JPH04121925U - Pallet loading/unloading device - Google Patents

Abstract

(57) [Summary] (with amendments) [Purpose] Improve work efficiency by ensuring that the loading of actual pallets and the unloading of empty pallets are carried out in the same cycle time, and the elimination of setup steps for pallet loading. . [Structure] When the parts 6 are taken out from the pallet 5 on the working pallet stand 11, the lift switch 31a is pressed and the working pallet stand 11 is moved to the empty pallet unloading stand 9 position, and the empty pallet 5' is The pallet is transferred from the working pallet stand 11 to the empty pallet carry-out stand 9 by gravity. Then, the lowering switch 31b is pressed and the work pallet stand 1
1 is moved to the actual pallet loading platform 7 position, and the actual pallet 5
is transferred from the actual pallet loading table 7 to the working pallet stand 11 by gravity, and the parts 6 can be taken out from the actual pallet 5 on the working pallet stand 11 again.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention transports pallets containing parts to the line side and allows line work to The present invention relates to a device for transporting a pallet from which parts have been taken out to a pallet transport path.

0002

[Conventional technology]

Conventionally, a pallet loading platform and a pallet loading platform were installed between the line side and the pallet transport path. A pallet unloading platform is installed in parallel along the line side, making it easy to unload pallets. When an actual pallet (a pallet containing parts) is placed on the table, the Actual pallets are pulled onto the pallet unloading table by a roller conveyor and line work is carried out. I do. When there are no more parts on the pallet loading platform, a transport command is sent to the automatic guided vehicle. When commanded, the actual pallet is transported onto the pallet loading table. On the other hand, on the pallet unloading platform The parts were removed and the pallet became empty (a pallet containing no parts). The return of the pallet is arranged by the line worker and is carried out at a separate site from the delivery of the actual pallet mentioned above. The project is being carried out by automated guided vehicles.

0003

[Problem that the idea aims to solve]

In this way, the loading of actual pallets and the loading of empty pallets are carried out in the same cycle. As a result, the work efficiency of transport vehicles was significantly reduced. Moreover, Because workers make arrangements to return empty pallets, they are burdened with tasks other than line work. was to be imposed.

0004 This invention was developed in view of these actual circumstances, and it By carrying out pallet unloading and unloading in the same cycle time, pallet transport operations can be reduced. This greatly improves work efficiency and eliminates the need to pay attention to instructions for loading and unloading pallets. This is a part that can greatly improve the work efficiency of line work by eliminating the need for Its purpose is to provide equipment for loading and unloading cargo.

[0005]

[Means to solve the problem]

Therefore, in this invention, from the pallet conveyance path where pallets are conveyed, to the line side. Actual pallets containing parts are carried into the factory and line work is carried out. Therefore, the empty pallet from which the parts have been taken out is transported from the line side to the pallet. In the loading/unloading device for pallets to be transported to the aisle, Actual pallet delivery on which the actual pallets carried in from the pallet transport path are placed. The actual pallet on the actual pallet loading table is placed on the table, and the parts are taken out and placed on the rack. There is a work pallet stand where the in-work is performed and a part is removed on the work pallet stand. The empty pallet taken out is placed on the pallet, and the empty pallet is carried out to the pallet transport path. An empty pallet unloading table is arranged between the pallet transport path and the line side. , The slope for carrying the real pallet to the working pallet stand is In order to carry out the empty pallet from the working pallet stand as well as to form it on the loading platform. forming a slope on the empty pallet unloading table, In response to a movement command, the end of the working pallet stand moves to the actual pallet loading stand or Moving the working pallet stand so that it coincides with the end of the empty pallet unloading stand. a moving means; The end of the working pallet stand is moved by the moving means to the actual pallet loading stand. When matched with the platform end of this matching side, the platform end of the work pallet platform on the matching side becomes the upper one. The work pallet stand is tilted so that the work pallet stand is When the end matches the end of the empty pallet unloading board, the work pallet on the matching side a platform tilting hand that tilts the working pallet platform so that the platform end of the pallet platform is on the lower side; step by step, a real pallet that detects that no real pallet is placed on the real pallet loading table; let detection means; an empty pallet for detecting that the empty pallet is placed on the empty pallet unloading table; pallet detection means; A real pallet is placed on the real pallet loading table by the real pallet detection means. and the empty pallet detecting means detects that the empty pallet is not When it is detected that an empty pallet is placed on the unloading table, the pallet A real pallet is carried from the conveyance path onto the real pallet loading table, and the empty pallet is A conveyance finger for conveying an empty pallet from the pallet conveyance table to the pallet conveyance path. means for outputting commands; I try to have the following.

[0006]

[Effect]

That is, according to this configuration, parts can be removed from the pallet on the working pallet stand. When the pallet is unloaded, the work pallet stand changes to the empty pallet unloading stand in response to the movement command. The empty pallet is moved by gravity from the work pallet stand to the empty pallet unloading stand. It will be transferred. Then, according to the movement command, the work pallet is moved to the actual pallet loading table. The actual pallet is moved by gravity from the actual pallet loading platform to the work pallet platform. The parts can then be taken out from the actual pallet on the working pallet stand again. can. In other words, the operator only has to issue a movement command and move the empty pallet. Line work can be done without making arrangements for return, improving line work efficiency.

[0007] In this way, the actual pallet on the actual pallet loading table disappears, and the empty pallet becomes empty. When an empty pallet is placed on the unloading table, the actual pallet is automatically loaded and the empty pallet is loaded. A transport command is output to simultaneously unload the pallets, and the actual pallets are transported according to this transport command. The loading and unloading of empty pallets are done in the same cycle time. In other words, transportation work Increased efficiency.

[0008]

【Example】

Embodiments of the present invention will be described below with reference to the drawings.

[0009] FIG. 1(a) shows a side view of the embodiment device, and FIG. 1(b) shows the direction of arrow A in FIG. 1(a). It shows.

0010 As shown in the figure, the line side 3 where line work is performed and the automatic guided vehicle 4 are running. Parts 6 for line work are placed between the pallet transport path 2 and the pallet conveyance path 2. The real pallet loading table 7 on which the real pallet 5 is placed, and the real pallet loading table 7 on which the real pallet 5 is placed. By placing the actual pallet 5 and taking out the parts 6 one after another as shown by arrow B, A work pallet stand 11 for line work and parts on this work pallet stand 11. Empty pallet unloading table on which the empty pallet 5', which has been empty after all the pallets 6 have been taken out, is placed. 9 are arranged in the same frame 1.

[0011] The pedestal 1 includes a base 15 fixed to the floor and a transport path side provided on the base 15. It is composed mainly of a column 14 and a line side column 13, and these columns 1 3 and 14, the actual pallet loading table 7 is on the lower stage and the empty pallet unloading table 9 is on the upper stage. The loading and unloading tables 7 and 9 are arranged in two stages, upper and lower. On the other hand, line side The above-mentioned work pallet stand 11 is attached to the side support 13 by a mechanism to be described later. It is arranged so that it can be raised and lowered freely along the

0012 The actual pallet loading platform 7 has an inclination that is lower on the support 13 side than on the support 14 side. The actual pallet 5 is conveyed from the conveyance path 2 to the working pallet stand 11 on the platform. A roller conveyor 8 is provided. Then, remove the stock from the top end of the stand on the pillar 13 side. A stopper 36 is protruded, and this stopper 36 is locked by a spring 37. . The stopper 36 can be released by a pedal 38, and when this pedal 38 is pressed, By being lowered, a force against the spring force of the spring 37 acts as shown by arrow C. Then, the stopper 36 becomes lower than the upper end of the actual pallet loading table 7, and the stopper 36 is released and the actual pallet 5 can be transported onto the working pallet stand 11. 1 Reference numeral 6 denotes a photoelectric real panel that detects whether or not there is a real pallet 5 on the real pallet loading table 7. sensor, and the actual pallet 5 is not placed on the actual pallet loading table 7. At times, a detection signal S1 indicating "no pallet" is output. This detection signal S1 is The signal is applied to the control panel 34 disposed on the pedestal 1 via the signal line 16a.

[0013] On the other hand, the empty pallet unloading platform 9 has an inclination that is lower on the support 14 side than on the support 13 side. The empty pallet 5' is placed on the platform from the working pallet platform 11 to the conveyance path 2. A roller conveyor 8 for conveying the pallet to the pallet is disposed in the same manner as the actual pallet loading table 7. So A stopper member 10 for fixing the empty pallet 5' is provided at the end on the support column 14 side. has been done. It is also detected whether or not there is an empty pallet 5' on the empty pallet unloading table 9. A photoelectric empty pallet sensor 17 is provided to detect the empty pallet 5'. When the pallet is placed on the unloading table 9, a detection signal S2 indicating "pallet present" is detected. Output. This detection signal S2 is applied to the control panel 34 via the signal line 17a. .

[0014] The motor 24 is an motor for raising and lowering the work pallet stand 11 along the support column 13. The motor 24 is rotated via a sprocket 21 and a chain 23. The speed is then decelerated and transmitted to the sprocket 20. The sprocket 20 has a support 13 A chain 22 is wound around the chain 22 which is arranged along the It is wound around a sprocket 19 rotatably disposed on the upper part of the support column 13.

[0015] An L-shaped lifter 18 is connected to the chain 22. It is slidably disposed on the support column 13. The lifter 18 has a pin 26 for working. The bracket 27 connected to the bottom surface of the pallet stand 11 automatically rotates in the directions of arrows N1 and N2. Currently supported. Then, the lower surface of the work pallet stand 11 and the upper surface of the lifter 18 The work pallet stand 11 is tilted in the direction of the arrow N2 using the pin 26 as a fulcrum between the A spring 28 is provided for the purpose of increasing the height. This allows the lifter 18 to be positioned below the support column 13. When the work pallet stand 11 is located at the end of the support 13 side and the actual pallet transport The end of the base 7 on the support 13 side is positioned to coincide with the base end. Lifter 1 The fact that 8 was placed in the lower position was determined by a limit switch (not shown) installed on the pillar 13. is detected, and the drive of the motor 24 is stopped in response to the activation of this limit switch. . Moreover, when the lifter 18 is located at the lower position, the shock disposed on the base 15 The lower surface of the working pallet stand 11 is supported by the dampers 25, 25.

[0016] On the working pallet stand 11, there are a real pallet loading stand 7, an empty pallet unloading stand 9, and an empty pallet loading stand 9. A similar roller conveyor 8 is arranged, and this conveyor 8 and platform 11 are indicated by the arrow The actual pallet 5 on the actual pallet loading table 7 due to the inclination when rotated in the N2 direction. is transported onto the work pallet stand 11 by gravity. 12 is transported onto the table 11. This is a stopper for keeping the pallet 5 in place.

[0017] The lifter 18 is stopped at a predetermined position when the lifter 18 is raised above the column 13. A limit switch 32 is provided to allow the limit switch 3 to 2 is activated, the drive of the motor 24 is stopped and the lifter 18 is stopped at a predetermined position. It will be done. Furthermore, when the work pallet stand 11 is raised to this predetermined position on the support 13, A push-down member 33 is disposed at the top of the stand 11 to push the upper surface of the support 13 side downward. When the top surface of the stand 11 is pushed down by the push-down member 33, it resists the spring force of the spring 28. The platform 11 is rotated in the direction of arrow N1, and the platform end on the support 13 side of the work pallet platform 11 is rotated in the direction of arrow N1. The end of the empty pallet unloading platform 9 on the support 13 side is aligned with the end of the empty pallet unloading platform 9. . In this way, when the table 11 is rotated in the direction of the arrow N1, the inclination allows the work to be carried out. The empty pallet 5' on the pallet stand 11 is transported by gravity onto the empty pallet unloading stand 9. sent.

[0018] The motor 24 is connected to an operation panel 30 via a signal line 15. According to the operation of the up switch 31a and down switch 31b provided at 24 is driven to move the lifter 18, that is, the work pallet stand 11 to the upper position. raise and lower respectively to lower positions.

[0019] 35 is a pallet transport path 2 that uses light as a medium to transmit a signal for indicating the position of the pedestal 1. It is a position marker that is ejected to the side, and is used to inform the automatic guided vehicle 4 of the stop position of the gantry 1. It is used for

[0020] The automatic guided vehicle 4 is shown in FIG. 4 in the direction of arrow M in FIGS. A lifter 40 is disposed on the mast 39 so as to be movable up and down. A slide member 41 is slidable perpendicularly to the traveling direction of the automatic guided vehicle 4 on the surface. It is located in Furthermore, the upper part of the slide member 41 is also A fork 42 is disposed so as to be vertically slidable. Meanwhile, the actual pallet was brought in. The central part of the platform 7 and the empty pallet unloading platform 9 has an opening 7 corresponding to the width of the fork 42. a, 9a are formed respectively, and the fork is inserted through these openings 7a, 9a. 42 is movable up and down the stands 7 and 9. For this reason, the automatic guided vehicle 4 When placing the real pallet 5 on the real pallet loading table 7, push the fork 42 all the way to the back of the table. and move the fork 42 to the bottom of the platform 7 through the opening 7a. This allows the work of placing the actual pallet 5 on the stand 7. Also, similarly Insert the fork 42 to the bottom of the empty pallet unloading platform 9 and open the fork 42. The empty pallet 5' is placed on the stand 9 by moving it through the opening 9a and above the stand 9. You can do the work of taking it out.

[0021] FIG. 3 is a block diagram conceptually showing the configuration of the transport system applied to the embodiment device. It is a diagram.

[0022] As shown in the figure, the output S1 of the real pallet sensor 16 and the output S1 of the empty pallet sensor 17 are Output S2 is applied to control board 34. By the way, a pedestal similar to pedestal 1 of the embodiment is Multiple units are arranged along the line, and these have the same configuration as pedestal 1. . Therefore, a sensor 16' similar to the sensors 16 and 17 provided on other frames, A similar signal from 17' will be applied to a similar control panel 34'. Therefore , a mount is installed from the control panel 34 to distinguish it from signals output from other control panels 34'. A station signal ST specifying station number 1 is applied to the host system 43. upper sys The system 43 is a computer that centrally controls the line. When the actual pallet 5 is transported to the station of the frame 1 based on the signal ST, At the same time, the transfer control device 44 sends a command V to carry out the empty pallet 5' from the platform 1. Output to.

[0023] The transport control device 44 controls the transport of a plurality of automatic guided vehicles 4, and receives a command V. When the mount 1 is received, the necessary parts for the mount 1 are sent to the automatic guided vehicle 4 closest to the location of the mount 1. The automatic guided vehicle takes out the product 6 from the automated warehouse, places it on the automatic guided vehicle 4, and transports it. 4 to drive and control.

[0024] The operation of this embodiment device will be explained below.

[0025] As shown in FIG. The parts 6 are taken out one after another as shown in B, and line work is performed. Eventually, the palette When all the parts 6 in the pallet 5 have been taken out, the operation is carried out to carry out the empty pallet 5'. Press the lift switch 31a of the cutting board 30. In response to this, the motor 24 8, and the lifter 18 lifts the support column 1 as shown by the arrow Q in FIG. Rise along 3. Eventually, the limit switch 32 is activated and the ref. 18 is stopped at a predetermined upper position. At this time, the pressing member 33 is pressed against the work pallet. Push down the upper surface of the stand 11 on the support 13 side as shown by arrow D, and the stand 11 rotates in the N1 direction, and the end of the stand on the support column 13 side is lower than the line side 3 side. Ru. As a result, the empty pallet 5' on the working pallet stand 11 is moved as shown by arrow E. The pallet slides on the roller conveyor 8 according to gravity and is conveyed onto the empty pallet carry-out table 9.

[0026] Then, the operator recognizes that the empty pallet 5' has been placed on the empty pallet unloading table 9. Once confirmed, the lowering switch 31b of the operation panel 30 is pressed. As a result, motor 2 4 is driven to lower the lifter 18. The lifter 18 is lowered to the lower level. , the limit switch is activated and the lifter 18 is stopped, and the lower lifter 18 is It is stopped at the initial position. At this time, the push-down member 33 is not acting, so the table 11 is tilted. The slope is such that the line side 3 side is lower than the column side 13 side. When the operator confirms that the lifter 18 has returned to this initial position, the operator releases the pedal 38. Press down as shown in C to release the stopper 36. As a result, the real palette The actual pallet 5 on the loading table 7 is moved by gravity to the roller conveyor 8 as shown by the arrow T. It slides on the top and is conveyed to the top of the work pallet stand 11.

[0027] Thereafter, the worker again takes out the component 6 from the pallet 5 on the work pallet stand 11. and can perform the work.

[0028] Here, the actual pallet sensor 16 detects that there is no actual pallet 5, and an empty pallet is detected. The let sensor 17 detects that there is an empty pallet 5'. As a result, the signal S1 and S2 are output to the control panel 34. At the same time, the automatic guided vehicle 4 is shown the stop position of the gantry 1. A signal for notifying the user is output from the marker 35.

[0029] The control panel 34 sends a station signal ST indicating that there is a request for transport to the gantry 1. It is output to the upper system 43. As a result, the host system 43, the transfer control device 44 The automatic guided vehicle 4 carries the actual pallet 5 containing the parts 6 and travels to the mount 1 via the controlled so that

[0030] When the automatic guided vehicle 4 comes in front of the pedestal 1, an output is generated from the marker 35 as shown in FIG. The signal generated by the vehicle is detected by a sensor 45 disposed on the vehicle body. Then, automatic guided vehicle 4 is controlled to stop at this position. Then, the lifter 40 is carried into the actual pallet. The slide member 41 and the fork 42 are controlled to move up and down to the position of the stand 7, and the slide member 41 and the fork 42 are As shown in F1, it is advanced to the upper part of the platform 7. Next, use the lifter as shown in F2. 40 is lowered, and the fork 42 is lowered to pass through the opening 7a. At this time, the fruit A pallet 5 is placed on a stand 7. After that, the fork 42 and the slide member 41 as shown in F3, and move the lifter 40 to position 9 of the empty pallet unloading platform. raise. Next, place the slide member 41 and fork 42 on the stand as shown by arrow G1. Go all the way to the bottom of 9. Next, raise the lifter 40 as shown in G2, and The fork 42 is raised so as to pass through the opening 9a. At this time, the empty pallet on platform 9 5' is placed on the fork 42. After that, the fork 42 and the slide member 4 2 toward the vehicle body as shown in G3 to complete the work.

[0031] As explained above, according to the embodiment, as a worker, it is necessary to take steps such as returning an empty pallet. There is no need to remove the pallet, and if an empty pallet occurs, just turn on the switch and stopper. You can continue working just by operating it. This makes line work more efficient. is significantly improved. Furthermore, automatic transport is carried out automatically according to the detection signals of sensors 16 and 17. Pallets are carried in and out by the transport vehicle 4, so there is no need for manpower to carry in and out. The work can be done without relying on the machine, resulting in labor savings.

[0032] In addition, the loading of actual pallets and the loading of empty pallets are carried out at the same time by the automatic guided vehicle 4. Since it is carried out in cycle time, the efficiency of conveyance work is greatly improved. Further, according to the embodiment, the actual pallet loading table 7 and the empty pallet loading table 9 are arranged in two stages, upper and lower. Since it is arranged in the direction along line side 3, space should be taken in the direction along line side 3 There is no space required and space can be reduced. Therefore, the installation space should be placed in the direction along line side 3. A large number of mounts 1 can be installed along the line side 3 even on sites where there is not enough pace. It becomes possible to do so.

[0033] In addition, in the embodiment, the automatic guided vehicle 4 is used to carry in and take out the pallets. However, at sites where unmanned transport systems have not been introduced, manned transport vehicles may be used. It is also possible to perform this work.

[0034] In addition, in the embodiment, the work pallet stand 11 is raised and the work pallet stand 11 is lowered. and are performed by independent switch operations. This allows the working pallet to This prevents accidents such as a worker colliding with the platform 11 when the platform 11 descends. However, in some cases, measures such as installing necessary safety devices to prevent such disasters may be taken. After careful consideration, the work pallet platform 11 can be raised and lowered with just one switch operation. It is also possible to carry out a series of operations up to this point.

[0035] Furthermore, it is confirmed that all the parts 6 have been taken out on the work pallet stand 11 by weight, etc. A sensor is provided to detect the It is also possible to automatically raise and lower the number 1. This results in an empty palette. This eliminates the hassle of having to confirm that everything is correct before operating a switch, increasing work efficiency. improves.

[0036] In addition, in the embodiment, the actual pallet is created by manually releasing the stopper 36. It is intended to be transported onto the industrial pallet stand 11, but the work pallet stand 11 is lowered. Of course, it is also possible to provide a mechanism that automatically releases the stopper when the vehicle is lowered.

[0037] In addition, in the embodiment, a roller conveyor 8 is provided so that there is no easy conveyance from one table to another. However, depending on the type of pallet, the roller conveyor 8 may be omitted. It is also possible to implement.

[0038] In addition, in the example, the actual pallet loading platform and the empty pallet loading platform are arranged in two stages, upper and lower. However, at sites where there is plenty of space, it is practical to adopt the layout shown in Figure 5. It is also possible to provide In other words, as shown in FIG. The loading platform 9 can be loaded as shown in H, and unloaded as shown in I. along the conveyance path 2, and a work pallet facing the line side 3. Move the tray 11 to the actual pallet loading table 7 and the empty pallet loading table 9 as shown in J. It is also possible to provide it freely.

[0039] In addition, as shown in Figure (b), the upper and lower loading and unloading tables 7 and 9 are arranged as shown in If it is provided between the conveyance path 2 and the line side 3 so that it can be carried in and taken out, In both cases, the work pallet stand 11 is placed on two upper and lower stands 7 and 9 along the line side 3. It is also possible to install them in parallel.

[0040] The key is the layout of the actual pallet loading platform, empty pallet loading platform, and work pallet loading platform. It is possible to carry a real pallet from the conveyance path to the real pallet stand, and it is possible to carry an empty pallet. Empty pallets can be transported from the loading platform to the transport path, and the working pallet platform is It can be moved between the actual pallet loading platform and the empty pallet loading platform, and from the actual pallet loading platform. The structure allows the pallet to be taken out and sent to the empty pallet loading platform. If so, it is optional.

[0041]

[Effect of the idea]

As explained above, according to the present invention, loading of a real pallet and unloading of an empty pallet are can be carried out in the same cycle time, greatly increasing pallet transport efficiency. Improve width. Also, carry-in and carry-out of pallets, such as setting up empty pallets to be carried out. Since there is no need to pay attention to instructions, line work efficiency is greatly improved. .

[Brief explanation of drawings]

[Fig. 1] Fig. 1 is a diagram showing the configuration of an embodiment of a pallet loading/unloading device according to the present invention, where (a) is a side view and (b) is a view taken from the arrow in Figure (a). It is a figure showing the A direction.

FIG. 2 is a diagram used to explain the operation of FIG. 1(a).

FIG. 3 is a block diagram conceptually showing the configuration of the conveyance system of the embodiment.

FIG. 4 is a diagram showing the direction of arrow M in FIG. 1(b), and is a diagram used to explain the work of loading and unloading pallets by an automatic guided vehicle.

FIGS. 5A and 5B are top views used to explain another embodiment.

[Explanation of symbols]

2 Pallet conveyance path 3 line side 7 Real pallet loading platform 9 Empty pallet unloading platform 11 Work pallet stand 16 Actual pallet sensor 17 Empty pallet sensor 24 Motor 28 Spring 33 Press down member

Claims (5)

[Scope of utility model registration request] Claim 1: Actual pallets containing parts are transported to the line side from the pallet transport path where the pallets are transported to perform line work, and empty pallets from which parts have been taken out during the line work are transported from the line side to the pallet. In a pallet loading/unloading device for carrying out to a conveyance path, a real pallet loading table is placed on which a real pallet is carried in from the pallet conveying path, a real pallet is placed on the real pallet loading table, and parts are placed on the real pallet loading table. A working pallet stand from which line work is carried out after being taken out, and an empty pallet unloading stand on which an empty pallet from which parts have been taken out are placed, and which carries out the empty pallet to the pallet transport path. Disposed between the pallet transport path and the line side, forming an inclination on the actual pallet loading platform for carrying the actual pallet to the working pallet platform, and carrying out an empty pallet from the working pallet platform. The empty pallet unloading table is formed with an inclination for moving the empty pallet, and the working pallet is moved so that the end of the working pallet is aligned with the end of the actual pallet loading or empty pallet unloading stand in response to a movement command. a moving means for moving the platform; and when the moving means causes the platform end of the working pallet platform to match the platform end of the actual pallet loading platform, the platform edge of the working pallet platform on the matching side becomes upper. The work pallet stand is tilted so that when the end of the work pallet stand is matched with the end of the empty pallet carry-out stand, the end of the work pallet stand on the matching side becomes the lower one. a table tilting means for tilting the working pallet table; a real pallet detecting means for detecting that no real pallet is placed on the real pallet loading table; an empty pallet detecting means for detecting that a real pallet is placed on the real pallet loading table; and an empty pallet detecting means detecting that no real pallet is placed on the real pallet loading table; When it is detected that an empty pallet is placed on the empty pallet carry-out table, the real pallet is carried from the pallet transport path onto the real pallet carry-in table, and the pallet is transferred from the empty pallet carry-out table. A pallet loading/unloading device comprising means for outputting a conveyance command for conveying an empty pallet to an aisle. 2. A stopper for fixing the real pallet on the real pallet carry-in stand is provided on the real pallet carry-in stand, and the end of the working pallet stand on which no pallet is placed is the end of the real pallet carry-in stand. 2. The pallet loading/unloading device according to claim 1, wherein the stopper is released when the pallet is aligned. 3. The pallet loading/unloading system according to claim 1, wherein roller conveyors for conveying the pallets are respectively disposed on the actual pallet loading table, on the empty pallet loading table, and on the working pallet table. Export device. 4. The actual pallet loading table and the empty pallet unloading table are arranged in two stages, upper and lower, so that the actual pallet loading table is on the lower stage, and the pallet racks of these two upper and lower stages are connected to the line side. 2. The pallet loading/unloading apparatus according to claim 1, wherein the working pallet stand is arranged so as to be movable up and down along the two upper and lower pallet stands. 5. The present invention further comprises a lifting means for raising and lowering the fork between the position of the actual pallet loading table and the position of the empty pallet loading table, and a sliding means for sliding the fork in a direction perpendicular to the conveyance path. The automatic guided vehicle is equipped with an automatic guided vehicle, and when the conveyance command is output, travel control is performed so that the automatic guided vehicle travels along the pallet conveyance path to the position where the conveyance command is output with the actual pallet placed on the fork. and controlling the elevating means and the sliding means so that when the automatic guided vehicle stops at the position where the transport command is output, the actual pallet is placed from the fork onto the actual pallet unloading table. 5. The pallet loading/unloading device according to claim 4, wherein said elevating means and said sliding means are controlled so that an empty pallet is placed on said fork from said empty pallet unloading table.