| 摘要 |
PROBLEM TO BE SOLVED: To automatically check an object having a risk of interference of a work pallet with a simple structure. SOLUTION: A work pallet 1 housing a workpiece 7 held by robots 3, 5 can displace tops of two struts 13, 15 on a workpiece insertion side as folding parts 13a, 15a to a regular position under a standing condition and a retreated position where they are folded backward. Partition members 25, 27 holding both sides of the housed workpiece 7 can be displaced to a regular horizontal position and an inclined retreated position. Coloring parts 49, 51 are provided on tops of connection members 21, 23 positioned at its bottom at the retreated positions of the folding parts 13a, 15a, and coloring parts 53, 55 are provided on the tops at the regular positions of the partition members 25, 27. When a color detection camera 57 at a top detects the respective coloring parts 49, 51, 53, 55, a workpiece housing operation stops because the robots 3, 5 interfere with the folding parts 13a, 15a and the partition members 25, 27. COPYRIGHT: (C)2008,JPO&INPIT
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