JP5076153B2 - Pallet feeding / discharging device and cell production system including the same - Google Patents

Description

  The present invention is used for assembling a product by one or a small number of work robots, one person or a small number of workers, or at a cell production site where these work robots or workers work together. The present invention relates to a pallet feeding / discharging device that supplies two pallets on which components are mounted together to a use position, and discharges a pallet that has been emptied by removing the components from the use position. The present invention also relates to a cell production system including the pallet supply / discharge device and a work robot.

  At the assembly site for cell production, etc., performed by workers, shelves (so-called cell stalls) assembled from pipes and the like are usually prepared, and the workers receive pallets (including component trays) on which multiple component boxes and components are placed. Assembling work is done by freely arranging it on the cell stand, and the workers in it configure the cell stand by arranging the parts box and pallet diagonally so that they can work easily, and the parts are taken out. The empty parts box and pallet can be easily organized and organized by the operator himself.

  On the other hand, when a work robot such as a SCARA robot or a vertical articulated robot is to be assembled, conventionally, a pallet on which components are placed is set on a pallet feeding / discharging device positioned with respect to the work robot. The pallet that was automatically supplied to the robot operating range and was empty after the parts were taken out was discharged by the pallet supply / discharge device (see Patent Document 1).

JP 09-019831 A

  However, in the above conventional pallet feeding / discharging device, in order to supply the pallet on which the parts are placed to the working range of the work robot, and to discharge the empty pallet from the working range of the robot, the horizontal pallet is moved to the use position. The movement and the vertical movement for removing the pallet from the use position must be performed in combination, and there is a problem that the configuration of the operation mechanism becomes complicated and the apparatus cost and the occupied space increase.

  Moreover, in the conventional pallet feeding / discharging device, only one pallet is supplied to the operating range of the robot. Therefore, in order to supply two pallets each having different parts, the pallet feeding / discharging device is used. Two devices need to be juxtaposed, and in this respect as well, there is a problem that the device cost and the occupied space increase.

  Therefore, the present invention provides a pallet feeding / discharging device capable of supplying two pallets to a work robot or a person and discharging an empty pallet with a simple configuration in view of the configuration of the previous cell stall. It is an object.

  Another object of the present invention is to provide a cell production system including the pallet supply / discharge device and the work robot.

  The present invention advantageously solves the above-described problems of the prior art, and a pallet feeding / discharging device according to the present invention is configured such that a pallet on which components are placed is inclined with respect to a predetermined first use position and the first use position. In the pallet feeding / discharging device that supplies the pallet that has been emptied from each of the first use position and the second use position, respectively, to a predetermined substantially horizontal second use position that is close to the lower side of the inclination direction. A first supply means for supplying a pallet toward the first use position; a second supply means for aligning below the first supply means and supplying the pallet toward the second use position; A discharge means for discharging the pallet in line with the second supply means; a second means for holding the pallet received from the first supply means at the first use position and discharging from the first use position; 1 holding An inclined receiving position for receiving the pallet discharged from the first holding member into the temporary storage place, and a substantially horizontal holding position for holding the pallet received from the second supply means in the second use position; A second holding member that swings between the temporary storage place and the second use position and an inclined discharging posture that slides the pallet to the discharging means, and a second holding member that swings and drives the second holding member Drive means; first stopper means provided on the first holding member for holding and releasing the pallet; and second stopper means provided on the second holding member for holding and releasing the pallet. Is.

  The cell production system of the present invention comprises the pallet supply / discharge device of the present invention, and a work robot including the first use position and the second use position of the pallet supply / discharge device in the operation range. is there.

  In the pallet feeding and discharging apparatus according to the present invention, the pallet on which the component is placed is inclined with respect to the predetermined first use position and the substantially horizontal predetermined position adjacent to the first use position below in the inclination direction. When the pallets that are supplied to the second use position and discharged from the first use position and the second use position are discharged from the first use position, the first supply means supplies the pallet supplied toward the first use position to the first use position. The holding member is disposed at the first use position and is held at the first use position by the holding operation of the first stopper means. Further, a second holding member that is driven to swing by the second holding member driving means is a pallet that the second supplying means that is positioned below the first supplying means supplies toward the second use position. Received in a substantially horizontal holding posture and held in the second use position.

  When all the parts placed on the pallet located at the first use position are taken out and the pallet is empty, the second holding member swings to the inclined receiving posture, and the first stopper means is released to release the first. The pallet discharged from the first use position of the holding member is received in the temporary storage place, and swings from the receiving position to the discharging position inclined in the reverse direction, and is positioned aligned below the second supply means. The pallet is slid down from the temporary storage location to the means, and the discharging means discharges the pallet. At this time, the pallet at the holding position of the second holding member is also tilted, but is held by the second holding member by the holding operation of the second stopper means. Further, when all the parts placed on the pallet located at the second use position are taken out and the pallet becomes empty, the second holding member swings to the inclined discharge posture and is held by the release operation of the second stopper means. The pallet is slid down from the position to the discharging means, and the discharging means discharges the pallet.

  Therefore, according to the pallet supply / discharge device of the present invention, since the two pallets are discharged from the use position by swinging the second holding member, the supply of the two pallets to the work robot and the person and The empty pallet can be discharged with a simple configuration, and the apparatus cost and the occupied space can be reduced. In addition, the first supply means, the second supply means, and the discharge means are vertically aligned, and the first supply means and the second supply means are inclined with respect to the inclined first use position and the first use position. Since the pallet is supplied to a substantially horizontal second use position that is close to the lower side of the tilt direction, two pallets are placed without taking up space in the work space where the hand of the work robot or the worker can easily reach In this respect, the occupied space can be reduced.

  In the pallet supply / discharge device according to the present invention, at least one of the first supply means and the second supply means is a roller conveyor, and the first holding member receives the pallet from the first supply means. The pallet feeding / discharging device is configured to swing between a substantially horizontal receiving posture and a holding / discharging posture for holding the received pallet in the first use position and discharging from the first use position. It is preferable that the first holding member driving means for swingingly driving the first holding member is provided. This is because the roller type conveyor can arrange a plurality of pallets side by side and supply them sequentially to the first and second use positions. If the first holding member also swings, the configuration of the first supply means can be varied. This is because it can be selected.

  Further, in the pallet feeding / discharging device of the present invention, a plurality of the roller conveyors are arranged along the inclined path, and a free roller for moving the pallet by its own weight of the pallet and the parts mounted thereon, and the roller conveyor. It is preferable to have third stopper means for holding and releasing the pallet with respect to the position of the outlet side end. This is because power for moving the pallet is unnecessary, and the supply means can be configured simply and inexpensively.

  Furthermore, in the pallet supply / discharge device of the present invention, it is preferable that the discharge means is an inclined discharge path having a slope for sliding the pallet down by its own weight. This is because power for pallet discharge movement is unnecessary, and the discharge means can be configured simply and inexpensively.

  Further, according to the cell production system of the present invention, the pallet supply / discharge device and the work robot including the first use position and the second use position of the pallet supply / discharge device in the operation range are provided. Can be supplied in two stages, an inclined position and a substantially horizontal position below it, so that when the work robot picks up a part from the pallet and places it at a predetermined position, the part can be easily seen with the camera and easily with the hand. In addition, many parts can be supplied at a time within the operating range of the work robot, and the first supply means, the second supply means, and the discharge means are aligned vertically, so that the supply and empty of the pallet can be performed. The pallet can be discharged in a space-saving manner.

(A), (b) and (c) are the front view, top view, and side view which show one Example of the pallet supply / discharge device of this invention. (A) And (b) is the perspective view and sectional drawing which show the pallet supply / discharge device of the said Example. (A)-(f) is explanatory drawing which shows a series of operation | movement of the pallet supply / discharge device of the said Example. (A)-(f) is explanatory drawing which shows a series of operation | movement following FIG. 3 of the pallet supply / discharge device of the said Example. (A), (b), and (c) are a front view, a plan view, and a side view showing an embodiment of the cell production system of the present invention in which the pallet supply / discharge device of the above embodiment is combined with one work robot. FIG. It is a perspective view which shows the pallet supply / discharge device of the said Example in the cell operation system of the said Example by the direction similar to Fig.2 (a). It is a perspective view which shows the modification of the cell production system of the said Example by which two or more pallet supply / discharge apparatuses of the said Example were juxtaposed. It is a perspective view which shows the other modification of the cell production system of the said Example to which the pallet supply / discharge device of the said Example was juxtaposed and one worker added.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1 (a), (b) and (c) are a front view, a plan view and a side view showing an embodiment of the pallet feeding / discharging device of the present invention. ) Is a perspective view and a cross-sectional view showing the pallet supply / discharge device of the embodiment.

  The pallet supply / discharge device of this embodiment constitutes a cell production system in combination with, for example, a work robot. As shown in FIGS. 1 and 2, a pallet PL on which a large number of parts PT are placed is inclined to a predetermined first. The used pallet PL is supplied to the use position P1 and the predetermined second use position P2 that is substantially horizontal and close to the first use position P1 in the downward direction of the inclination, and the empty pallet PL is supplied to the first use position P1. And it discharges | emits from 2nd use position P2.

  In order to ensure the above function, the pallet feeding / dispensing device of this embodiment is configured, for example, by a square pipe material in a shelf shape and one end thereof (FIGS. 1B and 2C and FIGS. 2B and 2C). Frame 1 in which the inclined first use position P1 and the substantially horizontal second use position P2 that is close to the first use position P1 in the downward direction of the inclination are set at the left end). A first roller type conveyor 2 provided as an upper portion of the frame 1 for supplying the pallet PL toward the first use position P1 as a first supply means and aligned below the first roller type conveyor 2 A second roller type conveyor 3 as a second supply means provided on the frame 1 to supply the pallet PL toward the second use position P2, and below the second roller type conveyor 3 Set in frame 1 so that they are aligned. It is to discharge the pallet PL by, and comprises an inclined discharge channel 4 as discharging means.

  Here, as shown in FIG. 2 (b), a large number of first roller type conveyors 2 and second roller type conveyors 3 are arranged along the ramp formed by the frame 1, and placed on the pallet PL and the pallet PL. The free roller 5 that moves the pallet PL under the guide of the frame 1 by its own weight and the end of the roller-type conveyors 2 and 3 on the outlet side (FIGS. 1B and 1C) As a third stopper means, the pallet PL is hooked and held at the position of the left end portion in FIGS. 2B and 2C, and only one pallet PL is released from that position when a release instruction is received. The stopper mechanism 6 is, for example, a latching member that is always urged by a spring and protrudes to a latching position with the end surface of the pallet PL, and energization of a drive current as a release instruction. Receiving the it can be constituted by an electromagnetic solenoid for releasing the engagement between the end face of the locking member is retracted the pallet PL. On the other hand, the inclined discharge path 4 has a shallow bowl-shaped slope that slides down the pallet PL by its own weight.

  The pallet feeding / discharging device of this embodiment also holds the pallet PL received from the first roller type conveyor 2 in a substantially horizontal receiving posture (see FIG. 3F) and holds the received pallet PL at the first use position P1. And a plate-like first holding member that is pivotally supported by the frame 1 so as to swing between the holding / discharge posture (see FIGS. 3A and 3E) for discharging from the first use position P1. 7, a first swing driving mechanism 8 as a first holding member driving means for swinging and driving the first holding member 7, and a pallet PL discharged from the first holding member 7 as a temporary storage place. An inclined receiving posture (see FIG. 3 (e)) received by the lower tray 9a and a substantially horizontal holding posture (FIG. 3 (a) for holding the pallet PL received from the second roller type conveyor 3 at the second use position P2. )) And above The frame 1 is swung between the lay 9a and the inclined discharge posture (see FIGS. 3 (f) and 4 (b)) for sliding the pallet PL from the second use position P2 to the inclined discharge path 4. A box-shaped second holding member 9 that is pivotally supported and a second swing driving mechanism 10 as second holding member driving means for swinging and driving the second holding member 9 are provided.

  Here, each of the first swing drive mechanism 8 and the second swing drive mechanism 10 includes, for example, a ball nut fixed to the slide member, a ball screw shaft screwed with the nut, and a servo motor that rotates the ball screw shaft. The ball screw linear movement mechanism 11 that moves the slide member forward and backward through the ball nut by the rotation of the ball screw shaft by the servo motor, and the slide member and the first holding member 7 or the second holding member 9 are connected. The link member 12 is configured.

  The pallet supply / discharge device of this embodiment is further provided with a stopper mechanism (first stopper means 6 as a third stopper means) and a stopper mechanism provided on the first holding member 7 to hold and release the pallet PL. And a stopper mechanism (second stopper means as the third stopper means) provided on the second holding member 9 and holding and releasing the pallet PL. (Similarly to the stopper mechanism 6, it is indicated by the same reference numeral 6).

  3 (a) to 3 (f) are explanatory views showing a series of operations of the pallet supply / discharge device of the above embodiment, and FIGS. 4 (a) to (f) are FIG. 3 of the pallet supply / discharge device of the above embodiment. FIG. 4 is an explanatory diagram showing a series of operations, and in the state shown in FIG. 3A, a pallet PL on which a large number of parts PT are placed on the first roller type conveyor 2 and the second roller type conveyor 3 therebelow. Are loaded, and the pallet PL is urged to the left in the figure by the weight of the pallet and parts, and the pallet PL on the outlet end side (the left end in the figure) of them is Each is latched by the stopper mechanism 6 at the exit end. The first holding member 7 is in a holding / discharging posture, and holds one pallet PL at the first use position P <b> 1 by the stopper mechanism 6. Further, the second holding member 9 is in a substantially horizontal holding posture and holds one pallet PL at the second use position P2.

  In this state, for example, a work robot (not shown) or an operator assembles a product by picking up and combining the parts on the pallet PL at the first use position P1 and the parts on the pallet PL at the second use position P2, and the product is assembled. When the pallet PL at the first use position P1 and the second use position P2 becomes empty as shown in FIG. 3 (b) by repeating the operation of placing the pallet on another pallet, the pallet supply / discharge of this embodiment is performed. In the apparatus, as shown in FIG. 3C, the second swing drive mechanism 10 swings the second holding member 9 into the receiving posture, and then, as shown in FIG. While the holding member 7 is in its holding / discharging posture, the empty pallet PL is released by the stopper mechanism 6 and discharged, and the pallet PL discharged from the first holding member 7 is transferred to the second holding member 9 in FIG. ) As shown, receive lower tray 9a of as a temporary storage location. Then, as shown in FIG. 3 (f), the second swing drive mechanism 10 swings the second holding member 9 into the inclined discharge posture, and the empty pallet PL is moved from the lower tray 9a to the inclined discharge path 4. While sliding down, the first swing drive mechanism 8 swings the first holding member 7 in a substantially horizontal receiving posture.

  Next, in the pallet feeding / discharging device of this embodiment, as shown in FIG. 4 (a), the stopper mechanism 6 of the first roller type conveyor 2 releases one pallet PL at the outlet side end. The first holding member 7 receives the pallet PL from the first roller-type conveyor 2 in the substantially horizontal receiving posture, and the stopper mechanism 6 of the first holding member 7 hooks the pallet PL and the first holding member 7. Next, as shown in FIG. 4B, the first swing drive mechanism 8 tilts the first holding member 7 to the holding / discharging posture, and the pallet PL on the first holding member 7 is moved to the first use position P1. Position. The inclined discharge path 4 allows the empty pallet PL to be moved from the end of the frame 1 on the side opposite to the first use position P1 and the second use position P2 (FIGS. 1B, 1C, and 2B). , (C), it slides down to the right end) and can be easily carried out from the end.

  On the other hand, here, the second swing drive mechanism 10 swings the second holding member 9 in an inclined discharging posture, and the stopper mechanism 6 of the second holding member 9 releases the empty pallet PL on the second holding member 9. Then, as shown in FIG. 4 (c), the empty pallet PL is slid down from the second holding member 9 onto the inclined discharge path 4, and this is also conveyed to the opposite end portion on the inclined discharge path 4. Then, as shown in FIG. 4D, the second swing drive mechanism 10 swings the second holding member 9 into a substantially horizontal holding posture, and the stopper mechanism 6 of the second holding member 9 is released. Then, the stopper mechanism 6 of the second roller type conveyor 3 releases one pallet PL at the outlet side end portion, and as a result, as shown in FIG. Pallet from the second roller type conveyor 2 in a horizontal holding posture Receive PL, the pallet PL is positioned in the second use position P2, returning to the state of FIG. 3 (a).

  Therefore, according to the pallet feeding / discharging device of this embodiment, the first and second holding members 7 and 9 are swung to hold and discharge the two pallets PL at the use positions P1 and P2. Therefore, the supply of two pallets PL and the discharge of empty pallets PL to a work robot or a person can be performed with a simple configuration, and the apparatus cost and occupied space can be reduced. In addition, the first roller type conveyor 2, the second roller type conveyor 3, and the inclined discharge path 4 are vertically aligned, and the first roller type conveyor 2 and the second roller type conveyor 3 are inclined in the first use. The pallet PL is supplied to the position P1 and the substantially horizontal second use position P2 that is close to the first use position P1 in the inclination direction, so that the work robot hand and the operator's hand can easily reach the work place. Two pallets PL can be arranged without taking up space in the space, and the occupied space can also be reduced in this respect.

  Further, according to the pallet feeding / discharging device of this embodiment, since both the first roller type conveyor 2 and the second roller type conveyor 3 are roller type conveyors, a plurality of pallets PL are arranged side by side in order. 1 and 2 can be supplied to the second use positions P1 and P2, and a plurality of these roller conveyors 2 and 3 are arranged along the ramp to move the pallet PL by its own weight of the pallet PL and the parts PT mounted thereon. And a stopper mechanism 6 as a third stopper means for holding and releasing the pallet PL with respect to the position of the outlet side end portion of the roller type conveyor. Since no power is required, the supply means can be configured simply and inexpensively.

  Furthermore, according to the pallet supply / discharge device of this embodiment, the discharge means is the inclined discharge path 4 having a slope that slides down the pallet PL by its own weight, and therefore no power is required for the discharge movement of the pallet PL. Therefore, the discharging means can be configured easily and inexpensively.

  FIGS. 5A, 5B and 5C are a front view and a plan view showing an embodiment of the cell production system of the present invention in which the pallet supply / discharge device of the above embodiment is combined with one work robot. FIG. 6 is a perspective view showing the pallet feeding / discharging device of the above embodiment in the cell working system of the above embodiment in the same direction as FIG. 2 (a). In FIG. An example pallet feeding / discharging device, WR is a work robot, and CV is a part of a belt conveyor.

  The cell production system according to this embodiment includes a pallet feeding / discharging device SE according to the above-described embodiment and a cart type work arranged facing the end portions of the pallet feeding / discharging device SE on the first and second use positions P1, P2 side. It comprises a robot WR and a belt conveyor CV arranged on the back side of the cart type work robot WR. The cart type work robot WR here is disclosed in Japanese Patent Application Laid-Open No. 2009-279663. The configuration is substantially the same as that disclosed.

  That is, the cart type work robot WR includes a head 21 having two television cameras, two work arms 22, a trunk portion 23 that supports the work arms 22, and a lower end portion of the trunk portion 23. And a support column 24 extending downward. Here, the head 21 is a torso via a two-degree-of-freedom neck joint 25 having a neck pitch axis driving mechanism that swings the head 21 back and forth and a neck yaw axis driving mechanism that rotates the head 21 left and right. It is attached to the upper end of the part 23. And the lower end part of the trunk | drum 23 is attached to the upper end part of the support | pillar 24 via the trunk | drum joint 26 of 1 degree of freedom which has the trunk | drum yaw axis drive mechanism which rotates the trunk | drum 23 right and left.

  The two working arms 22 are provided on the left and right sides of the torso 23, and each working arm 22 includes a shoulder joint 28 between the torso 23 and the upper arm of the working arm 22, and an upper arm and a lower arm. And a wrist joint 30 between the lower arm and the hand 27 and an end effector such as a tool exchanged with the lower arm. Each shoulder joint 28 is connected to the trunk portion 23 of the work arm 22. A shoulder yaw axis drive mechanism that pivots the whole around the yaw axis to the left and right, and a shoulder pitch axis drive mechanism that swings the entire work arm 22 back and forth around a pitch axis that is perpendicular to the yaw axis relative to the body 23 have.

  Furthermore, each elbow joint 29 has an elbow pitch axis drive mechanism that swings the lower arm up and down around the pitch axis relative to the upper arm, and each wrist joint 30 places the end effector on the pitch axis relative to the lower arm. Wrist pitch axis drive mechanism that tilts up and down relatively around the wrist, wrist yaw axis drive mechanism that rotates the end effector around the yaw axis perpendicular to the pitch axis, and wrist against the lower arm A wrist roll shaft drive mechanism that twists the pitch axis drive mechanism and the wrist yaw axis drive mechanism around a roll axis extending along the lower arm thereof. As a result, each work arm 22 has six degrees of freedom, and the two work arms 22 can be made free with no singularities by the arrangement of the pitch axis, yaw axis and roll axis drive mechanism. . As is well known, the shaft drive mechanisms of the pitch axis, yaw axis, and roll axis of each joint of the object recognition device decelerate the output rotation of a motor such as a servo motor with a speed reducer such as a brand name harmonic drive, as is well known. It is comprised with the rotation mechanism in which reverse input is possible.

  Further, this cart type work robot WR includes a cart 31 with a liftable caster and a fixed leg that supports the lower end of the column 24 so as to be movable and fixed, and a mark provided on the cart 31 and provided on the object. Are identified based on the images from the two television cameras of the head 21 to recognize the type and position of the object, and the joints described above based on the recognition information of the object and a program given in advance. And an operation control device 32 for operating an end effector such as a hand 27 or a tool exchanged therewith (for details, refer to Japanese Unexamined Patent Application Publication No. 2009-279663).

  With this configuration, the cart-type work robot WR picks up a plurality of types of parts constituting the product from the pallet PL arranged at the first and second use positions P1, P2 of the pallet feeding / discharging device SE of the above embodiment. Thus, a product can be assembled by combining these parts, and the assembled product can be mounted on the pallet PL on the belt conveyor CV.

  According to the cell production system of this embodiment, the pallet supply / discharge device SE of the above embodiment and the work robot WR including the first use position P1 and the second use position P2 of the pallet supply / discharge device SE in the operation range. Therefore, when the work robot WR picks up a part from the pallet PL and arranges it at a predetermined position, the pallet PL can be supplied to the two stages of the inclined position and the substantially horizontal position below the pallet PL. The parts can be easily seen with the television camera of the head 21 and can be easily taken with the hand 27. Furthermore, many parts can be supplied at once within the operating range of the work robot WR. Since the roller conveyor 3 and the inclined discharge path 4 are aligned vertically, the supply of the pallet PL and the discharge of the empty pallet PL can be performed in a space-saving manner.

  FIG. 7 is a perspective view showing a modification of the cell production system of the above embodiment in which a plurality of pallet feeding / discharging devices of the above embodiment are juxtaposed, and the cell production systems of this modification are arranged in parallel with each other. The four pallet feeding / discharging devices SE of the above embodiment and the pallet feeding / discharging devices SE are arranged to face the end portions on the first and second use positions P1, P2 side of the pallet feeding / discharging device SE, As shown, a cart type work robot WR movable between the pallet feeding / discharging devices SE and a belt conveyor CV disposed on the back side of the cart type work robot WR are provided.

  According to the cell production system of such a modification, it is possible to efficiently produce many kinds of products and many products in a limited plane space, and the kind and production capacity of products to be produced according to demand. Can be changed easily.

  FIG. 8 is a perspective view showing another modified example of the cell production system of the above embodiment, in which a plurality of pallet feeding / discharging devices of the above embodiment are juxtaposed and one worker is added. The example cell production system includes four pallet feeding / discharging devices SE of the above-described embodiment arranged in parallel with each other, and two pallet feeding / discharging devices SE on the left side in the drawing of the pallet feeding / discharging devices SE. 1, a cart-type work robot WR arranged facing the end portion on the second use position P1, P2 side, and a belt conveyor CV arranged on the back side of the cart-type work robot WR. Of the four pallet feeding / discharging devices SE, the two pallet feeding / discharging devices SE on the right side are used for supplying parts to the worker WP.

  Even with this modified cell production system, many types of products and many products can be efficiently produced in a limited plane space, and the types and production capacities of products to be produced according to demand. In addition, the shoulder joint 28 of the cart type work robot WR does not have a function of raising and lowering the work arm 22 to the side, and the operation control device 32 takes the work arm 22 into its own 2 Since control is performed so as not to move to other than the pallet feeding / discharging device SE and the belt conveyor CV, the worker WP can work safely in cooperation with the cart type work robot WR.

  Although the present invention has been described based on the illustrated examples, the present invention is not limited to the above-described embodiments, and can be appropriately changed within the scope of the claims. In the pallet feeding / discharging device SE, the first holding member 7 is swung by the first swing driving mechanism 8, but the first holding member 7 is fixed at an inclination angle at which the pallet PL is disposed at the first use position P1. Then, the first swing drive mechanism 8 may be omitted, and in this case, the first supply means may, for example, have an inclined angle that makes the roller conveyor coincide with or approaches the inclined angle of the fixed first holding member 7. You may comprise so that it may arrange | position. In the pallet feeding / discharging device SE of the above embodiment, the first supply means and the second supply means are both roller-type conveyors having free rollers, but either or both of them are driven to rotate by a motor or the like. It may be a roller type conveyor, or may be constituted by other conveying means such as a belt conveyor. Moreover, although the discharge means is an inclined discharge path, it may be constituted by a roller type conveyor or other transfer means.

  The first stopper means, the second stopper means, and the third stopper means are the electromagnetic solenoid type stopper mechanism 6. However, the latching member and the braking member may be moved back and forth by an air cylinder or other driving means. Further, the first holding member driving means and the second holding member driving means are both configured using a ball screw type linear movement mechanism, but either or both are configured using a linear motor, an air cylinder, or a hydraulic cylinder. Alternatively, a rotation driving mechanism used for a robot joint or the like may be used. The pallet supply / discharge device SE of this embodiment may be used by an operator at the cell production site.

  In the cell production system of the above embodiment, the cart type work robot WR is used. However, the work robot combined with the pallet feeding / discharging device SE of the above embodiment is not limited to this, and a normal SCARA type robot or a vertical multi-purpose robot can be used. An articulated robot or the like may be used. In place of the belt conveyor CV, other conveying means such as a self-propelled carriage may be used.

  Thus, according to the pallet supply / discharge device of the present invention, the two pallets are discharged from the use position by swinging the second holding member. The pallet can be discharged with a simple configuration, and the apparatus cost and the occupied space can be reduced. In addition, the first supply means, the second supply means, and the discharge means are vertically aligned, and the first supply means and the second supply means are inclined with respect to the inclined first use position and the first use position. Since the pallet is supplied to a substantially horizontal second use position that is close to the lower side of the tilt direction, two pallets are placed without taking up space in the work space where the hand of the work robot or the worker can easily reach In this respect, the occupied space can be reduced.

  Further, according to the cell production system of the present invention, the pallet supply / discharge device and the work robot including the first use position and the second use position of the pallet supply / discharge device in the operation range are provided. Can be supplied in two stages, an inclined position and a substantially horizontal position below it, so that when the work robot picks up a part from the pallet and places it at a predetermined position, the part can be easily seen with the camera and easily with the hand. In addition, many parts can be supplied at a time within the operating range of the work robot, and the first supply means, the second supply means, and the discharge means are aligned vertically, so that the supply and empty of the pallet can be performed. The pallet can be discharged in a space-saving manner.

DESCRIPTION OF SYMBOLS 1 Frame 2 1st roller type conveyor 3 2nd roller type conveyor 4 Inclined discharge path 5 Free roller 6 Stopper mechanism 7 1st holding member 8 1st rocking drive mechanism 9 2nd holding member 9a Lower tray 10 2nd rocking drive Mechanism 11 Ball screw type linear movement mechanism 12 Link member 21 Head 22 Work arm 23 Torso 24 Strut 25 Neck joint 26 Torso joint 27 Hand 28 Shoulder joint 29 Elbow joint 30 Wrist joint 31 Cart CV Belt conveyor PL Pallet PT parts P1 1st use position P2 2nd use position SE Pallet supply / discharge device WP Worker WR Work robot

Claims (5)

The pallet on which the component is placed is supplied to an inclined predetermined first use position and a substantially horizontal second use position which is close to the first use position in the downward direction of the inclination, and becomes empty. In the pallet supply / discharge device for discharging the pallets from the first use position and the second use position,
First supply means for supplying a pallet toward the first use position;
Second supply means that is arranged in alignment with the lower side of the first supply means and supplies the pallet toward the second use position;
A discharge means for discharging the pallet in alignment with the lower side of the second supply means;
A first holding member that holds the pallet received from the first supply means in the first use position and discharges the pallet from the first use position;
An inclined receiving posture for receiving the pallet discharged from the first holding member at a temporary storage location, a substantially horizontal holding posture for holding the pallet received from the second supply means in the second use position, and the temporary storage A second holding member that swings between a location and an inclined discharge attitude that slides the pallet from the second use position to the discharge means;
Second holding member driving means for swinging and driving the second holding member;
First stopper means provided on the first holding member for holding and releasing the pallet;
Second stopper means provided on the second holding member for holding and releasing the pallet;
A pallet supply / discharge device. At least one of the first supply means and the second supply means is a roller conveyor,
The first holding member has a substantially horizontal receiving posture for receiving a pallet from the first supply means, and a holding / discharging posture for holding the received pallet at the first use position and discharging from the first use position. Swings between,
The pallet feeding / discharging device according to claim 1, further comprising first holding member driving means for swinging and driving the first holding member. The roller conveyor is
A plurality of free rollers that are arranged along the ramp and move the pallet by the weight of the pallet and the parts mounted on the pallet;
Third stopper means for holding and releasing the pallet with respect to the position of the outlet side end of the roller conveyor;
The pallet supply / discharge device according to claim 2, wherein   The pallet supply / discharge device according to any one of claims 1 to 3, wherein the discharge means is an inclined discharge path having a slope that slides down the pallet by its own weight. A pallet feeding / discharging device according to any one of claims 1 to 4,
A work robot including in its operating range the first use position and the second use position of the pallet feeding and discharging device;
A cell production system.

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