JPH03238232A - Pallet supply device - Google Patents

Abstract

PURPOSE:To detect an abnormal condition accurately by discriminating whether or not empty pallets have been discharged from a pallet holding position within a preset counting time defined by a first counter CONSTITUTION:A counter C2 for counting the presence of empty pallets to a discharging position through a switch 13 and the third counter C3 for control ling the lowering time of the second elevator on a discharging side are provided to perform count locking of the counting number of the counter C2 in accor dance with the count finishing time of the third counter C3. Next, a time from the detection of the empty pallets to the transfer completion of the empty pallets to the second elevator is counted by the second counter C2, thus to discriminate whether the empty pallets are discharged or not within a normal time and to issue an alarm in some abnormal cases. It is thus possible to prevent an error such as the overlooking of abnormal commodity supply performance for a long time.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pallet supply device installed in various types of equipment such as machine tools such as automatic processing machines and automatic assembly machines, and for supplying pallets to various types of equipment.

[Conventional technology]

In general, pallet feeding devices that supply pallets to various equipment such as machine tools such as automatic processing machines and automatic assembly machines are installed with accurate positioning relative to the machine tools such as processing machines and assembly machines, and are used for robots, etc. It is installed as a stationary type to achieve assembly accuracy depending on the device. In addition, within the factory,
In the processing and assembly processes, the installation location of each processing machine, assembly machine, etc. may be different due to the size of the processing and assembly equipment and restrictions on equipment conditions. After the workpieces are placed on the pallets, the pallets are placed on an automatic guided vehicle or a pallet supply device and transported manually.

FIG. 6 is a side view showing an example of the configuration of a conventional pallet feeding device. In FIG. 6, a feeding device 122 that feeds and transports the pallet 1 is equipped with an elevating means (not shown).
The pallet 1 is placed in an upper position and a lower position and is transported.

On the other hand, a robot device 150 equipped with a robot hand 150h is provided on the upper part of equipment 170 such as a machine tool or an assembly machine. The conveyor 12 is provided with a stopper 124 for receiving and taking the pallet 1 between the supply device 122 and the device 170.
0 and a conveyor 1-9 provided with a stopper 123 for discharging the pallet 1 are provided so that a portion of each is supported on a conveyor table 121. The pallet 1 is then driven up and down by the lifting device 125.

The operation of the pallet supply device configured as described above is such that after the conveyance device 122, which is an automatic guided vehicle or the like, is moved to a positioning position in the direction perpendicular to the plane of the paper in FIG.
After moving the pallet 1 below 22 to the position where the stopper 124 of the conveyor 120 that receives the pallet 1 is provided, the stopper 124 is released and the pallet 1 is moved to the position of the lifting device 125, and then the working position shown in the figure is reached. and move the workpieces on pallet 1 to jig pallet 1.
8, the robot hand 150h moves it in the direction of the arrow. In this way, when the remaining number of works in the pallet 1 is exhausted, the pallet 125 descends to the height of the conveyor 119, and after being moved to a position where the right end of the pallet I-1 abuts the stopper 123, the stopper 123 is released. Then, the pallet 1 is moved to the upper position of the supply device 122, and the process ends.

Further, the conveyance system uses trays to convey a large number of products, and includes an elevator for supplying to a product working section of 1-1 No.
Japanese Patent Laid-Open No. 60-213630 discloses a system that includes an elevator for discharging trays and controls the movement of each elevator individually.

Furthermore, means for transporting the tray containing articles on a trolley, transporting the tray to a working section, and gripping the tray, means for supporting the tray until the work is completed in the working section, and means for mounting a wagon inside the machine. In the space provided adjacent to the section, the tray is equipped with a means for picking up the tray on which work has been completed from the support means and transporting it downward, and a means for returning the tray carried downward to the wagon again. JP-A-63-106214 discloses an apparatus in which a preparation tray is attached to the gripping means and a work tray is attached to the support means.

Furthermore, it is equipped with a mechanism for transporting a parts box containing parts to a parts supply position and an ejection mechanism for ejecting an empty parts box, and by three-dimensionally transporting the parts box, the occupied space can be reduced ( Special Publication No. 62-29335 as a device that
There is a publication.

[Problems to be achieved by the invention]

An object of the present invention is the warning function of the article supply device.

An article supply device suitable for application of the present problem includes a first elevating means for supplying a pallet I containing articles to a robot, and a first elevating means for discharging empty pallets, as described in the examples below. Second
see the elevating means and the first and second elevating means.
A drive means for making a saw movement, and a plurality of detection means for moving the pallet to an article supply position and an empty pallet discharge position by each of the lifting means and detecting the position of each of the lifting means. , an article supplying device in which the first and second elevating means are raised and lowered in response to a signal from the detecting means.

In the above article supplying apparatus, the first elevating means for supplying filled pallets and the second elevating means for discharging empty pallets are each configured to stack pallets and move up and down in a scene-like manner.

In the above-mentioned device, if the stacked pallets are not aligned or stacked properly, or if some of the pallets jump out, the vertical movement of the lifting means will be hindered, especially when supplying goods to the robot. This may cause problems with the process or affect the next process such as processing work.

SUMMARY OF THE INVENTION In order to solve the above-mentioned problem, it is an object of the present invention to provide a device that determines whether an abnormal state of the device is present by time-controlling the upward and downward movements of a lifting means.

[Means and actions for solving problems]

In order to achieve the above-mentioned problems, the present invention provides a first elevating means for supplying a pallet filled with articles to an article supplying position, a second elevating means for discharging an empty pallet, and a second elevating means for moving the empty pallet. and a first counter that starts counting in response to the empty pallet detecting means and a detection signal; It is determined whether or not the discharge process has been completed within a predetermined count time determined by the first counter.

〔Example〕

1) Description of device configuration An embodiment will be described in detail with reference to the drawings. 1st
The figure is a side view of the pallet feeding device of the present invention, and shows the schematic configuration. In this figure, the robot device 150 shown by the dashed line and movable on the moving rail 17 is provided with a robot node 150h, which is a point where a large number of workpieces to be assembled by the robot device 150 are accommodated. The pallets 1 shown in chain lines are stacked on the floor G, and while maintaining this stacked state, the pallets 1 are stacked on the loading surface of the first lifting platform 3 for supplying pallets. I'm trying to place it on top.

Inside the main body 2, there are provided first and second lifting platforms 3.4 for lifting and lowering the pallets 1 stacked in this way, so that the pallets 1 can be operated while being stacked as shown. The device is placed on the placement surface of the first lifting table 3 either manually or by a separate insertion mechanism.

A motor 8 is fixed on the bottom surface of the main body 2 to drive the elevator platform 3.4 up and down. The belt 9 is attached to the main body 2 as shown in the figure.
One end of each is fixed via a bracket 32 to the bottom surface of the lifting platform 3.4, with the direction changed by an idler 23 which is rotatable relative to the platform 3.4.

On the other hand, the main body 2 is rotatably provided with two idlers 22, and the wire 21 is guided by these two idlers 22, and both ends of the wire 21 are connected to the lifting platform 3.
．． 4, and is configured to sense the volume of the lifting platform 3.4. As a result, the above motor 8
When the output shaft pulley 8a of the output shaft pulley 8a is rotated in the clockwise direction (CW), the elevating table 3 further descends, while the elevating table 4 further rises, and the first elevating table 3 and the second elevating table 4 What is driving means (motor 8, belt 9, and motor drive circuit described later)
A see-saw (BeeSaW) fishing motion is performed.

Conversely, the output shaft pulley 8a of the motor 8 rotates counterclockwise (
CCW), the elevating table 3 rises, while the elevating table 4 descends.

Limit switches 15 and 16 are provided on the upper part of each of these lifting tables 3.4, and are provided on the main body 2 via a bracket, so that the respective raised positions can be detected. Furthermore, limit switches 25 and 26 are provided at the bottom of each of the lifting tables 3.4 through a bracket on the main body 2.
are provided, making it possible to detect the lowered position of each of the lifting platforms 3.4.

In addition, there are casters 1 for ground running on the four corners of the bottom of the main body 2.
4 zeros and casters 2 shown with broken lines for horizontal guidance
102 casters are provided as shown in the figure, and on the bottom of the main body 2, pole casters 11a and 11b for positioning the movable rail 17 and connection are further provided with a step at each corner of the bottom. A pair of oval-shaped position frames 16 are provided on the side surfaces of the moving rail 17 as shown in the figure. One hole 16a is drilled in each hole, and when the main body 2 is moved and set in the illustrated position, the pole caster lla is locked with the locking hole 16a, so that the positioning is automatically performed. In addition, when the main body 2 and the moving rail 17 are connected and positioned, the component mounting surface of the pallet 1 is parallel to the floor surface G, that is, horizontal.

This main body 2 also has an LE on the upper left for displaying the operating status.
A D display 20 and a power supply plug 24 for supplying power from the moving rail 17 are provided.

At the bottom of the main body 2 there is a counter C shown in FIG.
A control device 3o is provided, which includes a built-in device such as -C, etc.
It is connected to the robot device 150 via an optical connector (not shown), and is also responsible for control described below.

Furthermore, a handle 12 is provided on the upper right side of the main body 2, and the main body 2 can be easily moved using this handle 12.

An operation panel 33 is provided approximately at the center of the handle 12, and the operator operates the operation panel 33 to perform various operations.

FIG. 2 shows the first panel representing the operation panel 33 of the pallet supply device.
This is a view taken along arrow A-A in the figure, and in FIG. 2, the operation panel 33 includes a start switch 34 for starting the main body 2, and a switch 34 for setting the elevator platform 3 in a ready state, an access state, an ascending state, and a descending state. A mode switch 35 for selecting one of the modes and an emergency stop switch 36 for emergency stop are arranged and provided as shown.

Further, on both edges of the upper surface of the main body 2, one set of locking bodies 5 and one set of locking claws 6 are respectively positioned to automatically lock onto the collar portion 1a of the pallet 1. It is provided in a movable manner.

FIG. 3 is an external perspective view of main parts showing one set of locking bodies 5 and one set of locking claws 6. In FIG. guided by 1
Each set of locking claws 6 is provided with a motor or solenoid 7 for moving the locking claws 6 in and out.
A state in which the pallet 1 is locked and a state in which it is not locked are generated so that the pallet 1 moved from the lifting table 3 is placed on the lifting table 4 and the pallet 1 is not placed on the lifting table 4.

On the other hand, the locking body 5 is rotated by the rotation shaft 18a of the rotation bracket 18 provided on the main body 2 as shown in the figure, and is also rotated in the direction of the arrow when the collar portion 1a of the pallet 1 comes into contact with it. However, as a result of the lower surface of the locking body 5 and the rising end of the rotation bracket 18 coming into contact with each other as shown in the figure except for the rotation operation, it is possible to support the collar portion la of the pallet 1 illustrated by the two-dot chain line. That's what I do.

FIGS. 4(a), (b), (c), and (d) are explanatory views of the operation of the locking body 5. In this figure, when the operation of the locking body 5 is explained, FIG. At the time when the pallet l placed on the lifting table 3 starts to rise upward from below, the collar portion 1a of the pallet 1 is separated from the locking body 5, and the locking body 5 is in its original state. It remains as it is.

Next, as the pallet 1 continues to rise further from the bottom to the top as shown in FIG. 4(b), the locking body 5 is rotated as shown in the figure at the collar portion 1a of the pallet 1.

Then, when the pallet 1 continues to rise further from the bottom to the top, the state in which the locking body 5 is rotated by the collar portion 1a of the pallet 1 is released, as shown in FIG. 4(C). Then, the collar portion 1a is located above the locking body 5, and the limit switch 16 is turned on on the upper surface of the collar portion 1a. Thereafter, when the lifting platform 3 is lowered, the collar portion 1a as shown in FIG. 4(d) is supported by the locking body 5.

That is, instead of the locking body 5 having an equivalent power source, the pallet 1 is supported by the locking body 5 by vertically driving the lifting platform 3.

On the other hand, the upper surface of the above-mentioned pair of locking claws 6 and the upper surface of the locking body 5 are on the road surface, and the robot hand 15b described later is
The collar portion 1a of the pallet 1 is slidably guided and moved in the direction of the arrow. After the pallet 1 is moved to the upper surface of this set of locking claws 6, the solenoid 7
When the pallet 1 is driven to the retracted state and the supported state is released, the pallet 1 is dropped onto the lifting platform 4.

2) Explanation of the operation of the apparatus The operation of the apparatus will be explained with reference to the flowchart of FIG. 5 and the block diagram of FIG. 6.

In step S1, when the main body 2 is moved and positioned on the illustrated moving rail 17, it is automatically connected to the power supply plug 24 that supplies power from the moving rail 17, and the power of the main body 2 is turned on. LED display 2
0 lights up to confirm that the automatic connection has been made, and at the same time, the operation of the control device 30 is started.

Next, the process proceeds to step S2, where the operator judges the placement status of the pallet 1 on the lifting platform 3, operates the mode switch 35, and controls the lifting platform 3 to access, raise, or process. Select mode.

2-1) Description of preparation mode What is preparation mode? When there is no pallet filled with articles on the first lifting platform 3 for pallet supply, the 1 This is the mode for moving the lifting platform 3 to the preparation position for pallet loading.

In step Sll, when the mode switch 35 is operated to the preparation mode position, the controller 35 in FIG.
The LED display circuit 2OA in the display 20 lights up the preparation mode LED of the display 20 to notify the operator of the preparation mode. Step 512 (Preparation mode display) Next, in Step S13, when the start switch 5W34 is pressed down, the ON signal of the start SW 34 and the preparation mode signal Ready signal from the preparation mode display 2OA are input to the first logic circuit. Then, the solenoid 7 is activated by a signal from Ll to retract the locking pawl 6 of the second pallet holding means. This operation is possible even if the remaining bullets I from the previous operation cycle remain on the second lifting platform 4.
This is a safe operation for allowing the first lifting platform 3 to move downward statically.

In step S15, after the locking pawl 6 is retracted, a signal 8a (CCW) for lowering the first lifting platform 3 is sent from the motor control circuit 8A in response to the preparation mode signal and the ON signal of the activation 5W34.
is output, the motor 8 is operated, and the first lifting platform 3 is lowered. If an empty pallet remains on the second lifting platform 4, the empty pallet activates the switch 5 of the empty pallet detection means.
W15 turns on. The motor control circuit 8A in the controller 30 outputs a stop signal for the motor 8 in response to the ON signal of 5W15.

If there is no empty pallet on the second lifting platform 4, the first lifting platform 3 is lowered to the lowest position, and in step 17, the switch 5W25 of the lowest position detection means of the first lifting platform 3 is turned ON. The motor 8 is stopped by the signal (step 518).

After the motor 8 is stopped in step 818, the preparation mode selection signal and the lowest position detection means SW 25 of the first lifting platform 3 are activated.
The N signal is input to the second logic circuit L2, and the output from the circuit L2 causes the solenoid 7 to return the second locking pawl 6 to its original position (step 519).

The preparation mode is completed at the end of step S19, and in this state, the first elevator platform 3 is lowered to the lowest position, so that a pallet filled with articles can be loaded from a pallet transport platform (not shown). In this embodiment, a case is shown in which ten pallets filled with articles are stacked. The pallet numbers are P,,P,...P, from the bottom. It shows.

2-2) Description of access mode The access mode is a mode in which a pallet filled with articles is stacked on the first lifting platform 3, and the robot l□ 150 picks up the articles and performs work such as assembly or processing.

When the mode selection means 35 selects the access mode, the access mode is displayed via the display circuit 20A (
Step 522). If the access mode has been selected and there is no filling pallet on the first locking means, that is, the locking pawl 5 at the article supply position, the mouth pot cannot pick up the article. Therefore, if there is no pallet on the locking claw 5,
The switch 5W16 of the pallet detection means at the article supply position is turned OFF. Access mode selection signal (Access
signal) and the OFF signal of 5W16 are input to the motor control circuit 8A, and the first lifting platform 3 is switched to the switch 5W16.
Rotate the motor 8 until it turns on (step 523
). First counter C connected to motor control circuit 8B
1 starts counting by inputting the ON signal of this switch 5W16 and the access selection mode signal, and further reverses the motor 8 by this input signal (step 524), the uppermost pallet P on the first lifting platform 3. is locked by the first locking pawl 5 (step 525), and the second filling pipe I from the top
Knot P, is lowered to the next pallet feed position (step 826).

The reversal time of the motor 8 is determined by inputting the output signal Cal after counting the predetermined time of the first counter C1 to the motor control circuit 8A to stop the motor. In this state, the robot 150 can access the robot 150. The number of packed pallets stacked in the preparation mode varies depending on the type of machine to be assembled or processed, the number of assemblies, etc., and the ten pallets P1 to P10 are not always loaded in the preparation mode.

Further, the shape and dimensions of the pallet vary depending on the size of the articles to be stored, and it is not always possible to load a maximum of 10 pallets. In such a case, the topmost palette I-P. When controlling the descending time of the first lifting platform 3 after it is locked with the first locking pawl 5 by the count time of the first counter C1, the descending time of the first lifting platform 3 is controlled according to the form of the pallet. need to be adjusted. Therefore, in this example, in order to adjust the count time (motor driving time) of the first counter C3 according to the form of the pallet, the first counter Type signal generating means for adjusting the count time of C1 is connected to the first counter C1. When the count end time of the first counter C0 has elapsed, the pallet P is at the article supply position by the robot 150 as described above.

Assembling and processing of the articles inside can be performed, the first counter C1 outputs a count-out signal C\a, which becomes the access start signal to the robot (step 826). The robot moves to the pallet P by outputting the access start signal C1.
Articles within 1° are sequentially picked up and assembled or processed (step 527). The number of items picked up in the pallet P 10 is counted by a counter (not shown) on the robot side, and when the number of items remaining in the pallet P 10 becomes zero, the empty pallet P is picked up by the robot hand 150h.
1° is pushed onto the locking pawl 6 of the second locking means (step 528). The position of the locking claw 6, that is, the empty pallet)'P
Empty bar I knot P at the discharge position of 1o. When the empty pallet PIo is sent, the switch 5W13, which is a means for detecting the presence or absence of an empty pallet, outputs an ON signal (step 529).

2-3) Description of the access mode of the second pallet P When the switch 5W13 is turned on, the second filling pallet P located at the top of the first lifting platform 3 enters a mode in which it is accessed by the robot.

In this embodiment, the access completion time for the second filling pallet P is set to be completed within a predetermined time.

This access completion time is determined by counting the second counter C2 in the controller shown in FIG.

<Determination of whether or not it is possible to descend the second platform - for the second ascent> Therefore, the second counter C3 turns on the switch 5W13.
Counting is started with the signal (step 530).

Next, the process proceeds to step 831, and in this step, it is determined whether or not the second lifting platform 4 can be lowered by the switch S26 of the lowest position detection means of the second lifting platform 4. That is, when the empty lets are stacked on the second elevator platform 4 and the second elevator platform 4 is at the lowest position, the first elevator platform 3 cannot be raised. In this case, it is necessary to collect the empty pallet on the second lifting platform 4 and return to the preparation mode described above.

<Second pallet lifting> When the switch SW26 in step S29 is an OFF signal, a motor rotation control signal for lifting the second filled pallet P is controlled by the OFF signal of the 5W26 and the ON signal of the switch 5W13. The input is input to the circuit to raise the first lifting platform 3 (step 532).

As the first lifting platform 3 rises, the second pallet P turns on the switch 5W16 of the article supply position detection means for the filled pallet (step 533).

The motor 8 is reversed by the ON signal of the switch 5W16, and the first elevator platform 3 is lowered and the second elevator platform 4 is raised (step 534).

By lowering this first lifting platform 3, the second pallet P,
is locked by the first locking means 5. The second lifting table 4 rises and the empty pallet on the lifting table 4 causes the switch 5W15 of the empty pallet position detection means to output an ON signal (step 535).

Empty pallet reception> ON signal of this switch 5W15 and mode selection means 35
The access mode signal is input to the logic circuit L$, and the solenoid 7 causes the claw 6 of the second locking means to retreat (step 836). Further, the ON signal of the switch 5W15 reverses the motor 8 to lower the second elevator platform 4 and raise the first elevator platform 3 (step 836). At this time, when the second elevating table is lowered, the empty pallets P and o are transferred onto the second elevating table 4.

The third counter C3 starts counting by the ON signal of the switch 5W15 in step S34 (step 537).

The third counter C3 sets the descending time of the second lifting platform 4 due to the reversal of the motor 8 from the start of turning on the switch SW15. The count time T3 of the third counter C3 is set to the time from when the empty pallet P1o is transferred to the lifting platform 4 until the lifting platform 4 moves to a position lowered by one pallet.

When the third counter C1 finishes counting for a predetermined period of time, the second counter C3 that has been counting from step 828 is reset by the output T from the third counter C1 (
step 840).

2-4) Description of <failure determination> mode The second counter C2 starts counting from step 828, and is reset by the output T of the third counter C8. If there is a failure in the operation or in the transfer process of empty pallet P1°, for example, if stacked pallets P, ~P9 are not stacked correctly, switch 5W16 will remain ON forever.
and normal operation is not possible. In such a case, it is necessary to perform a warning operation and output a warning signal.

Therefore, a failure is determined when the signal for resetting the second counter C2 is not input within the predetermined time ty.

In this example, the output signal T of the third counter C8 is used as the reset input of the second counter C2, and the reference signal T ps corresponding to the reference time T in the normal state and the count time of the second counter C3 are compared with the means Comp. , and a comparison is made (step 543).

If the reset signal from the third counter C1 is input within the reference time, an O signal is output from the comparing means Comp1. If the reset signal from the third counter C8 is input beyond the reference time, the comparison means Comp;
1 signal is input to the warning means 160, and the display 20
The warning mode is displayed (step 540).

In the count comparison of the second counter C2 in step 843, when the second counter C2 is reset within a predetermined time and the pallet supply state is determined to be normal, the comparison means C.

mp, is sent to the robot 150 to start picking up articles from the second pallet P at the article supply position (step 541).

2-5) Explanation of the ascending mode of the first elevating platform 3 (2-4)
) The operation progresses in the access mode, and the filled pallets P1 to P1 become empty pallets and are sequentially transferred onto the second lifting platform 4. When assembling or processing work using a robot is performed by arranging a plurality of pallet supply devices of this embodiment, it is conceivable that a shortage of pallets will occur when trying to supply filled pallets to the supply devices. Therefore, this device is provided with a mode in which the second lifting platform can be lowered so that the empty barrel I on the second lifting platform 4 can be taken out at will.

In step S46, the mode selection means 35 is selected to ascend mode (empty pallet take-out mode), and the display is displayed in ascending mode (step 547).

In step 348, the start switch SW34 is pressed, and in step S49, the logic circuit L4 outputs the signal of the start SW34, the ascending mode selection signal, the switch 5W16 of the pallet detection means at the article supply position, and the highest position of the second lifting platform 4. Input the signal of the switch 5W26 of the lower position detection means.

This logic circuit L4 determines whether or not the second lifting platform 4 can be lowered, and when the logic circuit L4 determines whether the second lifting platform 4 can be lowered, the motor control circuit 8A is sent from this logic circuit to the motor control circuit 8A. The drive signal is output, and the second lifting platform 4 descends (step 550).

When one of the switches 5W16 and SW26 is turned on, a signal indicating that the second lifting platform 4 cannot be lowered is output from the logic circuit L4, and the motor drive is stopped (step 551).
.

As the second lifting platform 4 is lowered, the empty pallet on the second lifting platform 4 is discharged.

That is, by setting the lowest position of the second lifting platform 4 as the connection position of an empty pallet discharging cart (not shown), empty pallets can be smoothly discharged.

2-6) Lowering mode of the first lifting platform for midway removal of filled pallets When several filling pallets are stacked on the first lifting platform 3, assembly or processing operations may be performed to change the model. In this case, it becomes necessary to replace the article stored in the first knot on the first lifting platform 3 with the article to be changed. For this purpose, mode selection means 3 for lowering the first lifting platform 3
5 (step 552) and displays the descending mode on the display 20 (step 553).

Next, the start switch 34 is pressed (step 554).

The start switch 34 and the descending mode selection signal are connected to the logic circuit L.
6, the solenoid 7 is energized by the signal from the circuit, and the locking pawl 6 of the second locking means is retracted (step 555). This makes it possible for the second lifting platform 4 to rise.

Next, the logic circuit sends a descending mode selection signal, a start switch signal, and a switch 5W15 for detecting the presence or absence of an empty pallet.
, and the signal from the switch 5W25 of the lowest position detection means of the first lifting platform 3 are input to determine whether or not the first lifting platform 3 can be lowered (step 856). When the logic circuit determines that the first lifting platform 3 can be lowered, a motor drive signal is output from the motor control circuit 8A.
The first lifting platform 3 is lowered (step 557). The motor is stopped by the ON signal of the switch 5W25 or 5W15 (step 558).

〔Effect of the invention〕

As described above, in the present invention, the first lifting platform for supplying articles to an article supplying position and the second lifting platform for discharging empty barrel knots are moved in a seesaw manner to supply articles by pallets and discharge empty pallets. In the supply device, accurate detection of abnormal conditions is made possible by managing pallet travel time as a means of detecting abnormalities in pallet transport.

That is, according to the present invention, there is provided a counter C2 that is counted by the means 5W13 for detecting the presence or absence of an empty knot at the discharge position, and a third counter C1 that controls the descending time of the second elevator platform on the discharge side, The count value of the counter C2 is locked based on the count end time of the third counter C8, and the time from detection of an empty pallet to completion of transfer of the empty pallet to the second lifting platform is determined by the second counter C3. By doing this, it is determined whether or not empty pallets are discharged within a normal time, and a warning (signal) is issued in the event of an abnormality, so it is possible to avoid the mistake of overlooking abnormal conditions in the product supply operation for a long time. It can be prevented.

[Brief explanation of drawings]

FIG. 1 is a side view of the pallet feeding device according to the embodiment, and is a diagram showing a schematic configuration. FIG. 2 is a side view of the pallet feeding device according to the embodiment.
3 is an external perspective view of main parts showing one set of locking bodies 5 and one set of locking claws 6; FIGS. 4(a) and (b); (c) and (d) are explanatory diagrams of the operation of the locking body 5, Fig. 5 is a flowchart 1 diagram, Fig. 6 is a block diagram, and Fig. 7 is a side view showing an example of the configuration of a conventional pallet feeding device. It is a diagram. 1... Pallet 2... Main body 3.4... Lifting platform 7... Solenoid 8... Motor 10.21... Caster 11a, llb... Pole caster 12... Handle 13, 15. 16. 25. 2
6... Rimin I switch 17... Equipment 30... Control device 150... Robot device 160... Positioning frame

Claims (2)

[Claims] (1) A first elevating means for supplying a pallet filled with articles to an article supplying position, a second elevating means for discharging an empty pallet, and an elevating means for transferring the empty pallet to the second elevating means. an empty pallet detecting means provided at a pallet holding position; and a first counter that starts counting in response to a detection signal from the empty pallet detecting means, and ejection of the empty pallet from the pallet holding position is determined by the first counter. What is claimed is: 1. An article supplying apparatus, characterized in that it is configured to determine whether or not the article has been discharged within a predetermined count time. (2) The article supply device according to claim 1, wherein the first counter compares the count value of the counter with a reference value and issues a warning.