel push device 16 is retracted to a position indicated by a solid line so as not to interfere with the feeding of the solar panel 10 by the rotation of the pusher 48, and is indicated by an alternate long and short dash line so that the solar panel 10 can be pressed. Move to the position. A panel feed device 14 is provided on the opposite side of the panel push device 16, that is, on the vertical beam member 112 side of the swing frame 11. FIG. 7 is a simplified diagram showing the mechanism of the panel feeding device 14, and FIG. 8 is a cross-sectional view taken along the line AA in FIG.

  In the panel feeding device 14, two parallel links 51 and four cross links 52 are pin-coupled to one arm bar 50, and a parallel crank having pin movement holes formed in the arm bar 50 and the parallel links 51, respectively. 140 is configured in two places on the left and right. The arm bar 50 and the parallel link 51 are connected to each other by a clamp spring 49, and an urging force always acts so as to be in an approaching state indicated by a solid line. Such a parallel crank 140 is provided on the delivery bar 53, and an arm bar 50 common to the two parallel cranks 140 is provided with a manual lever 54 having a fulcrum on the delivery bar 53 at both ends.

  A clamp lever 55 is swingably attached to the delivery bar 53 between the two parallel cranks 140. The clamp lever 55 has an intermediate portion pivotally supported by a support pin 551 parallel to the X axis, and a lower end portion is urged by a stopper spring 56. Therefore, the clamp lever 55 in a normal state is in an inclined posture as indicated by a one-dot chain line, and an upper end portion thereof supports the arm bar 50 in a separated state from below. When the solar panel 10 is pressed from the Y1 direction indicated by the arrow by the panel push device 16, the clamp lever 55 stands up against the biasing force of the stopper spring 56. That is, the support of the arm bar 50 by the clamp lever 55 is removed.

  The panel feeder 14 is provided with gripping blocks 57 and 58 that sandwich the edge of the solar panel 10 from above and below (see FIG. 1). The grip blocks 57 and 58 are parallel cranks arranged so as to overlap with the arm bar 50 and the parallel link 51 when viewed in the Y-axis direction, and are configured to share the cross link 52 and the pin member of the parallel crank 140. Yes. Accordingly, the solar panel 10 is gripped by the grip blocks 57 and 58 due to the approaching state of the arm bar 50 and the parallel link 51, and the solar panel 10 is released from the grip blocks 57 and 58 due to the separate state of the arm bar 50 and the parallel link 51. It has come to be.

  Furthermore, the panel feeder 14 has a configuration capable of moving the solar panel thus gripped to the tilting base 300. First, the delivery bar 53 is provided with a pair of guide rollers 59 on the upper surface of both ends in the X-axis direction, and a pair of guide rollers 60 on the middle of the lower surface. The guide roller 59 rolls on the upper limit line rail 37, and the guide roller 60 rolls using the inclined beam 302 of the inclined mount 300 as a guide rail. Since the inclined beam 302 is made of C-shaped steel, the guide roller 60 enters into the inclined beam 302 so that the solar panel descending along the inclined beam 302 can be prevented from shifting in the X-axis direction.

  Next, the winch 17 (see FIG. 1) is connected to the delivery bar 53 that is integrated with the solar panel by gripping the grip blocks 57 and 58. FIG. 9 is a simplified diagram showing the structure of the winch 17. In the winch 17, a drive motor 64 is connected to the drum 61 through gears 62 and 63, and a flat belt 65 made of polyester having a constant width is wound around the drum 61 with the belt width. The winch 17 is provided at both ends of the delivery bar 53, and the flat belt 65 of the pair of left and right winches 17 is connected to the delivery bar 53. Therefore, the unwinding of the winch 17 that is synchronized causes the solar panel to be sent downward while maintaining its posture.

  In the panel construction machine 1 according to the present embodiment, the working unit 3 for sending the solar panel 10 to the inclined gantry 300 is configured as described above, and further, an adjustment for positioning the working unit 3 with respect to the inclined gantry 300 is provided therebelow. Part 4 is configured. The adjustment unit 4 adjusts the X-axis direction, the Y-axis direction, and the Z-axis direction with respect to the working unit 3, as well as a swing angle (θ1) about the Y axis and a swing angle (θ2) about the Z axis. This adjustment is also possible, and each adjustment mechanism is structured in layers. Then, it demonstrates in order from the mechanism of a lower layer side.

  FIG. 10 is a simplified diagram showing the X-axis adjustment mechanism. In the X-axis adjustment mechanism, a base frame 66 is fixed on the traveling unit 2, and an X-axis frame 67 including a roller 671 is mounted thereon. The X-axis frame 67 can be moved in the X-axis direction by a roller 671. Further, an auxiliary roller (not shown) hits the base frame 66 from the Y-axis direction or the Z-axis direction so that no deviation occurs in the same direction. It is configured. A trapezoidal screw mechanism is formed between the base frame 66 and the X-axis frame 67. That is, a screw shaft 68 with a handle 681 is attached to the base frame 66 in the X-axis direction via a bearing, and a nut 69 through which the screw shaft 68 passes is fixed to the X-axis frame 67 side. Therefore, the position adjustment of the X-axis frame 67 in the X-axis direction is performed via the nut 69 that moves in the X-axis direction by the rotation of the screw shaft 68.

  On such an X-axis frame 67, a swing angle (θ1) adjustment mechanism centering on the Y-axis is configured. FIG. 11 is a simplified diagram illustrating the θ1 adjusting mechanism. On the X-axis frame 67, a θ1 frame 70 is mounted with a swing shaft 701 in the Y-axis direction as a fulcrum, and both ends in the X-axis direction are inclined up and down. Trapezoidal screw mechanisms are formed on both sides of the θ1 frame 70 in the X-axis direction. That is, two screw shafts 71 are provided in the Z-axis direction by the upper and lower bearings, and nuts 72 holding the balls 721 are screwed to each other. The θ1 frame 70 has recesses at both ends in the X-axis direction, and the balls 721 of the nuts 72 are inserted therein.

  One of the pair of screw shafts 71 is a right-hand screw and the other is a left-hand screw. Therefore, the rotation of the screw shaft 71 in the same direction causes the pair of nuts 72 to move in the upside down direction, and the θ1 frame. A predetermined inclination is generated at 70. Therefore, the shaft 74 with the handle 741 is horizontally attached to the X-axis frame 67 via the bearing in the X-axis direction. The shaft 74 and the bevel gear 76 fixed to the gear shaft 75 orthogonal to the shaft 74 mesh with each other, and the rotation of the shaft 74 is transmitted to the gear shaft 75. A drive chain 77 is spanned between the gear shaft 75 and another gear shaft 75 via a gear, and a driven chain 79 is interposed between the two gear shafts 75 and the screw shaft 78 via a gear. It is being handed over.

  Therefore, when rotation is given to the shaft 74, the rotation is transmitted to the gear shaft 75 via the bevel gear 76, and further, rotation is given to the pair of screw shafts 71 via the drive chain 77 and the driven chain 79. Then, when the nuts 72 and 73 are moved in the reverse direction, the θ1 frame 70 is tilted to a predetermined angle. Further, a height adjustment mechanism for adjusting the height of the working unit 3 is configured on the θ1 frame 70. 12 and 13 are simplified views showing such a height adjusting mechanism, FIG. 12 is a side view seen from the Y-axis direction, and FIG. 13 is a plan view.

  The height adjustment mechanism is located between the θ1 frame 70 and the Z-axis frame 80, and is a combination of a link mechanism and a trapezoidal screw mechanism. As shown in FIG. Is provided. In the elevating part 81, a screw shaft 82 is disposed in the X-axis direction via a bearing on the lower surface of the Z-axis frame 80, and a nut 83 is screwed to the screw shaft 82. A long drive side link 84 is pin-coupled between the nut 83 and the θ1 frame 70, and a short driven side link 85 is pin-coupled between the drive side link 84 and the Z-axis frame 80. By such a drive side link 84 and a driven side link 85, Scott converts the linear movement (movement in the X-axis direction) of the nut 83 into the orthogonal linear movement (movement in the Z-axis direction) of the Z-axis frame 80 side connecting pin. A Russell link mechanism is configured.

  As shown in FIG. 13, the linear motion in the X-axis direction is such that a shaft 86 extending in the X-axis direction is provided on the Z-axis frame 80 via a bearing, and by rotation from a handle 861 attached to the shaft 86. The rotation is transmitted simultaneously to the screw shafts 82 of the four lifting portions 81. That is, on the outer side in the X-axis direction of the Z-axis frame 80, the chains 87a, 87b, 87c, 87d are hung between the gear fixed to the shaft 86 and the gear fixed to the four screw shafts 82. Yes.

  Accordingly, the shaft 86 is rotated by turning the handle 861, and the four screw shafts 82 are rotated via the chains 87a, 87b, 87c, 87d. In the four lifting portions 81, the rotation of the screw shaft 82 and the linear motion of the nut 83 accompanying the rotation are synchronized, and the Z-axis frame is moved by the movement of the driving side link 84 and the driven side link 85 at the same timing. As the 80-side connecting pin moves in the Z-axis direction, the Z-axis frame 80 moves up and down in a state substantially parallel to the θ1 frame 70.

  Next, FIG. 14 is a simplified diagram showing a swing angle (θ2) adjustment mechanism centered on the vertical Z axis. The θ2 adjusting mechanism adjusts the direction of the solar panel sent out from the working unit 3 so as to descend straight along the inclined beam 302. Therefore, a positioning bar 881 (see FIG. 1) is provided on the side of the long side of the θ2 table 88 (the release side of the panel mounting space 8), and this is applied to the two gantry columns 301 in one panel row 310. It is supposed to be. At this time, the θ2 table 88 on the Z-axis frame 80 is rotatably mounted via a table bearing 89 so that the positioning bar 881 follows the position of the gantry post 301.

  Therefore, by placing the positioning bar 881 on the two gantry pillars 301 in the X-axis direction, the θ2 table 88 naturally follows the inclined gantry 300 by the rotation of the table bearing 89. A Y-axis adjustment mechanism for adjusting the position in the Y-axis direction is provided on the θ2 adjustment mechanism. FIG. 15 is a simplified plan view showing the Y-axis adjusting mechanism. In the Y-axis adjustment mechanism, a trapezoidal screw mechanism is configured between the θ2 table 88 and the unit frame 90 (see FIG. 1) on which the working unit 3 is mounted. The trapezoidal screw mechanism is provided at two places, and a chain 93 is stretched around a gear 92 fixed to both screw shafts 91. A shaft 96 with a handle 961 is supported via a bearing in a direction orthogonal to the screw shaft 91, and bevel gears 97 fixed to the shaft 96 and one screw shaft 91 are engaged with each other. For this reason, the operation of the handle 961 provides rotation synchronized with both screw shafts 91 via the bevel gear 97 and the chain 93.

  A nut 95 is screwed onto the screw shaft 91, and a guide rail 93 is provided in parallel to each screw shaft 91 arranged in the Y-axis direction. A guide block 94 is slidable on the guide rail 93. It is assembled to. In this Y-axis adjustment mechanism, a set of a nut 95 and a guide rail 93 and a set of a screw shaft 91 and a guide block 94 move relatively in the Y-axis direction, and the former is attached to the θ2 table 88 below. The latter is attached to the unit frame 90 on the working unit 3 side. Therefore, when the handle 961 is turned, the screw shaft 91 moves in the Y-axis direction with respect to the nut 95, and the guide block 94 slides with respect to the guide rail 93.

  Next, FIG. 16 is a block diagram schematically showing the control configuration of the panel construction machine 1. The panel construction machine 1 is operated to operate the working unit 3 on the opposite front side of the machine body in addition to the traveling operation unit 203 provided on the rear side of the machine body (right side in FIG. 1) in order to operate the traveling device 2. An operation unit 204 is provided, and a control device 205 for controlling the driving of each driving unit of the traveling device 2 and the work unit 3 based on operation signals from the operation units 203 and 204 is provided. As a control method of the control device 205, for example, sequence control by PLC (Programmable Logic Controller) is adopted.

  Connected to the control device 205 are a power switch 207, an emergency button 208 for emergency stop, and the like, in addition to each sensor 206 (a plurality of sensors exist) that detect the operation of each electric actuator constituting the working unit 3. Has been. The panel construction machine 1 can be operated not only directly by the travel operation unit 203 and the work operation unit 204 but also remotely operated from a remote position. That is, a communication device 209 is connected to the control device 205, and communication for operation with the portable device 210 is possible. In the present embodiment, for example, a tablet is used as the mobile terminal 210, and the communication device 209 operates data communication according to the Bluetooth (registered trademark) standard. The panel construction machine 1 is provided with a signal tower 211 for displaying a remote operation state, and is connected to the control device 205.

  Then, the construction method of the solar panel 8 using the said panel construction machine 1 is demonstrated. The panel construction machine 1 is mounted with a maximum of six solar panels in the panel mounting space 8 at the panel carrying-in location. The panel construction machine 1 in the state shown in FIG. 1 is inserted into the six-stage slot portion constituted by the panel receiver 34 from the arrow Y1 direction. The guide member 35 in front of the panel receiver 34 has a stopper, and the inserted solar panel is restricted from moving in the reverse direction of Y1. Therefore, the crawler of the traveling device 2 is driven by the operation of the traveling operation unit 203 by the operator, and moves to the work path 510 above the inclined mount 300 as shown in FIG. Then, the working unit 3 is positioned by the operation of the adjusting unit 4 with respect to the stopped panel construction machine 1.

  The panel construction machine 1 is stopped according to the panel row 310 of the inclined gantry 300, and positioning adjustment is performed so that the solar panel is properly lowered along the inclined beam 302. That is, the adjustment is performed so that the key 98 (see FIG. 1) provided on the unit frame 90 is hooked on the gantry post 301. First, in the X-axis direction, the screw shaft 68 shown in FIG. 10 is rotated by the handle 681, and the X-axis frame 67 moves in the X-axis direction via the nut 69. Therefore, the position of the working unit 3 on the X-axis frame 67 is adjusted in the X-axis direction according to the rotation direction and the rotation amount of the handle 681.

  Next, when the shaft 74 shown in FIG. 11 is rotated by the handle 741, the rotation is transmitted to the drive chain 77 and the driven chain 79 via the bevel gear 76, and the two screw shafts 71 rotate. The two screw shafts 71 rotate synchronously in the opposite directions, and the pair of left and right nuts 72 move in the opposite directions, so that the θ1 frame 70 pushed up and down via the balls 721 tilts. Accordingly, the X-axis angle of the working unit 3 on the θ1 frame 70 is adjusted by the rotation direction and the rotation amount of the handle 741.

  Next, when the shaft 86 shown in FIG. 13 is rotated by the handle 861, the rotation is transmitted through the chains 87a, 87b, 87c, and 87d, and the screw shafts 82 of the four lifting portions 81 are rotated. Thereby, the linear motion in the X-axis direction of the nut 83 is converted into the linear motion in the Z-axis direction via the drive side link 84 and the driven side link 85, and the Z-axis frame 80 moves up and down in a substantially horizontal state. Therefore, the height of the working unit 3 on the Z-axis frame 80 is adjusted by the rotation direction and the rotation amount of the handle 861.

  Next, when the θ2 table 88 shown in FIG. 14 is rotated by the table bearing 89, the positioning bar 881 is applied to the two gantry columns 301, and the sending-out direction of the solar panel is adjusted to the inclined beam 302. . Further, when the pair of screw shafts 91 shown in FIG. 15 is rotated by the handle 961, the screw shaft 91 moves in the Y-axis direction with respect to the non-moving side nut 95, and the guide block 94 is also moved relative to the guide rail 93. Slide. Therefore, the position of the working unit 3 on the unit frame 90 in the Y-axis direction is adjusted by the rotation direction and the rotation amount of the handle 961.

  The solar panel can be sent out by adjusting the position of the adjusting unit 4 as described above. Sending out by the adjusting unit 3 can be directly operated from the work operation unit 204 of the panel construction machine 1 by the operator on the work path 510, or remotely operated from the lower side of the inclined gantry 300 using the portable terminal 210. You can also. When using the portable terminal 210, the worker travels the panel construction machine 1 to the work position, and after performing the adjustment work on the adjustment unit 4 described above, the lower side of the inclined gantry 300 (the installation position of the solar panel) ), The work unit 3 is operated on the spot, and the sent solar panel is attached to the inclined beam 302. That is, a series of work can be performed by one worker.

  Therefore, in the sending operation by the working unit 3, first, the endless chain 28 is rotated by driving the panel feeding motor 29 shown in FIG. 4, and the uppermost solar panel 10 is indicated by a one-dot chain line in FIG. Thus, the upper limit line rail 37 (see FIG. 1) is lifted to the upper limit position. Therefore, the guide roller 38 penetrates the panel guide plate 36 by the contraction operation of the guide actuator 41 shown in FIG. 5, and is arranged at the position shown in FIG. Therefore, by slightly rotating the panel feed motor 29 in the reverse direction, the solar panel 10 descends and is placed on the guide roller 38 and is moved to the swing frame 11 side.

  In the swing frame 11, the pusher 48 shown in FIG. 6 is driven to move the pusher 48 in the Y1 direction while turning, so that the solar panel 10 is pushed in the same direction. The solar panel 10 is pressed against the clamp lever 55 of the panel feeding device 14 shown in FIGS. Therefore, the clamp lever 55 stands up against the urging force of the stopper spring 56, and the arm bar 50 that is unsupported is brought close to the parallel link 51 by the clamp spring 49, and the grip blocks 57 and 58 that are also approaching each other. The solar panel 10 is gripped. As a result, the solar panel 10 is held by the panel feeder 14 and can be sent out by the winch 17.

  Next, by driving the tilting actuator 22 shown in FIG. 3, the swing frame 11 is tilted, and the solar panel is also tilted forward toward the tilting frame 300 side. At this time, the angles of the swing frame 11 and the solar panel are adjusted to the inclination of the inclined beam 302. Then, after the stopper is released by the pusher 48 shown in FIG. 6, the unwinding of the winch 17 causes the solar panel suspended from the flat belt 65 to slide down on the inclined beam 302 and to the attachment position. Be placed.

  At that time, in the swing frame 11, the solar panel sandwiched between the panel guide plates 36 moves on the guide roller 38, and the guide roller 59 of the feed bar 53 rolls on the upper limit line rail 37 to form the solar panel. The delivery is guided. On the other hand, in the inclined gantry 300, the feeding of the solar panel is guided by the guide roller 60 of the feeding bar 53 entering the inclined beam 302 made of C-shaped steel. Further, since the inclined swing frame 11 is positioned such that the tip thereof covers the inclined mount 300 as shown in FIG. 3, the rolling of the guide roller 59 on the upper limit line rail 37 and the inclined beam 302 of the guide roller 60 are performed. The inner rolling partly overlaps, and the feeding from the panel construction machine 1 to the inclined pedestal 300 is performed smoothly.

  The solar panel is gradually lowered by the unwinding of the flat belt 65 from the winch 17, stops at a predetermined position, and is disposed at the attachment position. Therefore, the solar panel is fixed to the inclined beam 302 by the operator. Further, when the solar panel is sent to the attachment position, the operator returns the manual lever 54 shown in FIG. 7 to the position indicated by the solid line. Therefore, the solar panel is released from the gripping blocks 57 and 58 and separated from the delivery bar 53. Then, the flat belt 65 is taken up by the rewinding of the winch 17, and the delivery bar 53 is raised and returned into the swing frame 11.

  Thereafter, the swing frame 11 is returned to the horizontal state by the contraction operation of the tilting actuator 22 shown in FIG. 3, and the guide roller 38 is brought into the state of FIG. 5A by the contraction operation of the guide actuator 41 shown in FIG. Returned. And it sends out similarly about the following solar panel 10 by the drive of the motor 29 for panel sending shown in FIG. When the installation of the six solar panels on the panel row 310 is completed, the panel construction machine 1 is returned to the panel carrying-in place, and six solar panels are mounted in the panel mounting space 8 and moved to the work place. The adjustment work of the adjustment unit 4, the sending-out work of the solar panel, and the installation work are repeated.

  Therefore, according to the panel construction machine 1 of the present embodiment, the six solar panels 10 are mounted and moved to the work position, and the solar panel 10 whose angle is adjusted with respect to the inclined mount 300 is sent out to a predetermined position. Can be arranged. That is, a plurality of solar panels can be transported at a time, and the solar panels can be efficiently arranged on the inclined gantry 300 as they are without being transferred to another work machine. In addition, the panel construction machine 1 is configured to send out a solar panel from above the inclined gantry 300, and it is not necessary to position the panel builder itself by entering the inclined gantry as in the conventional example. Can easily proceed with the work. In addition, the operation unit 3 can be easily positioned with respect to the inclined mount 300 by operating the handle of the adjustment unit 4.

  In the panel construction machine 1, the panel moving device 13 is configured to lift the solar panel 10 mounted on the panel receiver 34 of the endless chain 27, so that the position of the center of gravity of the panel moving device 13 corresponds to the rising of the panel 10. It is possible to achieve stability during work without rising. Further, the panel moving device 13 only raises the solar panel 10, and the solar panel 10 that has risen to the delivery position is moved to the swing frame 11 and tilted. The panel construction machine 1 at the time can be stabilized. However, such a configuration requires higher stability of the panel construction machine 1 and is not limited to this as long as stability at the time of operation can be secured. For example, the panel moving device 13 is tilted. The solar panel may be raised.

  In the panel construction machine 1, when the guide roller 38 protrudes from the panel guide plate 36, the solar panel 10 can be easily transferred with respect to the swing frame 11, and the panel construction machine 1 can be in a state of being sent out to the inclined mount 300. Further, the guide roller 38 and the panel guide plate 36 can smoothly move the solar panel sent to the inclined mount 300, and can stabilize the moving posture. The solar panel 10 transferred to the swing frame 11 is held by the panel feeding device 14 only by being pressed against the clamp lever 55 by the panel push device 16. Further, when the solar panel 10 is released from the panel feeder 14, the operator can easily release the grip simply by tilting the manual lever 54.

  The winch 17 that lowers the solar panel 10 along the inclined beam 302 is formed by winding the flat belt 65 with the belt width, so that the flat belt 65 is widened with respect to the drum 61 by unwinding and unwinding. It will not shift in the direction. Therefore, the pair of left and right winches 17 that synchronize the drive have the same feed amount of both flat belts 65, and can feed the solar panel in a correct posture. In addition, the panel construction machine 1 can be directly operated by the operator, or can be remotely operated by the portable terminal 210 with the communication device 209 mounted. Therefore, even when the stop position of the panel construction machine 1 and the installation position of the solar panel 10 are separated from each other like the inclined mount 300, the operator can operate the panel construction machine 1 from the installation position. But you can work efficiently.

As mentioned above, although embodiment of the components collection | recovery apparatus of this invention was described, this invention is not limited to this, A various change is possible in the range which does not deviate from the meaning.
For example, in the above-described embodiment, the specific configurations of the working unit 3 and the adjusting unit 4 are not limited to the panel moving device 13, the panel feeding device 14, an adjustment mechanism using a trapezoidal screw, and the like. As long as it plays, it may have a different structure.

DESCRIPTION OF SYMBOLS 1 ... Panel construction machine 2 ... Traveling device 3 ... Working part 4 ... Adjustment part 8 ... Panel mounting space 10 ... Solar panel 11 ... Swing frame 12 ... Panel tilting device 13 ... Panel moving device 14 ... Panel feeding device 15 ... Guide Device 16 ... Panel push device 205 ... Control device 210 ... Mobile terminal 300 ... Inclined stand 302 ... Inclined beam

Claims (8)

A traveling device for carrying a plurality of solar panels mounted;
A panel moving device for arranging a plurality of solar panels mounted in order at the delivery position;
A panel tilting device that allows the solar panel to be tilted at the delivery position;
A panel construction machine, comprising: a panel feeding device that holds the solar panel at the feeding position and feeds the solar panel downward.   In the panel moving device, a plurality of panel chains rotating in the vertical direction are arranged in pairs at intervals corresponding to the width dimension of the solar panel, and support a plurality of end portions of the solar panel with respect to the panel chain. The panel construction machine according to claim 1, wherein the panel receivers are attached at predetermined intervals. A guide device that is provided at the delivery position and receives a solar panel moved to the delivery position by the panel moving device;
The guide device is configured such that a plurality of rollers that support end portions in the width direction of the solar panel perpendicular to the feeding direction protrude from a panel guide plate that guides the solar panel from the width direction by a driving mechanism. The panel construction machine of Claim 1 or Claim 2 characterized by these. The panel feeder is
A parallel crank in which link members arranged in parallel are connected by a spring for clamping;
A gripping block coupled to the link member of the parallel link;
A stopper member that is swingably attached to a support member that supports the parallel crank, engages with the link member, and maintains a wide interval between the link members;
The said stopper member maintains the engagement attitude | position with respect to the said link member with the elastic force of the spring for stoppers, and an engagement attitude | position is cancelled | released by pressing of a solar panel. Item 4. The panel construction machine according to any one of items 3 to 4.   Provided on the lower side of the solar panel tilted by the panel tilting device at the delivery position, is provided with a pressing means for pressing the solar panel against the stopper member, the pressing means via a drive mechanism The panel construction machine according to claim 4, wherein the panel construction machine has a panel push device attached thereto.   The panel feeding device includes a winch in which a flat belt is wound around the drum rotated by a motor with the belt width, and the solar panel held at the feeding position is suspended by the flat belt. The panel construction machine according to claim 1, wherein:   The panel moving device, the panel tilting device, and the panel feeding device are provided with drive motors that actuate each drive portion, and a control device that controls the drive of the drive motor and the drive motor are remotely operated. The panel construction machine according to any one of claims 1 to 6, further comprising a portable terminal and a communication device that exchanges signals between the portable terminal and the control device. A plane position adjusting mechanism for positioning the unit table on a plane between the unit table on which the panel moving device, the panel tilting device and the panel feeding device are mounted and the traveling device, and a height of the unit table 8. The apparatus according to claim 1, further comprising a height adjusting mechanism that performs positioning in the vertical direction and an inclination adjusting mechanism that adjusts an inclination in the width direction of the unit table. 9. Panel construction machine.

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