JP2023002289A - egg container loading system - Google Patents

Abstract

To provide an egg container loading system that has a layout that takes into account a work area, a waiting area for carts, a shipping area, and traffic lines of carts and workers.SOLUTION: The system 1 includes: a first egg container transfer device 72a having a first waiting area W1 with egg containers; a first multi-axis robotic arm 21a having a first suction grasping unit 212a that grasps the egg containers in the first waiting area W1 and transfers the grasped egg containers to at least one shelf of the first egg container transport cart; a first cart extrusion device 34 that transfers the cart 8, along a first loading line L1, from a first loading device 30 which is opposite the first multi-axis robot arm 21a to a first loading section 38 which is proximal to the first multi-axis robotic arm 21a; and a first cart unloading device 36 that transfers the cart 8a from the first loading section 38 along the first unloading line L11 to a cart unloading section 39.SELECTED DRAWING: Figure 1A

Description

The present invention relates to an egg container loading system for an egg container transport truck.

Transport racks are used to transport egg containers filled with eggs (also called "egg cartons") to retailers such as food supermarkets. For example, there are transport roll boxes for egg packs manufactured by Yoshida Elsis Corporation and roll racks manufactured by Sanei Seisakusho Co., Ltd. Further, Patent Literature 1 describes a carrier rack for carrying egg containers containing chicken eggs. The transport rack is designed so that a plurality of shelves can be folded and can be stored compactly in the depth direction.

Patent Literature 2 describes a shelf opening device capable of automatically opening a folding shelf (returning the folding state to its original state (shelf state)). In FIG. 2A, the egg container is arranged vertically on the back side of the shelf. FIG. 1 shows an example in which the cart moves in one direction.

Patent Literature 3 describes unfolding a folding shelf board with a grasping portion (11) of a robot arm (2), as shown in paragraph 0032, FIGS. 6 and 7 of the specification.

Patent Literature 4 discloses an egg carton transfer device that delivers egg cartons on a conveying section to an assembly site for boxing. The transfer device utilizes a shaft that reciprocates between the transport section and the assembly site, a main arm that is integrated with this shaft and moves egg packs from the transport section to the assembly site, and the movement of the shaft. and a retracting means for retracting the main arm to a position where it does not interfere with the egg pack. A regulating member is provided at the assembling place to prevent the egg cartons from floating. Patent Literature 5 discloses a conveying section comprising a pressing member 7 for pushing out the peripheral wall of the egg pack and feeding it to an assembly site, and a pressing member 8 for pressing the top surface of the egg pack. A width regulating member is provided at the assembling place for regulating misalignment when the egg packs are pushed and moved.

Utility Model Registration No. 3209255 Japanese Patent No. 6684511 Japanese Patent No. 6807091 JP 2018-030631 A JP 2016-124601 A

Problems that cannot be solved by the above patent documents include the following.
(1) In Patent Document 2, when the top shelf is placed horizontally instead of vertically, the bottom of the folded shelf board at the back of the shelf may come into contact with (interfere with) the hand of the robot arm. have a nature.
(2) In addition to the unidirectional movement of the cart disclosed in Patent Document 2, a layout is required that considers the work area, the waiting area for the cart, the shipping area, the cart, and the flow line of the worker.
(3) A plurality of types of egg containers may be sent from the upstream side by a conveyer. In such cases, workers manually load the cargo. There is a demand to make it possible to load on the device side even if such many kinds of egg containers are conveyed.
(4) There are various types of carriages (roll inners), and there are differences in shape such as height, width, depth, and positions of projections and beams (frames). Therefore, it is difficult to transport various types of carts with one cart conveying device.
(5) When a robot arm deploys shelves as in Patent Document 3, shelves are deployed after being adsorbed. It is feared that It is difficult to add a larger mechanical structure to the hand portion of the robot arm in addition to the adsorption mechanism due to the payload of the robot arm and the limited space in which the robot arm can operate in the carriage (roll inner).
(6) In Patent Documents 4 and 5, the egg packs transported parallel to the longitudinal direction of the egg packs are pushed out from the side of the egg packs and collected at an assembly location. It is necessary to change the regulating member by changing the regulating member, and the switching work is complicated. When a cylinder is used as the pressing means (Patent Document 5), the next egg pack cannot be transported to the pushing position while returning to the origin. In Patent Document 4, even if the next egg carton is placed, the pusher retracts upward so as not to interfere with it and returns to the origin, but the next push cannot be performed during the time until the origin return.

Therefore, the first object of the present invention is to provide a carriage loading device that can correspond to various carriages (roll inners) and an egg container loading system including the same.
A second object is to provide a carriage fixing device capable of suppressing failure of shelf opening (deployment) and an egg container loading system including the same.
A third object is to provide a loading control device compatible with a variety of egg containers and an egg container loading system including the same.
The fourth purpose is to provide an egg container loading system with a layout that takes into account the work area, truck waiting area, shipping area, truck and worker flow line.
A fifth object is to provide a sorting conveying device that distributes egg containers conveyed from the upstream side from the main conveying device to the loading standby area of the egg container conveying device, and an egg container loading system including the sorting conveying device.

In the present invention, the egg container is already filled with predetermined eggs.
The egg container loading system (1) of the present invention comprises:
a first egg container conveying device (72a) having a first waiting area (W1) with one egg container or two or more side-by-side (longitudinally parallel side-by-side) egg containers (P);
A first egg container transport carriage (8, (hereinafter sometimes simply referred to as "cart")) having a first suction gripping part (212a) for gripping the egg container in the first waiting area (W1) a first multi-axis robotic arm (21a) for transferring said gripped egg container to at least one shelf (which may or may not be a folding shelf);
A first cart carrying-in device for transporting the first egg container transport cart (8) to the first multi-axis robot arm (21a) side (to the egg container loading position) (with the bottom shelf board unfolded). (30) and
A first carriage pusher (34) provided on said first carriage loading device (30), wherein said first egg container transport carriage (8) is proximal to said first multi-axis robotic arm (21a). A first truck pushing device (34) that conveys along a (linear) first loading line (L1) toward the first loading section (38) (loading position);
The first egg container transport carriage (8a) is moved from the first loading section (38) (in a direction that intersects the first carrying-in line (L1) by 90° (or in a direction that intersects substantially 90°). It suffices.)) A first carriage unloading device (36) for conveying to a carriage unloading section (39) along a first unloading line (L11).
The first standby area (W1) of the first egg container transport device (72a), the first multi-axis robot arm (21a), and the first loading section (38) are connected to the first multi-axis robot They may be arranged in an L shape with the body axis (AR) of the arm (21a) as a starting point (L-shaped layout). Furthermore, the first waiting area (W1), the first multi-axis robot arm (21a), the first loading section (38), and the first carriage loading device (30) are connected to the main body of the first multi-axis robot arm (21a). They may be arranged in an L shape with the axis (AR) as a starting point.
A first waiting area (W1) of the first egg container transport device (72a) is arranged between the first multi-axis robot arm (21a) and the first loading station (38), The one multi-axis robot arm (21a), the first standby area (W1), and the first loading section (38) may be arranged linearly. Furthermore, the first multi-axis robot arm (21a), the first standby area (W1), the first loading section (38), and the first truck loading device (30) may be arranged linearly. In addition, the first multi-axis robot arm (21a), the first waiting area (W1), the first loading section (38), the first cart loading device (30), and the cart unloading section (39) are connected to the first It may be arranged in a T-shape starting from the loading section (38) (T-shaped layout).
The moving distance of the hand part (211) and the suction grip part (212) can be shortened to shorten the loading processing time.

The egg container loading system (1) further comprises:
a second egg container conveying device (72b) having a second waiting area (W2) with one egg container or two or more side-by-side (longitudinally parallel side-by-side) egg containers (P);
At least one shelf (folding shelf) of the second egg container transport carriage (8) has a second suction grip part (212b) that grips the egg container (P) in the second waiting area (W2) a second multi-axis robotic arm (21b) for transferring said gripped egg container (P) to a
A second carriage carrying-in device that transports the second egg container transport carriage (8) to the second multi-axis robot arm (21b) side (to the egg container loading position) (with the bottom shelf board unfolded). (40) and
a second carriage pusher (44) provided on said second carriage loading device (40), said second egg container transport carriage (8) being proximal to said second multi-axis robotic arm (21b); A second truck pushing device (44) that conveys along a (linear) second loading line (L2) toward the second loading section (48) (loading position);
The second egg container transport carriage (8b) is moved from the second loading section (48) (in a direction that intersects the second loading line (L2) by 90° (in a direction that intersects substantially 90°). It suffices.)) A second carriage unloading device (46) for conveying to the carriage unloading section (39) along a second unloading line (L21).
The second standby area (W2) of the second egg container transport device (72b), the second multi-axis robot arm (21b), and the second loading section (48) are connected to the second multi-axis robot The arm (21b) may be arranged in an L shape with the body axis (AR) of the arm (21b) as a starting point (L-shaped layout). Furthermore, the second waiting area (W2), the second multi-axis robot arm (21b), the second loading section (48), and the second carriage loading section (40) are the body of the second multi-axis robot arm (21b). They may be arranged in an L shape with the axis (AR) as a starting point.
A second waiting area (W2) of the second egg container transport device (72b) is arranged between the second multi-axis robot arm (21b) and the second loading section (48), The two multi-axis robot arm (21b), the second standby area (W2), and the second loading section (48) may be arranged linearly. Furthermore, the second multi-axis robot arm (21b), the second standby area (W2), the second loading section (48), and the second truck loading device (40) may be arranged linearly. Alternatively, the second multi-axis robot arm (21b), the second standby area (W2), the second loading section (48), the second carriage loading device (40), and the carriage unloading section (39) They may be arranged in a T-shape starting from the loading section (48) (T-shaped layout).
By shortening the moving distance of the hand part (211b) and the suction gripping part (212), the loading processing time can be shortened.

The egg container loading system (1) comprises:
The loaded first egg container transport truck (8a) and/or the second egg container transport truck (8b) are moved from the truck unloading section (39) parallel to the first and second carry-in lines (L1, L2). It may comprise a carriage delivery device (391) that delivers along a delivery line (L3) located in the .
A delivery line (L3) is preferably arranged between the first and second carry-in lines (L1, L2).
The more proximal the first and second loading parts (30, 40) and the delivery line (L3) are, the more workability can be improved. For example, by making the moving route of the truck (8) U-shaped and carrying in and carrying out next to each other, workability is improved. ), it is possible to increase processing power while reducing occupied space and costs.

The carriage unloading section (39) and the delivery line (L3) may be used in common, and as another embodiment, the carriage unloading section and the delivery line may be provided separately.
For example, the first egg container transport truck (8a) is moved from the first loading section (38) in a direction that intersects the first carry-in line (L1) by 90° (if it is a direction that intersects substantially 90° good), and may comprise a third unloading device for conveying to the unloading unit along a third unloading line in a direction away from the second loading unit (48), and/or The two-egg container transport truck (8b) is moved from the second loading section (48) in a direction that intersects the second carry-in line (L2) by 90° (substantially in a direction that intersects 90°). In addition, a fourth carriage unloading device may be provided for conveying to the carriage unloading section along a fourth unloading line in a direction away from the first loading section (38).

the first carry-in line (L1), the first loading section (38), the first multi-axis robot arm (21a), the first standby area (W1), the first carry-out line (L11);
The second carry-in line (L2), the second loading section (48), the second multi-axis robot arm (21b), the second standby area (W2), and the second carry-out line (L21) , a layout configuration having translational symmetry or mirror image symmetry with respect to a line passing through the carriage unloading section (39) (a delivery line (L3) parallel to the first and second carry-in lines).

(different layout)
The egg container loading system (1) of the present invention comprises:
a first egg container conveying device (72a) having a first waiting area (W1) with one egg container or two or more side-by-side (longitudinally parallel side-by-side) egg containers (P);
It has a first suction gripper (212a) (provided in the first hand part (211a) at the tip position) for gripping the egg container in the first standby area (W1), and the first egg container transport carriage ( a first multi-axis robotic arm (21a) for transferring said gripped egg container onto at least one shelf (which may or may not be a folding shelf) of 8);
a first carriage carrying-in device (300) for transporting the first egg container transport carriage (8) to the first multi-axis robot arm (21a) side (with the bottom shelf board unfolded);
A first carriage pusher (340) provided on said first carriage loading device (300), wherein said first egg container transport carriage (8) is proximate to said first multi-axis robotic arm (21a) Towards a certain first loading section (38) (loading position), the first truck extrusion conveys from one of the left and right sides to the other along the (linear) first loading line (L10) in the horizontal direction. a device (340);
The first egg container transport carriage (8a) is moved from the first loading section (38) along the first carry-out line (L11) in the same direction as the first carry-in line (L10) to the carriage carry-out section (39). ) and a first trolley carry-out device for transporting
The first carry-in line (L10), the first loading section (38), the first carry-out line (L11), and the first multi-axis robot arm (21a) are arranged in a T shape. (T-shaped layout). A first waiting area (W1) of the first egg container transport device (72a) is arranged between the first multi-axis robot arm (21a) and the first loading station (38), The one multi-axis robot arm (21a), the first standby area (W1), and the first loading section (38) may be arranged linearly.
The egg container loading system (1) further comprises:
a second egg container conveying device (72b) having a second waiting area (W2) with one egg container or two or more side-by-side (longitudinally parallel side-by-side) egg containers (P);
Having a second suction gripping part (212b) (provided in the second hand part (211b) at the tip position thereof) for gripping the egg container (P) in the second waiting area (W2), the second egg container A second multi-axis robotic arm (21b) for transferring said gripped egg container (P) to at least one shelf (which may or may not be a folding shelf) of the transport carriage (8). When,
a second carriage loading device (400) for transporting the second egg container transport carriage (8) to the second multi-axis robot arm (21b) side (with the bottom shelf board unfolded);
A second carriage pusher (440) provided on said second carriage loading device (400), wherein said second egg container transport carriage (8) is proximal to said second multi-axis robotic arm (21b). Towards the second loading section (48) (loading position), the direction is 180 degrees different from the first loading line (L10), and it is a horizontal direction (linear) from either left or right to the other. A second truck extrusion device (440) that conveys along the second carry-in line (L20),
The second egg container transport truck (8b) is moved from the second loading section (48) along the second carry-out line (L21) in the same direction as the second carry-in line (L20) to the cart carry-out section ( 39) with a second trolley carrying out device (46) for transporting to
The second carry-in line (L20), the second loading section (48), the second carry-out line (L21), and the second multi-axis robot arm (21b) are arranged in a T shape. (T-shaped layout). A second waiting area (W2) of the second egg container transport device (72b) is arranged between the second multi-axis robot arm (21b) and the second loading section (48), The two multi-axis robot arm (21b), the second standby area (W2), and the second loading section (48) may be arranged linearly.

(Dolly loading device)
The first and second truck loading devices (30, 40) are
At least one carriage state detection unit (346, 446) for detecting the open state of any folding shelf and/or the direction (front-rear direction) of the carriage (8) to be carried in may be provided. .
The truck state detection unit (346, 446) may be installed at the entrance of the carry-in route of the first and second truck carrying-in devices (30, 40). ) so that it can be detected before or after installation. The state in which the folding shelf is open and the state in which it is folded can be distinguished, and the orientation of the carriage can also be detected at the same time based on the position of the folding plate in the folded state.
The truck state detection units may be installed so as to detect the positions of the folding plates in the folded state from one of the left and right sides of the truck or from both sides toward the center of the truck. , it may be detected whether the folding plates of each stage are in an open (unfolded) state or in a folded state.
Install the carriage state detection unit from the ceiling toward the floor, measure the distance to the plate surface where the folding plate is in the open (unfolded) state, and check whether the lowest folding plate is in the open state. It may be detected whether or not

(Bogie unloading device)
The carriage unloading section (39), the carriage delivery device (391) or the egg container loading system (1)
A retention state detection unit (392) may be provided for detecting whether or not there is a (staying) carriage (8) inside the carriage unloading unit.
The staying state detection unit may be composed of, for example, a pair of light-emitting and light-receiving optical sensors, a reflective optical sensor, a distance measuring sensor, imaging means, an image analysis device, and the like.

(frame guide)
Said first truck loading device (30) or egg container loading system (1),
When transporting the first egg container transport truck (8) with the front (front) forward and the back (rear) behind it,
A first left guide part (31) (regulating function) that guides the left frame of the first egg container transport carriage (8) along the first carry-in line (L1) (front-rear direction); and/or A first right guide portion (33) (restricting function) for guiding the right frame may be provided, and at least one of the guide portions is provided with a moving mechanism (32) for varying the distance between the two. may
Said second truck loading device (40) or egg container loading system (1),
When transporting the second egg container transport truck (8) with the front (front) forward and the back (rear) behind it,
A second left guiding part (43) (regulating function) for guiding the left frame of the second egg container transport carriage (8) and/or guiding the right frame along the second loading line (L2). A second right guide portion (41) (restricting function) may be provided, and at least one of the guide portions may be provided with a moving mechanism (42) for varying the distance between the two.
The first carriage loading device (300) or egg container loading system (1),
When transporting the first egg container transport carriage (8) in either direction of its left or right side,
A first front frame guide portion (310) (regulating function) that abuts and guides the left and right front frames of the first egg container transport carriage (8) and/or a first frame that abuts and guides the left and right rear frames A rear frame guide portion (330) (regulating function) may be provided. Furthermore, at least one of the guides may be provided with a moving mechanism for varying the distance between the two.
The second truck loading device (400) or egg container loading system (1) is
When transporting the second egg container transport carriage (8) in either direction of its left or right side,
A second front frame guide portion (restricting function) that abuts and guides the left and right front frames of the second egg container transport carriage (8), and/or a second rear frame guide that abuts and guides the left and right rear frames. section (restriction function). Furthermore, at least one of the guides may be provided with a moving mechanism for varying the distance between the two.
Any one of the above-described guide units may be provided at any location of the first and second loading units, the carriage unloading unit, and the delivery line.
The moving mechanism described above may be capable of receiving cart information from a system control device, an external device, a cart size detecting means, or the like, and may be capable of moving automatically or may be configured to be movable by means. The automatic moving mechanism may be composed of, for example, an air-, electric-, or hydraulic-driven linear motion device.

(caster guide)
Said first truck loading device or egg container loading system (1) comprises:
When the front (front) of the first egg container transport carriage (8), which has a rectangular (rectangular, square) caster arrangement on the left, right, front and back, is forward and the back (rear) is backward,
Along the first loading line (L1), a first left caster guide portion (regulating function) that guides the left front and rear casters and/or a first right caster guide portion (regulation function) that guides the right front and rear casters. and may be provided.
Said second truck loading device or egg container loading system (1) comprises:
When transporting the second egg container transport carriage (8), which has rectangular (rectangular, square) caster arrangements on the left, right, front and back, with the front (front) forward and the back (rear) backward,
Along the second carry-in line (L2), a second left caster guide portion (regulating function) that guides the left front and rear casters and/or a second right caster guide portion (regulation function) that guides the right front and rear casters. and may be provided.
The first and second truck loading devices or egg container loading systems (1) are
When transporting the first egg container transport carriage (8) in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel to one of the left and right sides,
A first front caster guide portion (343a) (restricting function) for guiding left and right front casters and/or a first rear caster guide portion (343b) (restricting function) for guiding left and right rear casters. good too.
The first and second truck loading devices or egg container loading systems (1) are
When transporting the first egg container transport carriage (8) in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel to one of the left and right sides,
A second front caster guide portion (regulating function) that guides the left and right front casters and/or a second rear caster guide portion (regulating function) that guides the left and right rear casters may be provided.
Any one of the caster guides may be provided at any location in the first and second loading sections, the carriage unloading section, and the delivery line.
Also, at least one of the caster guides may be provided with a moving mechanism that makes the distance between them variable.
The moving mechanism described above may be capable of receiving cart information from a system control device, an external device, a cart size detecting means, or the like, and may be capable of moving automatically or may be configured to be movable by means. The automatic moving mechanism may be composed of, for example, an air-, electric-, or hydraulic-driven linear motion device.

The egg container loading system (1) comprises:
a first rear guide section (regulating function) for guiding the rear frame of the first egg container transport carriage (8a) from the first loading section (38) along the first unloading line (L11); and/ Alternatively, a first front guide portion (restricting function) that guides (the lower portion of) the front frame may be provided, and at least one of the guide portions is provided with a moving mechanism that changes the distance between the two. may
The first front guide section may also function as a stop section for stopping the first egg container transport carriage (8) transported along the first carry-in line (L1).
The first rear guide part may be configured to be movable downward when the first egg container transport carriage (8) is carried in along the first carry-in line (L1).
The egg container loading system (1) comprises:
a second rear guide section (regulating function) for guiding the rear frame of the second egg container transport carriage (8) from the second loading section (48) along the second unloading line (L21); and/ Alternatively, a second front guide part (restriction function) that guides (the lower part of) the front frame may be provided, and at least one of the guide parts is provided with a moving mechanism that makes the distance between them variable. may
The second front guide part may also function as a stop part for stopping the second egg container transport carriage (8) transported along the second carry-in line (L2).
The second rear guide part may be configured to be movable downward when the second egg container transport carriage (8) is carried in along the second carry-in line (L2).
The moving mechanism described above may be capable of receiving cart information from a system control device, an external device, a cart size detecting means, or the like, and may be capable of moving automatically or may be configured to be movable by means. The automatic moving mechanism may be composed of, for example, an air-, electric-, or hydraulic-driven linear motion device.

(Distribution transport device)
The sorting and conveying device is
an upstream detection unit that detects the egg container being conveyed by the conveying device;
At a predetermined timing from the detection by the upstream detection unit, the egg container is arranged above the egg container, rotates only in one direction, abuts on the side parallel to the conveying direction of the egg container, and is released from the conveying device. and at least one abutting delivery section for delivering to another transport device in a transport direction perpendicular to the transport device.
The sorting and conveying device is
a rotating body (for example, an endless belt) provided with the at least one abutment delivery part;
At least two rolls (e.g., belt pulleys) for tensioning the rotating body;
At least one of the rolls may be a drive roll (the rest being free-rotating passive rolls), and may comprise a drive (eg, a motor, etc.) for rotating the drive roll.
The drive device (e.g., positioning motor) controls the delivery timing of the egg container, the delivery amount of the egg container, and/or the delivery speed (acceleration/deceleration), for example, depending on the size of the egg container and/or its weight. You may

The egg container loading system (1) comprises:
a main conveying device (71) that conveys egg containers conveyed from the upstream side (in series parallel to the first side (e.g. longitudinal direction));
The egg container (P) conveying the main conveying device (71) is moved (parallel to the second side (eg, lateral direction) perpendicular to the first side (eg, longitudinal direction)) to the first egg container. A first sorting and conveying device (73a) for sending to the conveying device (72a) may be provided.
The main conveying device (71) may be configured to feed the egg container (P) to the second egg container conveying device (72b) on the upstream side of the conveying from the first sorting device (73a). A second sorting and conveying device (73b) for sending to the second egg container conveying device (72b) may be provided.
Either or both of the first and second sorting and conveying devices (73a, 73b) may be provided with discrimination units (75a, 75b) that discriminate the type of the egg container (P).
The main transport (71) may consist of one or more endless belts.
The first and second sorting and conveying devices (73a, 73b) may be composed of one or more endless belts.
The first and second sorting and conveying devices (73a, 73b) are
An upstream detection unit (701a) provided upstream (predetermined position on the main conveying device side) to detect the egg container;
At a predetermined timing after detection by the upstream detection unit (701a), it is placed above the egg container (while it is being conveyed or stopped), and while rotating only in one direction (translates by a predetermined distance By) contacting the egg container on the side parallel to the conveying direction (first side side surface) and sending it out to the first and second egg container conveying devices (72a, 72b) in the conveying direction perpendicular to the conveying direction, at least and one abutment delivery part (731).
The contact delivery part (731) may have a shape that contacts the egg container, for example, an L shape, a shape that matches the outer surface shape of the egg container, or the like. At least the surface of the contact delivery part (731) may be made of an elastic member.
The first and second sorting and conveying devices (73a, 73b) are
Rotating bodies (732, 733) (for example, endless belts) provided with the at least one contact delivery part (731);
at least two rolls (734, 735) (e.g., belt pulleys) for tensioning the rotating body;
at least one of said rolls being a drive roll (735) (the rest being free-rotating passive rolls), and a drive (736), such as a motor, for rotating the drive roll (735). may be
The number of the rotating bodies may be one, two or more.
The rotating body and/or the abutting delivery part is preferably made of non-metal.
The drive device (e.g., positioning motor) controls the delivery timing of the egg container, the delivery amount of the egg container, and/or the delivery speed (acceleration/deceleration), for example, depending on the size of the egg container and/or its weight. You may
The first and second sorting and conveying devices (73a, 73b) or the first and second egg container conveying devices (72a, 72b) guide one of the second sides of the egg container along the conveying direction of the egg container. and/or a second container guide portion (732) (regulating function) for guiding the other side of the second side of the egg container, Furthermore, at least one of the container guide parts may be provided with a moving mechanism (733) that makes the distance between them variable.
The moving mechanism (733) may be capable of receiving egg size information from the system control device, external device, egg container detection means, etc., and may be capable of moving automatically or may be configured to be movable by means. good.

(fixing device)
The egg container loading system (1) comprises:
At an arbitrary position in the first and second loading sections, the egg container transport cart (8) (frames, struts, folding racks, casters, etc. that make up the cart) is restricted from moving in the left-right direction and/or in the front-back direction. A fixing device for the egg container transport carriage having stoppers or clamps (means for restricting movement) for fixing as described above may be provided. The fixing device for the egg container carrier may be provided in a device separate from the system (1).
The fixing device is a lower front clamp and drive (5111) that clamps the front of the lower position of the truck (predetermined strut or transverse strut), the lower rear that clamps the rear of the lower position of the truck (predetermined strut or transverse strut). It may have a clamp and drive (5121).
The fixing device is a lower front clamp and drive device that clamps the front surface (predetermined strut or lateral strut) at the upper position of the truck or any position between the upper and lower parts, and the drive device that clamps at the upper position of the truck or anywhere between the upper and lower parts. There may be a lower dorsal clamp and drive that clamps the dorsal surface (predetermined strut or cross strut) of the position.
The fixing device
It is provided so as to be vertically movable with respect to the carriage or floor surface (for example, the device installation surface), and (by moving in the left and right direction) the rear side (predetermined support or horizontal A pair of left and right first left rear side clamps that regulate (fix and detachably) (clamp) the left and right sides of the back frame (predetermined columns or horizontal columns) so as to press them toward the center of the shelf. (521), may include a first right rear side clamp (541).
The fixing device
It is provided so as to be vertically movable with respect to the carriage or the floor surface, and (by moving in the front-rear direction) the front side (predetermined vertical support or horizontal support) of the left and right frames of the egg container transport carriage (8) is turned to the back side. A pair of left and right first left front clamps (531) and first right front clamps (551) may be provided to regulate (removably fix) (clamp) so as to press them toward each other.
It is not limited to the above-mentioned "left and right pair" of clamps, and may have only one of the clamps. Moreover, the above-mentioned "left and right pair" may have the same or different heights relative to the truck or the floor.
The fixing device
It is provided so as to be able to move up and down with respect to the carriage or the floor surface, and (by moving in the left and right direction) increases the acute angle open state (M2) formed by the folding of the folding shelf (801) (initial 0 For example, from 10 degrees to 30 degrees (preliminary open state), it is inserted into the crevice by contacting one or both of the left and right sides of the shelf board (left side, right side). A first preliminary opening portion (first left preliminary opening portion 522, first right preliminary opening portion 542) may be provided.
The fixing device
It is provided so as to be vertically movable with respect to the carriage or the floor surface, and (by moving in the front-rear direction or the vertical direction) abuts on the front side (801c) of the folding shelf (801) in a state before the shelf is completely opened. An opening stopper portion (first left opening stopper portion 533, first right opening stopper portion 553) for stopping opening may be provided.
The fixing device may be provided at the front, rear, or side of the egg container transport carriage (8), may be movable in the vertical direction, and may be tilted in the front-back direction, the left-right direction, the left-right direction, or the front-back direction in a plan view. It may be possible to move in the diagonal direction.
The fixing device includes, for example, an air, electric or hydraulic drive device, a linear motion device driven by the drive force, and a contact member (elastic member).
The fixing device may be attached to the shelf opening device, the frame of the first and second loading sections, the strut, the transfer device, the base of the multi-axis robot arm, etc., or installed separately on the floor or ceiling. may
The tip of the stopper or clamp may be composed of an elastic member.

(Shelf opening device)
The egg container loading system (1) comprises:
A first shelf opening device (50) that automatically opens the folding shelf of the first egg container transport truck (8) (returns the folded state to its original state (shelf state));
A second shelf opening device (60) for automatically opening the folding shelf of the second egg container transport carriage (8) (returning the folded state to the original state (shelf state)) may be provided.
As the first and second shelf opening devices, the shelf opening device described in Japanese Patent No. 6684511 may be adopted.

The first shelf opening device (50)
a first frame body (510) (forming a back surface (512), a front surface (511) and side surfaces (not shown));
a first shelf opening unit (51) movable vertically on the back side of the first frame main body (510);
a first shelf opening unit drive section (513, 5131) for driving the first shelf opening unit (51) up and down;
At least one first slope formation part (first Left slope forming part 561, first right slope forming part 562) (for example, suction means), one end (front The folding shelf (801) in the folded state at the folded state position (M1) at the back side opposite to (for example, the hinge (301e) is folded upward into two with the top of the folded state) state), the first tilt forming portion (first left tilt forming portion 561, first left tilt forming portion 561, first and a right slant forming portion 562).

The first shelf opening device (50) may comprise the locking device described above.
The first shelf opening device (50) is, for example,
It is vertically movable together with the first shelf opening unit (51) (it may be fixed to it or may be configured to be movable in conjunction with it), and the left and right frames of the egg container transport truck (8). The rear side (predetermined support or horizontal support) or the left and right sides of the back frame (predetermined support or horizontal support) are regulated (detachably fixed) (clamped) so that they are pressed toward the center of the shelf. A pair of left and right first left back side clamps (521) and first right back side clamps (541);
It is vertically movable together with the first shelf opening unit (51) (it may be fixed to it or may be configured to be movable in conjunction with it), and the left and right frames of the egg container transport truck (8). A pair of left and right first left front clamps (531) that regulate (fix detachably) (clamp) so that the front side (predetermined vertical support or horizontal support) is pressed toward the back side, first right front a clamp (551);
It is provided vertically movable together with the first shelf opening unit (51) (it may be fixed to it or configured to be movable in conjunction therewith), and folded in a state before the shelf is completely opened. a first opening stopper portion (first left opening stopper portion 533, first right opening stopper portion 553) that contacts the front side (801c) of the shelf (801) to stop the opening;
It is provided vertically movable together with the first shelf opening unit (51) (it may be fixed to it or configured to be movable in conjunction with it), and the first inclination forming part (first left inclination Forming part 561, first right-tilt forming part 562) increases the acute-angle open state (M2) formed by folding the folding shelf (801) in the tilted state or the one-sided lifted state (from the initial 0 degree , for example, 10 degrees to 30 degrees (preliminary open state), it is inserted into the crevice of the middle fold by contacting one or both of the left and right sides of the shelf board (left side, right side) one preliminary opening portion (first left preliminary opening portion 522, first right preliminary opening portion 542);
may be provided.
The first left preliminary opening part (522) and the first right preliminary opening part (542) are arranged inward (rearward) with respect to the moving direction axis toward the center of the shelf so as to abut on the side surface of the folding plate. It has a plate-like or rod-like first left contact portion (522a) and first right contact portion (524a) that are inclined to the side. The inclination facilitates widening the folding angle of the folding shelf board.

The first shelf opening unit (51)
First left and right arm frames (first left arm frame 52, first right arm frame 54) provided forward from each of the left and right sides thereof;
a first left arm tip frame (53) provided on the front side of the first left arm frame (52) toward the center of the bogie;
A first right arm tip frame (55) may be provided on the near side of the first right arm frame (54) toward the center of the bogie.
On the back side of the first left arm frame (52), the first left back side clamp (521) and the first left back side clamp (521) are placed in front of the first left back side clamp (521) so that the side that contacts the carriage faces the center of the carriage. A first left preliminary opening (522) is provided,
On the far side of the first right arm frame (54), the first right side clamp (541) and the first right far side clamp (541) are placed in front of the first right side clamp (541) so that the side that contacts the carriage faces the far side. A right preliminary opening (542) is provided,
The first left arm tip frame (53) has a first left opening toward the center of the truck from the first left front clamp (531) and the first left front clamp (531) so that the side that contacts the truck faces the back side. A stopper portion (533) is provided,
The first right arm tip frame (55) is provided with a first right front clamp (551) and a first right opening stopper closer to the center of the truck than the first right front clamp (551) so that the side contacting the truck faces the back side. A portion (553) may be provided.

The first shelf opening unit (51)
A left-right spacing driving part so that at least one of them can move relative to the first shelf opening unit (51) so that the parallel spacing formed by the first left arm frame (52) and the first right arm frame (54) can be expanded and contracted. (524) may comprise
Left and right back clamp driving units (5211, 5411) may be provided for driving the first left back side clamp (521) and the first right back side clamp (541), respectively,
A preliminary opening drive section (5221, 5421) may be provided for driving the first left preliminary opening section (522) and the first right preliminary opening section (542), respectively.
Left and right front clamp drivers (532, 552) may be provided for driving the first left front clamp (531) and the first right front clamp (551), respectively.
An opening stopper driving part (532, 552) may be provided for driving the first left opening stopper part (533) and the first right opening stopper part (553), respectively. The left and right front clamp drive portions (532, 552) and the open stopper drive portions (532, 552) may be shared by the same drive portion.

The first shelf opening device (50) may have a first shelf opening control section. Necessary information such as information on the type of the truck (8) may be received from the system (1), necessary information may be received from another device, or the necessary information may be manually input.
The first shelf opening control unit
The first shelf opening unit drive section (513, 5131) may be commanded to control the vertical movement of the first shelf opening unit (51),
The left-right spacing drive (524) may be commanded to control the movement of at least one of the first left arm frame (52) and the first right arm frame (54) relative to the first shelf opening unit (51). ,
The clamping operations of the first left rear side clamp (521) and the first right rear side clamp (541) may be controlled by commanding the respective left and right rear side clamp drive units (5211, 5411),
The left and right front clamp drive units (532, 552) may be commanded to control the clamping operations of the first left front clamp (531) and the first right front clamp (551),
The stop operation of the first left opening stopper portion (533) and the first right opening stopper portion (553) may be controlled by commanding the respective opening stopper drive portions (532, 552),
A command is given to the first slant formation section (first left slant formation section 561, first right slant formation section 562) to place the folded shelf (801) in the folding state position (M1). The action of sucking and pulling backward may be controlled so as to tilt or lift one side with respect to the rail,
By commanding the respective pre-opening drive units (5221, 5421), the first left pre-opening unit (522) and the first right pre-opening unit (524) are controlled to set the folding shelf in the pre-opened state. good too.

The motion control unit (150) may control the first multi-axis robot arm in conjunction with the shelf opening operation by the first shelf opening control unit. The operation control section (150) may have the function of a first shelf opening control section.
The first multi-axis robotic arm may comprise locking means (eg hooking means, chucking means).
The motion control section (150) instructs the first multi-axis robot arm to move the first tilt forming section (first left tilt forming section 561, first right tilt forming section 562) in a tilted state or a one-sided lifting state. The engaged portion of the folding shelf that is preliminarily opened by the first preliminary opening portion (the first left preliminary opening portion 522, the first right preliminary opening portion 542) (the front side shelf frame) a part, an object to be locked, a rod-shaped frame, etc.) is locked by the locking means,
After the action of the first inclination forming part and the first preliminary opening part on the shelf board is released, (the first shelf opening control part is commanded, and the first inclination forming part (first left inclination forming part 561, the suction of the first right inclined forming portion 562) to the folding shelf is released, and the first preliminary opening portion (first left preliminary opening portion 522, first right preliminary opening portion 542) is returned to the original position. after reverting with )
A command is given to the first multi-axis robot arm equipped with the locking means to move the folding shelf locked by the locking means forward and fold it at a predetermined position (for example, at the left and right opening stoppers). Each component may be controlled so that the locking of the locking means is released at the position where the movement of the tatami shelf is stopped or the position where the tatami shelf is completely opened.

The second shelf opening device (60) has the same configuration as the first shelf opening device (50).
The second shelf opening device (60)
a second frame body (forming a back surface, a front surface and side surfaces);
a second shelf opening unit movable vertically on the back side of the second frame main body;
a second shelf opening unit driving section for driving the second shelf opening unit up and down;
It is provided so as to be vertically movable together with the second shelf opening unit (it may be fixed to it or configured to be movable in conjunction with it), and can be tilted or cantilevered by the second tilt forming part. In order to increase the acute-angled open state formed by folding a certain folding shelf (from the initial 0 degrees, for example, from 10 degrees to 30 degrees), either one of the left or right sides of the shelf board or both sides (left side) a second preliminary opening portion (a second left preliminary opening portion, a second right preliminary opening portion) that is inserted into the center-folded gap while being brought into contact with the surface and right side).

The second shelf opening device (60) may be provided with the above fixing device.
The second shelf opening device (60) is, for example,
It is provided so as to be vertically movable together with the second shelf opening unit (it may be fixed to it or configured to be movable in conjunction with it), and the rear side of the left and right frames of the egg container transport truck (predetermined A pair of left and right rear left side surfaces that regulate (removably fix) (clamp) the left and right sides of the back frame (predetermined support or horizontal support) toward the center of the shelf. clamp, right back side clamp,
It is provided so as to be vertically movable together with the second shelf opening unit (it may be fixed to it or may be configured to be movable in conjunction with it), and the front side of the left and right frames of the egg container transport truck (predetermined A pair of left and right front clamps and right front clamps that regulate (removably fix) (clamp) so as to press the vertical support or horizontal support toward the back side,
Provided so as to be vertically movable together with the second shelf opening unit (it may be fixed thereto or configured to be movable in conjunction with it), and in front of the folding shelf in a state before the shelf is completely opened. a second opening stopper portion (second left opening stopper portion, second right opening stopper portion) that abuts on the side to stop opening;
It is provided so as to be vertically movable together with the second shelf opening unit (it may be fixed to it or may be configured to be movable in conjunction with it), and can be tilted or cantilevered by the second tilt forming part. In order to increase the acute-angled open state formed by folding a certain folding shelf (from the initial 0 degrees, for example, from 10 degrees to 30 degrees), either one of the left or right sides of the shelf board or both sides (left side) a second preliminary opening portion (second left preliminary opening portion, second right preliminary opening portion) that is inserted into the gap of the center fold by contacting the surface, right side);
may be provided.
The second left preliminary opening portion and the second right preliminary opening portion each have a plate-like shape that is inclined toward the back (rear) side with respect to the moving direction axis toward the center of the shelf so as to abut on the side surface of the folding plate. Alternatively, it has a rod-shaped second left contact portion and a second right contact portion. The inclination facilitates widening the folding angle of the folding shelf board.

The second shelf opening unit is
second left and right arm frames (second left arm frame, second right arm frame) provided forward from each of the left and right sides;
a second left arm tip frame provided on the front side of the second left arm frame toward the center of the bogie;
A second right arm tip frame may be provided on the front side of the second right arm frame toward the center of the bogie.
A second left auxiliary open portion is provided on the back side of the second left arm frame on the front side of the second left back side clamp and the second left back side clamp so that the side that contacts the carriage faces the center of the carriage. ,
A second right preliminary opening is provided on the front side of the second right rear side clamp and the second right rear side clamp so that the side that contacts the carriage faces the rear side of the second right arm frame,
The second left arm tip frame is provided with a second left opening stopper portion closer to the center of the carriage than the second left front clamp and the second left front clamp so that the side that contacts the carriage faces the back side,
The second right arm tip frame may be provided with a second right opening stopper part closer to the center of the carriage than the second right front clamp and the second right front clamp so that the side that contacts the carriage faces the back side. .

The second shelf opening unit is
A left and right spacing drive section may be provided so that at least one of the second left arm frame and the second right arm frame can move relative to the second shelf opening unit so as to expand or contract the parallel spacing formed by the second left arm frame and the second right arm frame,
A left and right back side clamp drive section may be provided for driving each of the second left back side clamp and the second right back side clamp,
A preliminary opening drive section may be provided for driving each of the second left preliminary opening section and the second right preliminary opening section,
A left and right front clamp driving unit may be provided for driving each of the second left front clamp and the second right front clamp,
An opening stopper driving portion may be provided for driving the second left opening stopper portion and the second right opening stopper portion. The same drive section may be used as the left and right front clamp drive section and the open stopper drive section.

The second shelf opening device (60) may have a second shelf opening control section. Necessary information such as information on the type of the truck (8) may be received from the system (1), necessary information may be received from another device, or the necessary information may be manually input.
The second shelf opening control unit is
may command the second shelf opening unit driving section to control the vertical movement of the second shelf opening unit,
commanding the left-right spacing drive unit to control the movement of at least one of the second left arm frame and the second right arm frame relative to the second shelf opening unit;
A command may be issued to each of the left and right back side clamp drive units to control the clamping operations of the second left back side clamp and the second right back side clamp,
may command the respective left and right front clamp drive units to control the clamping operations of the second left front clamp and the second right front clamp;
A command may be issued to each of the opening stopper drive units to control the stopping operation of the second left opening stopper portion and the second right opening stopper portion,
A command is given to the second inclination forming section to pull the folding shelf, which is in the folded state at the folded state position (M1), into an inclined state or a one-sided lifting state with respect to the mounting rails, and move backward. The pulling action may be controlled,
A command may be given to each of the preliminary opening drive units to control the operation of placing the folding shelf in the preliminary open state by the second left preliminary opening unit and the second right preliminary opening unit.

The motion control unit (150) may control the second multi-axis robot arm in conjunction with the shelf opening operation by the second shelf opening control unit. The operation control section (150) may have the function of a second shelf opening control section.
The second multi-axis robot arm may be provided with locking means (for example, hooking means, chucking means) (on the tip arm or hand portion).
The motion control unit (150) instructs the second multi-axis robot arm so that the second pre-opening portion (second left pre-opening portion, second left pre-opening portion, The latched portion (a part of the shelf board frame on the front side, the object to be latched, the rod-shaped frame, etc.) of the folding shelf that is preliminarily opened by the second right preliminary opening portion) is latched by the latching means. stop,
After the action of the second slope forming part and the second preliminary opening part on the shelf board is released, (the second shelf opening control part is commanded to move the second slope forming part to the folding shelf After releasing the adsorption and returning the second pre-opening part (second left pre-opening part, second right pre-opening part) to the original position)
The second multi-axis robot arm equipped with the locking means is commanded to move the folding shelf locked by the locking means forward, and at a predetermined position (the left and right opening stoppers close the folding shelf). Each component may be controlled to unlock the locking means at ) at the position where the movement of is stopped or the position where the movement is completely opened.

The first and second shelf opening devices (50, 60) may have one or more stop position detection units for detecting a part of the egg container transport truck (8) being transported. When the stop position detection unit detects the egg container transport truck (8), the first and second shelf opening control units instruct the fixing device (stopper or clamp) to stop the egg container transport truck (8). may be driven to allow

Said first and second shelf opening devices (50, 60) may have one or more unit vertical position detectors for detecting predetermined upper and lower positions of said first and second shelf opening units (51). good. When the unit vertical position detection section detects the vertical position of the first and second shelf opening units (51), the first and second shelf opening control sections detect the first and second shelf opening unit driving sections. (513, 5131) to start or stop driving.
The first and second shelf opening units (51) may have one or more folding shelf detectors for detecting folding shelves folded in the folding position (M1). When the folding shelf detecting section detects the folding shelf, the first and second shelf opening control sections instruct the first and second shelf opening unit driving sections (513, 5131) to start driving. may be started or stopped.

The first and second shelf opening devices (50, 60) detect whether or not the folding shelf is in an open state, and detect the height direction position of the folding shelf in the opened state. You may have one or more detection parts (S3). The first and second shelf opening control units output an alarm when the (position of) the folding shelf in the open state is not detected by the shelf opening detection unit after a predetermined unfolding operation (opening). It may be configured to

The first and second shelf opening control units are
When stacking egg containers on the folding shelf and/or egg container with the first and second multi-axis robot arms (for example, when stacking the topmost egg container), the first and second Inclination forming units (561, 562) are instructed to tilt the folding shelf, which is in the folded state at the folding state position (M1), to the mounting rail in an inclined state or in a one-sided lifting state (folding shelf is tilted backward). It may be controlled to be in a state where the
For example, when stacking the uppermost egg container, by tilting the folding shelf backward, a space can be secured between the folding shelf and the egg containers below it. Operational interference between the second multi-axis robot arms (21a, 21b) and the hands (211a, 211b) can be reduced.

The above configuration has the following effects.
(1) It is possible to provide an egg container loading system equipped with a carriage conveying device that can accommodate various carriages (roll inners).
(2) It is possible to provide an egg container loading system equipped with a carriage fixing structure capable of suppressing failure of shelf opening (deployment).
(3) It is possible to provide a stuffed egg container loading system compatible with a variety of egg containers.
(4) It is possible to provide an egg container loading system with a layout that considers the work area, truck waiting area, shipping area, truck and worker flow line.

It is a figure which shows an example of the whole layout drawing of an egg container loading system. It is a figure which shows an example of the whole layout drawing of an egg container loading system. It is a figure which shows an example of the whole layout drawing of an egg container loading system. It is a figure which shows an example of the left side of a shelf opening apparatus. It is a figure which shows an example of operation|movement of a shelf opening apparatus. It is a figure which shows an example of operation|movement of a shelf opening apparatus. It is a figure which shows an example of operation|movement of a shelf opening apparatus. It is a figure which shows an example of operation|movement of a shelf opening apparatus. It is a figure which shows an example of a trolley carrying-in apparatus. It is a figure which shows an example of the whole layout drawing of an egg container loading system. It is a figure which shows an example of distribution conveyance leaving.

(egg container transport truck)
The trolley 8 is an egg container transport trolley that is generally distributed. In this embodiment, the bottom folding shelf is unfolded when the carts are loaded into the carriage loading devices 30 and 40, and the egg container P is placed on the shelf. Folding shelves are unfolded, and egg containers are placed on the shelves, and so on, from bottom to top. The width, depth, and space between upper and lower shelves (height) of the trolley 8 differ depending on the manufacturer, and the hinge position and structure of the folding frame also differ. It is a system that can

The carriage 8 shown in FIGS. 1D and 3 includes a bottom frame 831, a back frame 834 fixed to the bottom frame 831 in an L-shape when viewed from the side, and hinges (not shown) to the back frame 834 so as to be foldable. It has a left frame 832 and a right frame 833) that are connected.
The front side of the cart is open so that egg containers can be loaded.
The bottom frame 831 is provided with freely rotating casters (wheels) at its four corners.

The left side frame 832 has a first side plate 811, a second side plate 812, a third side plate 813, and a fourth side plate 814 arranged at predetermined intervals from the bottom in the width direction of the frame (perpendicular to the vertical direction). direction).
The first side plate 811 , the second side plate 812 , the third side plate 813 , and the fourth side plate 814 are provided with a first mounting rail 8111 that extends perpendicularly (substantially perpendicularly) from the base of each side toward the center of the carriage 8 . , a second mounting rail 8121, a third mounting rail 8131, and a fourth mounting rail 8141 are provided. The right frame 833 facing each of the first side plate 811, the second side plate 812, the third side plate 813, and the fourth side plate 814 is also provided with similar facing side plates and mounting rails.

One end of the folding shelf 801 is pivotally supported (801d) and rotatably connected to the rear end (back frame 834 side) of a pair of opposing mounting rails. The hinge (801e) in the center part allows the shelf board 801a on the far side and the shelf board 801b on the front side to be folded (M1). A front end 801c and a rear end (not shown) of the folding shelf 801 extend obliquely upward. Thereby, the movement of the egg container P in the back direction and the front direction can be regulated. The front tip 801c has a function of a locked portion of a locking portion of a multi-axis robot arm, as will be described later.

(egg container)
The egg container is, for example, a flat top pack, a regular pack, or the like, and the number of eggs to be accommodated is 6, 10, 12, etc., but is not particularly limited. Unless otherwise specified, the egg container is filled with a given egg.

(egg container loading system)
1A-1C show the overall configuration of an egg container loading system 1. FIG. The system 1 of the present embodiment is a loading station in which two loading units are arranged by a cart loading unit and a multi-axis robot arm. , three or more may be arranged.

The system 1 comprises a main transport device 71 that transports egg containers P transported from the upstream side in series in the longitudinal direction. A plurality of main transport devices 71 may be provided without being limited to this configuration.
The system 1 feeds the egg container P conveyed by the main conveying device 71 to the first egg container conveying device 72a. A first sorting and conveying device 73a is provided.
In the main conveying device 71, further, on the upstream side of the conveying from the first sorting conveying device 73a, the second sorting that sends the egg container P to the second egg container conveying device 72b so as to send it to the second egg container conveying device 72b. A transport device 73b is provided. Both the first and second sorting and conveying devices 73a and 73b are provided with discriminating units 75a and 75b for discriminating the type of the egg container P. As shown in FIG. The details of the first and second sorting and conveying devices 73a and 73b will be described later.
The discrimination units 75a and 75b are, for example, a barcode reader that reads the barcode provided on the egg container P, an image analysis unit that captures an image and analyzes the image to identify the egg container, for example, a flat pack or regular pack using a photoelectric sensor. It may be configured by a sensor identification unit for determining identification. When two different types of egg containers are loaded, they are sorted by a sorting conveying device.
The determination units 75a and 75b have counters for counting the number of containers, and are configured to count the total number of containers conveyed, the number of each type, the number of sorted containers, and the number of passed containers. For loading the same egg container, the distribution quantity on the upstream side and the downstream side may be controlled according to the loading processing status by the robot arm.

The egg container loading system 1 includes an egg container transport/standby control command, mutual cooperation and control command with the discrimination units 75a and 75b, loading operation of the cart 8, egg container loading operation (container transport and multi-axis robot arm operation, adsorption gripping/releasing operation), and carrying out operation of the carriage 8.
The overall operation control unit 150, the determination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. are realized by cooperation with hardware such as a processor and memory, and a program that describes the contents of control. It may be realized by a combination of a dedicated circuit and firmware, and may be realized by a cloud-type or on-premises-type server, or a general-purpose computer.

(L-shaped layout)
Description will be made with reference to FIG. 1A.
The first egg container transport device 72a has a first waiting area W1 with one egg container or two or more egg containers P arranged side by side (parallel to the longitudinal direction). A stop is provided so that it can be stopped at a predetermined stop position. As an example of the conveying device, the device disclosed in Japanese Patent No. 6765151 may be adopted.
The first multi-axis robot arm 21a has a first suction gripping portion 212a provided on a first hand portion 211a at its tip position. The first multi-axis robot arm 21a grips the egg container P in the first standby area W1 with the first suction gripper 212a, and places the gripped egg container on each folding shelf of the carriage 8 and on the egg container. Transfer P. Loading control of the multi-axis robot arm will be described later.
The first carriage pushing device 34 pushes the first egg container transport carriage 8 with the bottom shelf board unfolded from the first carriage loading section 30, which is distal to the first multi-axis robot arm 21a, to the second position. It is transported along the linear first carry-in line L1 to the first loading section 38 (loading position) which is proximal to the multi-axis robot arm 21a. At the loading position, loading of the multi-axis robotic arm is performed.
The first carriage unloading device 36 moves the carriage 8a from the first loading section 38 to the first unloading line in a direction that intersects the first loading line L1 by 90° (substantially a direction intersecting 90°). It is transported along L11 to the carriage unloading section 39 (unloading area).
In this embodiment, the first standby area W1 of the first egg container transport device 72a, the first multi-axis robot arm 21a, and the first loading section 38 are arranged so that the main body axis AR of the first multi-axis robot arm 21a is They are arranged in an L-shape as a starting point (first L-shape layout).

The second multi-axis robot arm 21b has a second suction grasping portion 212b provided on the second hand portion 211b at its tip position. The second multi-axis robot arm 21b grips the egg container P in the second waiting area W2 with the second suction gripper 212b, and places the gripped egg container on each folding shelf of the carriage 8 and on the egg container. Transfer P.
The second carriage pushing device 44 pushes the second egg container transport carriage 8 with the bottom shelf plate unfolded from the second carriage loading section 40, which is distal to the second multi-axis robot arm 21b. It is transported along the linear second carry-in line L2 to the second loading section 48 (loading position) that is proximal to the two-axis robot arm 21b.
The second carriage unloading device 46 moves the carriage 8b from the second loading section 48 to the second unloading line in a direction that intersects the second loading line L2 by 90° (substantially a direction intersecting 90°). It is transported along L21 to the carriage unloading section 39 (unloading area). In this embodiment, the second carry-out line L21 is in the opposite direction to the first carry-out line L11, and the carry-out area is shared.
In this embodiment, the second standby area W2 of the second egg container transport device 72b, the second multi-axis robot arm 21b, and the second loading unit 48 are arranged so that the main body axis AR of the second multi-axis robot arm 21b is They are arranged in an L-shape as a starting point (second L-shape layout).
Then, as shown in FIG. 1A, the first L-shaped layout and the second L-shaped layout are arranged in mirror image symmetry.

The first carry-in line L1, the first loading section 38, and the first multi-axis robot arm 21a are linearly arranged (linear layout). The second carry-in line L2, the second loading section 48, and the second multi-axis robot arm 21b are linearly arranged (linear layout). The route from carry-in to loading can be configured in the shortest possible time. The first and second carry-in lines L1 and L2 are further provided with a straight or L-shaped carry-in route L0 on the entrance side. The carrying-in route L0 may be manual or automatic transportation by a transportation device.

The carriage delivery device 391 delivers the loaded carriage 8a and/or the carriage 8b from the carriage delivery section 39 along the delivery line L3 arranged parallel to the first and second carry-in lines L1 and L2.
Double doors 392a and 392b are provided at the exit of the carriage unloading section 39, and when the carriage 8 is pushed out by the carriage delivery device 391 and sent on the delivery line L3, the double doors 392a and 392b are opened by hitting the front frame of the carriage 8. It is structured.
The delivery line L3 is arranged between the first and second carry-in lines L1 and L2. The delivery line L3 may be further provided with an L-shaped delivery route L31 at the same distal end as the inlet side of the first and second delivery sections. The transport route L31 may be a manual transport or an automatic transport by a transport device.
The closer the first and second carrying-in parts 30, 40 and the delivery line L3 are, the more workability can be improved. For example, by making the moving route of the carriage 8 U-shaped and carrying in and out next to each other, workability is improved, and the U-shaped flow line is combined to create a mountain-shaped flow line (common delivery route) ), it is possible to increase processing power while reducing occupied space and cost.

A layout of another embodiment is described below.
(Translational symmetric arrangement)
Description will be made with reference to FIG. 1B. The difference from FIG. 1A is that the carriage unloading unit, the carriage unloading device and the delivery line are not shared but provided separately.
The second carrying-out line L21 extends from left to right, and the second truck carrying-out part 39b and the second truck sending-out device 391b are provided in that direction. The second delivery line L3b is parallel to and opposite to the second carry-in line L2 (that is, parallel to and in the same direction as the first delivery line L3a).
[First carry-in line L1, first loading unit 38, first multi-axis robot arm 21a, first standby area W1, first carry-out line L11, first cart carry-out part 39a, first car delivery device 391a, first Sending line L3a], [second carry-in line L2, second loading unit 48, second multi-axis robot arm 21b, second standby area W2, second carry-out line L21, second truck carrying-out part 39b, second truck The delivery device 391b, the second delivery line L3b] is a layout configuration having translational symmetry.

(T-shaped layout)
Description will be made with reference to FIG. 1C.
The egg container loading system 1 includes a first egg container conveying device 72a having a first waiting area W1 with one egg container or two or more egg containers P arranged in parallel (parallel to each other in the longitudinal direction); A first multi-axis robot arm 21a that has a first suction gripping part 212a that grips the egg container P in one standby area W1 and transfers the gripped egg container P to each folding shelf of the carriage 8; With the lower shelf board unfolded, the cart 8 is moved from the left to the right in a straight line from the first cart loading device 300 to the first loading section 38 (loading position) that is proximal to the first multi-axis robot arm 21a. A first carriage extrusion device 340 that conveys along a first carry-in line L10, and a carriage 8a from the first loading unit 38 along a first carry-out line L11 that is the same direction as the first carry-in line L10. A first carriage unloading device (not shown) for transporting to the unloading section 39 is provided.
The first carry-in line L10, the first loading section 38, the first carry-out line L11, and the first multi-axis robot arm 21a are arranged in a T shape (first T-shaped layout).
The egg container loading system 1 includes a second egg container conveying device 72b having a second waiting area W2 with one egg container or two or more egg containers P arranged in parallel (parallel to each other in the longitudinal direction); A second multi-axis robot arm 21b that has a second suction gripping part 212b that grips the egg container P in the second standby area W2 and transfers the gripped egg container P to each folding shelf of the carriage 8; With the lowermost shelf board unfolded, the trolley 8 is transferred from the second trolley loading device 400 to the second loading section 48 (loading position), which is proximal to the second multi-axis robot arm 21b, along the first loading line. A second carriage loading device 440 that transports the carriage 8b along a second loading line L20 that is 180 degrees different from L10 (a direction that collides with each other) and is straight from right to left, and a second loading section 48 and a second carriage unloading device (not shown) that conveys to the carriage unloading section 39 along a second unloading line L21 that is in the same direction as the second carry-in line L20.
The second carry-in line L20, the second loading section 48, the second carry-out line L21, and the second multi-axis robot arm 21b are arranged in a T shape (second T-shaped layout).
The system 1 further sends out the loaded carriage 8a and/or the carriage 8b from the carriage unloading section 39 along the delivery line L30 in the direction intersecting the first and second carry-in lines L10 and L20 at 90 degrees. 391.

(another straight, T-shaped layout)
Description will be made with reference to FIG.
A first waiting area W1 of the first egg container transport device 72a is located between the first multi-axis robot arm 21a and the first loading section 38. As shown in FIG. The conveying direction of the first egg container conveying device 72a is from left to right, but is not limited to this, and may be reversed. As a result, the first multi-axis robot arm 21a, the first standby area W1, the first loading section 38, and the first truck loading device 30 are arranged linearly. Also, the first multi-axis robot arm 21a, the first standby area W1, the first loading section 38, the first carriage loading device 30, and the carriage unloading section 39 are arranged in a T shape with the first loading section 38 as the starting point. (T-shaped layout).
Similarly, a second waiting area W2 of the second egg container transport device 72b is arranged between the second multi-axis robot arm 21b and the second loading section 48. As shown in FIG. The conveying direction of the second egg container conveying device 72b is from right to left, but is not limited thereto, and may be reversed. As a result, the second multi-axis robot arm 21b, the second standby area W2, the second loading section 48, and the second carriage carrying-in device 40 are arranged linearly. Also, the second multi-axis robot arm 21b, the second standby area W2, the second loading section 48, the second carriage loading device 40, and the carriage unloading section 39 are arranged in a T shape with the second loading section 48 as the starting point. (T-shaped layout).

(Dolly loading device)
The carriage state detector will be described with reference to FIG. 1A.
The first truck carrying-in device 30 includes a first truck state detection unit 346 for detecting the open state of the bottom folding shelf and the direction of the truck (front-rear direction) of the truck 8 to be carried in. The trolley state detection unit 346 is installed at the entrance of the carry-in route of the first trolley carry-in device 30 .
The second truck carrying-in device 40 includes a second truck state detection unit 446 for detecting the open state of the bottom folding shelf and the direction of the truck (front-rear direction) of the truck 8 to be carried in. The trolley state detection unit 446 is installed at the entrance of the carry-in route of the second trolley carry-in device 40 .
The detection results of the first and second truck state detection units 346 and 446 are sent to the operation control unit 150, and the operation control unit 150 detects that the open state of the bottom folding shelf and the orientation of the truck are abnormal. In the case of an abnormality detection result, a warning may be commanded to notification means (light output device such as lighting and flashing, monitor display, warning sound transmitting speaker, warning transmission to mobile terminal, etc.). The operation control unit 150 may perform control so as to limit the push-out operation of the carriage 8 by the first and second carriage push-out devices 34 and 44 in the case of an abnormality detection result. The motion control unit 150 causes the first and second trolley pushing devices 34 and 44 to push out the trolley 8 when the normal detection result indicates that the bottom folding shelf is open and the orientation of the trolley is normal. may be controlled to allow
The first and second carriage state detection units 346 and 446 are composed of, for example, a pair of light emitting and receiving light sensors, a reflective light sensor, a distance measuring sensor, an imaging means, an image analysis device, and the like.

(Bogie extrusion device)
The carriage pusher will be described with reference to FIG.
The first carriage extrusion device 34 includes, for example, a first extrusion portion 341 having a contact surface that contacts the lower frame of the carriage 8, and a movement path 342 (which may be a rail or a groove) along which the first extrusion portion 341 moves. ) and a drive unit (linear motion device, not shown) that moves the first push-out portion 341 along the movement path 342 . When the contact surface is forward in the conveying direction, when the first push-out portion 341 is pushed from behind, it falls forward and downward against the spring means (not shown). It is configured to get up from the collapsed state and return to the original position. As a result, when the truck 8 is thrown into the first truck carrying-in part 30 from behind, the truck 8 can be smoothly thrown in without the first push-out part 341 becoming an obstacle. The second carriage pushing device 44 also has the same configuration.

(frame guide)
The left and right frame guides will be described with reference to FIGS. 1A and 3C.
The system 1 guides the left frame 832 of the trolley 8 along the first carry-in line L1 when transporting the trolley 8 with the front (front) forward and the back (rear) behind. A guide portion 31 and a first right guide portion 33 that guides the right frame 833 are provided. The first left guide portion 31 has a first moving mechanism 32 that makes the interval between both guide portions variable.
The system 1 guides the left frame 832 of the trolley 8 along the second carry-in line L2 when transporting the trolley 8 with the front (front) forward and the back (rear) behind it. A guide portion and a second right guide portion that guides the right frame 833 are provided. The second left guide part 41 is provided with a second moving mechanism 42 that makes the interval between both guide parts variable.
The first and second moving mechanisms 32 and 42 are, for example, position changing mechanisms using electric or air-driven cylinders.

The front and rear frame guides will be described with reference to FIGS. 1C and 3C.
When the truck 8 is transported in the lateral direction from left to right, the system 1 contacts the first front frame guide portion 310 that contacts and guides the left and right front frames 83 and 84 of the truck 8 and the left and right rear frames 834. A first rear frame guiding portion 330 is provided for contacting and guiding. The first front frame guide portion 310 has a moving mechanism 320 that varies the distance between both guide portions.
When the truck 8 is transported in the lateral direction from right to left, the system 1 contacts the second front frame guide part 410 that contacts and guides the left and right front frames 83 and 84 of the truck 8 and the left and right rear frames 834. A second rear frame guiding portion 430 is provided for contacting and guiding. The second front frame guide portion 410 has a moving mechanism 420 that makes the interval between both guide portions variable.
Also, the front frame guide and/or the rear frame guide may be installed for feeding from the first loading section 38 to the carriage unloading section 39 in the direction along the first unloading line L11.

(caster guide)
The guides of the left and right front casters and the left and right rear casters will be described with reference to FIG. 3(b).
The system 1 includes a first front caster that guides the left and right front casters when transporting the truck 8 in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel in either direction of the left or right side. A guide portion 343a and a first rear caster guide portion 343b for guiding the left and right rear casters are provided. A moving mechanism for varying the distance between front and rear casters may be further provided.
Further, when transporting the trolley in the front-rear direction, guides may be provided for the left front-rear caster and the right front-rear caster.
The caster guide part may be a single frame with grooves of recesses formed therein, or may be composed of a pair of guide frames sandwiching the caster from both sides.

(Dolly unloading section)
The staying state detector will be described with reference to FIG. 1A.
The carriage unloading section 39 is provided with a staying state detection section 392 for detecting whether or not there is a carriage 8 staying inside the carriage unloading section 39 . The detection result of the staying state detection unit 392 is sent to the operation control unit 150, and in the case of the detection result that the truck 8 is present, the operation control unit 150 sends a warning to notification means (light output device such as lighting and blinking, monitor display, warning sound speaker, warning transmission to a mobile terminal, etc.). The operation control unit 150 may perform control so as to limit the delivery operation of the trolley 8 by the first and second trolley carrying-out devices 36 and 46 when the detection result indicates that the trolley 8 is present. The operation control unit 150 may perform control so as to allow the first and second truck unloading devices 36 and 46 to send out the truck 8 when the detection result indicates that the truck 8 does not exist. The operation control unit 150 may control the truck sending device 391 to send the truck to the sending line L3 when the detection result indicates that the truck 8 is present.
The staying state detection unit 392 may be composed of, for example, a pair of light emitting and receiving light sensors, a reflective light sensor, a distance measuring sensor, an imaging means, an image analysis device, and the like.

(Carriage Sending Device and Unloading Device)
The carriage delivery device 391 and the first and second carriage unloading devices 36 and 46 are composed of, for example, linear motion devices (cylinders) that are air-driven, hydraulically-driven, or electrically-driven. It is controlled by the operation control section 150 .

(Shelf opening device)
Description is made with reference to FIGS. 1D and 2A to 2D.
The first shelf opening device 50 includes a first frame main body 510 forming a rear surface 512, a front surface 511, and both side surfaces (not shown), and a first shelf movable vertically on the rear surface side of the first frame main body 510. It comprises an opening unit 51, a first shelf opening unit driving section 513 for driving the first shelf opening unit 51 up and down, and a driving belt 5131 (toothed belt or chain may be used). Since the second shelf opening device 60 has the same configuration as the first shelf opening device, the description thereof will be omitted.

The first shelf opening unit 51 includes a first left arm frame 52 and a first right arm frame 54 that are provided forward from the left and right sides thereof, respectively, and a first left arm frame 52 that is provided toward the center on the front side of the first left arm frame 52 . A first left arm tip frame 53 and a first right arm tip frame 55 provided on the front side of the first right arm frame 54 toward the center side are provided.
A first left rear side clamp 521 and a first left preliminary opening portion 522 are provided on the front side of the first left rear side clamp 521 on the rear side of the first left arm frame 52 , and a first left preliminary opening portion 522 is provided on the rear side of the first right arm frame 54 . , the first right back side clamp 541, and the first right back side clamp 541 are provided with a first right preliminary opening portion 542 on the near side, and the first left arm tip frame 53 is provided with the first left front clamp 541 toward the back side. 531 is provided, and a first right front clamp 551 is provided on the first right arm tip frame 55 toward the back side.
The first shelf opening unit 51 has a driving part so that at least one of the first left arm frame 52 and the first right arm frame 54 can move relative to the first shelf opening unit 51 so that the parallel space formed by the first left arm frame 52 and the first right arm frame 54 can be expanded and contracted. 524. In this embodiment, the first left arm frame 52 is configured to move.
A pair of left and right first left rear side clamps 521 and first right rear side clamps 541 are provided vertically movable together with the first shelf opening unit 51 . They press the left support 81 and the right support 82 on the rear side of the left and right side frames of the truck 8 toward the center of the shelf to regulate them.
A pair of left and right first left front clamps 531 and first right front clamps 551 are provided vertically movable together with the first shelf opening unit 51 . The first left front clamp 531 presses the left front column 83 and the right front column 84 of the left and right front frames of the truck 8 toward the back side to regulate them.
A pair of left and right first left slant formation portions 561 and first right slant formation portions 562 are provided so as to be vertically movable together with the first shelf opening unit 51 . The first left slope forming part 561 and the first right slope forming part 562 are composed of, for example, a suction pad, a suction pipe, a vacuum pump, and the like. It has an air drive section 5611 (which may be an electric drive section) for moving in the front-rear direction.
A pair of left and right first left preliminary opening portions 522 and first right preliminary opening portions 542 are provided so as to be vertically movable together with the first shelf opening unit 51 . The first left sloping forming part 561 and the first right sloping forming part 562 increase the acute angle open state (M2) formed by folding the folding shelf (801) in the tilted state or the one-sided lifting state (initial In order to expand from 0 degrees to, for example, 10 degrees to 30 degrees (preliminary open state), the operation of contacting both the left and right sides of the shelf board (left side, right side) and inserting it into the gap of the center fold do.

The left and right spacing drive 524, each clamp and the pre-opening part are equipped with air driven linear actuators or electrically driven linear actuators.

The first shelf opening device 50 has a first shelf opening control section (not shown). Necessary information such as information on the type of the truck 8 may be received from the system 1, necessary information may be received from another device, or the necessary information may be manually input.
The first shelf opening control section commands the first shelf opening unit driving sections 513 and 5131 to control the vertical movement of the first shelf opening unit 51 . In addition, the first shelf opening control section instructs the left-right spacing driving section 524 to adjust the spacing between the first left arm frame 52 and the first right arm frame 54 . In addition, the first shelf opening control section commands the first left and first right rear side clamp driving sections 5211 and 5411 to control the clamping operations of the first left rear side clamp 521 and the first right rear side clamp 541. . In addition, the first shelf opening control section instructs the first left and first right front clamp driving sections 532 and 552 to perform the clamping operation of the first left front clamp 531 and the first right front clamp 551 and the first left opening stopper. (533) controls the stopper operation of the first right opening stopper (553). The first shelf opening control unit instructs the first left slant formation unit 561 and the first right slant formation unit 562 to move the folding shelf 301, which is in the folded state at the folding state position (M1), to the mounting rail. On the other hand, the operation of sucking and pulling backward is controlled so as to be in an inclined state or a one-sided lifting state. In addition, the first shelf opening control section instructs the first left and first right preliminary opening drive sections 5221 and 5421 to preliminarily open the folding shelf with the first left preliminary opening section 522 and the first right preliminary opening section 542. Controls the behavior of entering a state.

(Shelf opening operation)
The motion control unit 150 controls the first multi-axis robot arm in conjunction with the shelf opening operation by the first shelf opening control unit.
First, as shown in FIG. 2A(b), the truck 8 is arranged at the loading position.
Next, as shown in FIG. 2A(c), each drive unit is instructed to clamp each column with the first left rear side clamp 521 and the first right rear side clamp 541, and the drive sections 532 and 552 A first left front clamp 531 and a first right front clamp 551 clamp each strut.
Next, as shown in FIGS. 2B(d) and (e), the first left slant formation unit 561 and the first right slant formation unit 562 are instructed to fold the folded state in the folding state position (M1). The tatami shelf 801 is sucked and pulled rearward so as to be in an inclined state or a one-side lifted state with respect to the mounting rail.
Next, as shown in FIG. 2B(f), in order to increase the acute-angle open state (M2) formed by folding the folding shelf 801 in the tilted state or the one-sided state (preliminary open state). Then, the first left contact portion 522a and the first right contact portion 542a are brought into contact with both the left and right side surfaces (left side surface and right side surface) of the shelf board, and are inserted into the gap of the center fold.
Next, as shown in FIG. 2C(g), the first multi-axis robot arm 21a is instructed to move the latched portion of the pre-opened folding shelf 801 (the shelf plate frame 801c on the front side). It is locked by the locking means 213a. The first multi-axis robot arm 21a has a locking means 213a (for example, hooking means) on the hand portion 211a.
Next, as shown in FIGS. 2C(h) and (i), the suction of the first left slant formation portion 561 and the first right slant formation portion 562 to the folding shelf is released, and the first left preliminary release is performed. The part 522 and the first right preliminary opening part 542 are returned to their original positions, and then the first multi-axis robot arm 21a is instructed to open (deploy) the folding plate toward the front side in the hooked state.
Next, as shown in FIG. 2D(j), before the folding shelf 301 is completely opened (deployed), the latched portion (the shelf plate frame 801c on the front side) is first opened to the left and first opened to the right. By contacting the stopper portions 533 and 553, the locking means 213a is removed from the frame 801c. By intentionally removing it before it is completely unfolded, it is possible to eliminate the occurrence of collision noise due to dropping onto the mounting rail due to unexpected release of the catch of the locking portion.
Next, as shown in FIG. 2D(k), a first left back side clamp 521, a first right back side clamp 541, a first left front clamp 531, a first right front clamp 551, and a first left opening stopper portion 533 , the first right opening stopper portion 553 is released and returned to the original position. By returning the clamp and stopper to their original positions, the folding shelf is also completely opened (unfolded).

(Distribution transport device)
The first sorting and conveying device 73a will be described with reference to FIG. In addition, the second sorting and conveying device 73b also has the same configuration.
The first sorting conveying device 73a moves the egg container P conveyed by the main conveying device 71 parallel to the short side (second side) perpendicular to the longitudinal direction (first side) of the first egg container conveying device 72a. send to
The upstream detection unit 701a is provided at a predetermined position on the side of the first sorting and conveying device 73a and the main conveying device 71 upstream therefrom, and detects an egg container. The upstream detection unit 701a may be composed of, for example, a pair of light emitting and receiving light sensors, a reflective light sensor, a distance measuring sensor, an imaging means, an image analysis device, and the like.
The first sorting and conveying device 73a includes endless belt rotating bodies 732 and 733 in which four abutting delivery portions 731 are provided at equal intervals, a pair of rolls 734 and 735 on which the rotating bodies 732 and 733 are stretched, One of the rolls is made up of a drive roll 735 and the other is made up of a free-running passive roll with a drive 736 to rotate the drive roll 735 . The driving device 736 is composed of, for example, a positioning motor, and adjusts the timing of delivering the egg container, the amount of delivery of the egg container P, and/or the delivery speed (acceleration/deceleration) according to the size and/or weight of the egg container. Control. The drive 736 rotates unidirectionally in the direction of the arrow. The driving device 736 rotates by the delivery amount at a predetermined timing after detection by the upstream detection unit 701a, that is, when the egg container P reaches the delivery position W5. As a result, the contact delivery part 731 comes into contact with the side surface of the egg container being conveyed in the longitudinal direction (first side) parallel to the conveying direction, and the first egg container is conveyed from the main conveying device 71a. It is delivered to the transport device 72a. The transition member 739 is provided between the first sorting conveying device 73a and the main conveying device 71, but may or may not be provided.
The first egg container conveying device 72a has a first container guide portion 731 that guides one side of the egg container P in the transverse direction along the conveying direction of the egg container P, and the other side of the egg container P in the transverse direction. and a second container guide portion 732 for guiding. The moving mechanism 733 moves the second container guide portion 732 to change the distance between the first and second container guide portions 731 and 732 . The moving mechanism 733 can receive information on the size and weight of the egg container from the system integrated control unit 150 or an upstream device, and can move automatically. The moving mechanism 733 may be composed of, for example, an air-, electric-, or hydraulically-driven linear motion device.

(Loading control device)
The egg container loading system 1 may include a loading control device 2 capable of multiple types of loading patterns.
The egg container loading system 1 may comprise a loading control device 2 that controls the loading of egg containers onto the egg container transport carriage 8 with first and second multi-axis robotic arms 21a, 21b.
The loading control device 2 includes a loading operation setting unit 22 that presets at least one loading pattern and the operation of the multi-axis robot arm 21, and a loading operation setting unit 22 that corresponds to the loading pattern set by the loading operation setting unit 22. , one or more egg containers are grasped by the suction grasping unit 212 provided in the hand unit 211 at the tip position of the multi-axis robot arm 21, and placed on at least one shelf (folding shelf) of the egg container transport carriage 8. a loading control unit 23 that controls the operations of the multi-axis robot arm 21 and the suction gripping unit 212 so as to transfer the
A loading pattern switching control unit 24 that switches an arbitrary loading pattern from at least two or more loading patterns (automatically in response to a selection instruction by an operator or an egg container waiting on a conveyer). good. A touch panel type operator operation input means 25 may be provided.
The loading control unit 23
At least three or more or four or more egg containers (A) are sucked and held in any one of the multiple loading steps of at least one of the multiple stacking for each shelf, and a predetermined corresponding to the loading pattern At the first position, all the egg containers are unsucked and placed (step a), and at least three or more or four or more placed egg containers (B) are less in number than the placed egg containers (A). ) is held by suction again, moved to a second position different from the first position, released from suction and placed (relocated) (step b), the multi-axis robot arm and the multi-axis robot arm and the The operation of the suction gripper may be controlled. This rearrangement is called "divided rearrangement".
The action of "releasing suction and placing" does not have to be a lowering action as the movement in the height direction of the suction gripper. The suction grip may be released before the bottom of the gripping egg container contacts the lower shelf or egg container.
In the action of "adsorbing and gripping again", it may be re-adsorbing and gripping at a position different from the previously adsorbed position.
Between step a and step b (stage in the middle of division and rearrangement), another plurality of egg containers are sucked and gripped from the waiting position (waiting position of the conveyer) and placed at a position different from the first and second positions. You can place it. That is, another placement operation may be performed between step a and step b.

The loading control unit 23
A gap between the egg container and the egg container caused by the stacking pattern in any one of the multiple loading steps of at least one of the multiple stacking, the length being shorter than the length in the lateral direction of the egg container. The operation of the multi-axis robot arm 21 and the suction gripper 212 so that the egg container is pushed into the gap having a height (the egg container is fitted into the gap from the bottom of the container to the middle height in the height direction). may be controlled.
By filling the gap with the egg container, it is possible to eliminate the movement of the egg container during transfer and increase the number of stored egg containers.

The loading control unit 23
In multi-stage stacking for each shelf, the operations of the multi-axis robot arm 21 and the suction gripper 212 may be controlled so that the loading pattern of the first stage and the loading pattern of the other stages are the same or different.
The loading control unit 23
The multi-axis robot arm 21 and the suction gripper 212 are controlled so that the loading pattern of the first shelf and the loading pattern of the other shelves are the same or different in multiple stacking for each of the multiple shelves of the cart. good too.
The same type of egg container or different types of egg containers may have the same or different loading patterns.

The loading control unit 23
In multi-stacking for each shelf, the operation of the multi-axis robot arm and the suction gripper is controlled so as to start the loading pattern of the next stage before the loading pattern of an arbitrary stage is completed. good too. For example, half of the loading pattern of the first stage is placed (for example, the back side placing area), the next second stage egg container is placed on the placed egg container, and two The third egg container may be placed on top of the egg container in the third step, and the fourth egg container may be placed in the same manner. Place the egg container at the position of the remaining loading pattern that is not placed in the first stage loading pattern (front side placing area), and the next second stage on the placed egg container An egg container may be placed, a third egg container may be placed on top of the second egg container, and a fourth egg container may be placed in the same manner.
In the loading pattern of one stage, the loading pattern on the far side and the loading pattern on the front side may be the same or may be different loading patterns.
The same type of egg container or different types of egg containers may be used in the back loading pattern and the front loading pattern.

(Loading pattern)
It defines the placement areas on the front side and the back side of the cart.
The loading pattern is as follows. The pattern may also include front-side vertical placement in which the device is vertically placed (also referred to as “vertical placement”) in a direction perpendicular to the horizontal placement.
The loading pattern is as follows. It may be a pattern including a near side lateral placement in which the device is placed sideways so as to be.
The loading pattern may be a pattern including back side vertical placement and front side vertical placement.
The loading pattern may be a pattern including back side horizontal placement and front side horizontal placement.
The loading pattern may be a pattern including vertical placement in a part of the back side and horizontal placement in the rest.
The loading pattern may be a pattern including vertical placement in the front part and horizontal placement in the rest.

(multi-axis robot arm)
The hand part 211 at the tip has a fixing part attached to the tip of the arm and fixing the suction grip part 212 .
The suction grip part 212 has, for example, a plurality of suction pads that perform negative pressure suction.
A suction pad is connected via a vacuum pump (or blower) and a negative pressure tube to suck air, thereby creating a suction force on the suction pad that can grip the egg container in contact therewith. Piping, on-off valves, etc. are configured and controlled to enable the operation of "suction, suction stop (adsorption state), suction cancellation (return to atmospheric pressure)" for all of the plurality of suction pads, or for each or a plurality of units. good too.

1 Egg container loading system 2 Egg container loading device 21a First multi-axis robot arm 211a First hand part 212a First suction gripping part 30 First truck loading device 32 First moving mechanism 34 First truck pushing device 36 First truck carrying out Device 38 First loading section 39 Carriage unloading section 50 First shelf opening device 52 First left arm frame 53 First left arm tip frame 54 First right arm frame 55 First right arm tip frame 510 First frame main body 521 First left back side Clamp 541 First right back side clamp 531 First left front clamp 533 First left opening stopper portion 551 First right front clamp 553 First right opening stopper portion 561 First left slope forming portion (adsorption unit)
562 first right slant formation unit (adsorption unit)
522 First left preliminary opening section 542 First right preliminary opening section 72a First egg container conveying device 60 Second shelf opening device 8 Egg container transport carriage L1 First carry-in line P Egg container W1 First waiting area

Claims (11)

a first egg container transport device having a first waiting area with one egg container or two or more egg containers arranged side by side;
A first multi-axis robotic arm having a first suction gripper for gripping the egg container in the first waiting area, and transferring the gripped egg container to at least one shelf of the first egg container transport carriage. When,
a first carriage loading device for transporting the first egg container transport carriage to the first multi-axis robot arm side;
A first truck pushing device provided on the first truck loading device, wherein the first egg container transport truck is directed toward a first loading station (loading position) proximal to the first multi-axis robotic arm. A first truck extrusion device that conveys along the first carry-in line,
a first trolley unloading device for transporting the first egg container transport trolley from the first loading unit to the trolley unloading unit along the first unloading line;
The first waiting area, the first multi-axis robot arm, and the first loading section are arranged in an L shape with the body axis of the first multi-axis robot arm as a starting point,
or,
The first standby area is arranged between the first multi-axis robot arm and the first loading section, and the first multi-axis robot arm, the first standby area, and the first loading section are arranged in a straight line. arranged in the shape of
Egg container loading system. a second egg container transport device having a second waiting area with one egg container or two or more egg containers arranged side by side;
A second multi-axis robot arm having a second suction gripper for gripping the egg container in the second waiting area, and transferring the gripped egg container to at least one shelf of the second egg container transport carriage. When,
a second carriage loading device for transporting the second egg container transport carriage to the second multi-axis robot arm side;
A second truck pushing device provided on the second truck loading device, wherein the second egg container transport truck moves toward a second loading station (loading position) proximal to the second multi-axis robot arm. A second truck extrusion device that conveys along the second carry-in line,
a second truck unloading device that transports the second egg container transport truck from the second loading unit to the truck unloading unit along a second unloading line;
The second waiting area, the second multi-axis robot arm, and the second loading section are arranged in an L shape with the body axis of the second multi-axis robot arm as a starting point,
or,
The second standby area is arranged between the second multi-axis robot arm and the second loading section, and the second multi-axis robot arm, the second standby area, and the second loading section are arranged in a straight line. arranged in the shape of
2. The egg container loading system of claim 1. a delivery line arranged parallel to the first and second loading lines from the loading section of the loaded first egg container transport truck and/or the second egg container transport truck;
3. The egg container loading system of claim 2. Equipped with a first shelf opening device that automatically opens the folding shelf of the first egg container transport cart,
The first shelf opening device,
a first shelf opening unit movable in the vertical direction;
a first shelf opening unit driving section for driving the first shelf opening unit up and down;
a pair of left and right first left rear side clamps and first right rear side clamps for regulating the rear side of the left and right frames or the left and right side sides of the back frame of the egg container transport truck so as to press them toward the center of the shelf;
a pair of left and right first left front clamps and first right front clamps for regulating the front sides of the left and right frames of the egg container transport truck so as to press them toward the back;
a first opening stopper portion that abuts on the front side of the folding shelf to stop the opening before the shelf is completely opened;
At least one first sloping part, the folding shelf in the folded state at one end of the loading rail of the egg container transport carriage, which is in a folded state in the folded state position, is moved backward with respect to the loading rail. a first slant-forming portion for setting the slant state or the one-sided lifting state;
In order to widen the acute-angled open state formed by folding the folding shelf in the tilted state or the one-sided lifting state at the first tilt forming part, it is brought into contact with either one or both of the left and right sides of the shelf board. a first preliminary opening portion inserted into the gap of the center fold;
comprising
2. The egg container loading system of claim 1. Equipped with a second shelf opening device that automatically opens the folding shelf of the second egg container transport cart,
The second shelf opening device is
a second shelf opening unit movable in the vertical direction;
a second shelf opening unit driving section for driving the second shelf opening unit up and down;
a pair of left and right second rear left side clamps and second right rear side clamps for regulating the rear side of the left and right frames or the left and right side sides of the back frame of the egg container transport truck so as to press them toward the center of the shelf;
a left and right pair of second left front clamp and second right front clamp for regulating so as to press the front side of the right and left frames of the egg container transport truck toward the back side;
a first opening stopper portion that abuts on the front side of the folding shelf to stop the opening before the shelf is completely opened;
At least one second sloping part, the folding shelf that is in a folded state at one end of the loading rail of the egg container transport trolley is moved backward with respect to the loading rail. a second slant forming part for setting the slant state or the one-sided lifting state;
In order to widen the acute-angled open state formed by folding the folding shelf in the tilted state or the one-sided lifting state at the second tilt forming part, the shelf plate is brought into contact with either one or both of the left and right sides of the shelf board. a second preliminary opening portion inserted into the gap of the center fold;
comprising
3. The egg container loading system of claim 2. A carriage loading device for transporting an egg container transport carriage to an egg container loading position,
Guide the left frame of the egg container transport trolley along the first carry-in line in the front-rear direction when transporting the egg container transport trolley with the front (front) forward and the back (rear) behind. A left guide portion and/or a right guide portion that guides the right frame, and/or a left caster guide portion that guides the left front/rear caster, and/or a right caster guide portion that guides the right front/rear caster. ,
A front frame guide portion that abuts and guides the left and right front frames of the egg container transport trolley and/or abuts and guides the left and right rear frames when the egg container transport trolley is transported in one of the left and right directions. and/or a front caster guide portion that guides the left and right front casters, and/or a rear caster guide portion that guides the left and right rear casters,
A carriage loading device for an egg container transport carriage. At least one of the left guide part and/or the right guide part is provided with a moving mechanism that makes the distance between them variable,
The carriage loading device for the egg container transport carriage according to claim 6. At least one carriage state detection unit for detecting the open state of any folding shelf and/or the orientation (front-back direction) of the carriage of the egg container transport carriage to be carried in,
The carriage loading device for the egg container transport carriage according to claim 6 or 7. a lower front clamp and drive for clamping the front of the lower position of the egg container transport carriage and a lower rear clamp and drive for clamping the rear of the lower position of the egg container transport carriage in the egg container loading position; and/or ,
In the egg container loading position, a lower front clamp and drive device for clamping the front surface of the egg container transport carriage at the upper position or anywhere between the upper and lower parts, and the upper position or anywhere between the upper and lower parts of the carriage. a lower back clamp and drive for clamping the back of the position;
A securing device for an egg container transport trolley, comprising: an upstream detection unit that detects the egg container being conveyed by the conveying device;
At a predetermined timing from the detection by the upstream detection unit, the egg container is arranged above the egg container, rotates only in one direction, abuts on the side parallel to the conveying direction of the egg container, and is released from the conveying device. and at least one abutting delivery unit that delivers to another transport device in a transport direction orthogonal to the transport device. A truck loading device for the egg container transport truck according to any one of claims 6 to 8,
A fixing device for an egg container transport carriage according to claim 9, and/or
A sorting and conveying device according to claim 10;
The egg container loading system according to claim 1 or 2, comprising

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