JP2024016173A - storage system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a storage system which stores an open tray where eggs are stored into a transport container such as a corrugated cardboard and the like.

SOLUTION: A storage system includes: a storage device 11 including a robot arm 12 and a hand 14 for storage device provided at a tip of the robot arm and for storing an open tray with eggs into a transport container; and a control part 10 for determining whether or not there is defect in the open tray with eggs before storing in the transport container, and for controlling the storage device so as to store the open tray with eggs into the transport container when it is determined that there is no defect.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a storage system for storing open trays containing eggs in a transport container such as a cardboard box.

As a container for storing eggs, there is an open tray that does not have a lid and has an open top surface. As examples of open trays, mold trays, paper trays, PET trays, etc. are known. The mold tray and paper tray are made of, for example, paper or pulp, and the PET tray is made of, for example, plastic. These open trays are used for commercial purposes and the like to accommodate a large number of eggs. For example, Patent Document 1 discloses an open tray in which 32 eggs can be arranged in 4 rows and 8 columns.

By the way, if both ends of the open tray are lifted with a large number of eggs stored therein, the open tray will bend due to the weight of the eggs. Therefore, in order to store open trays containing eggs in transport containers such as cardboard boxes, it is difficult to automate the process using machines, and the process has generally been carried out manually.

On the other hand, the technique of Patent Document 2 discloses a device that separately lifts the eggs and the open tray and stores them in a transport container in order to automate the transfer of the open tray containing eggs. Specifically, the head part of the device has the same number of suction members as eggs to be accommodated and a pair of gripping members, each suction member suctioning each egg, and the pair of gripping members gripping each egg at both ends of the open tray. grasp. The head portion moves into the transport container while maintaining suction by the suction member and grip by the gripping member. The gripping member releases the grip on the open tray and places the open tray in the transport container. Each adsorption member releases the adsorption of eggs and accommodates the eggs on an open tray placed within the transport container.

JP2009-202948A International Publication No. 2019/004198

As described above, in the technique of Patent Document 2, the pair of gripping members move into the transport container while gripping both ends of the open tray, and release the gripping (that is, widening the interval between the pair of gripping members). ) Place the open tray into the shipping container. Therefore, in order to be able to sufficiently widen the distance between the pair of gripping members within the transport container, it is necessary to provide a width within the transport container that is considerably larger than the width of the open tray. As a result, there was a problem in that a gap was created between the transport container and the stored open tray.

Such a gap is undesirable because it hinders stable transportation of the open tray. In particular, since eggs tend to be easily damaged, it is desirable to store open trays in transport containers with as few gaps as possible.

According to the present invention, before storing open trays containing eggs in a transport container, the presence or absence of defects can be confirmed, and then open trays without defects can be stored in the transport container. Further, when the accommodated open tray is stored in the transport container, the gap between the open tray and the inner wall of the transport container can be made smaller than before, and damage to the eggs on the open tray can be suppressed.

The storage system includes a storage device including a robot arm, a storage device hand provided at the tip of the robot arm for storing an open tray containing eggs in a transport container, and a storage device including a storage device hand for storing an open tray containing eggs in a transport container. a control unit that controls the storage device to determine whether or not the open tray containing eggs is defective, and to store the open tray containing eggs in the transport container when it is determined that there is no defect; have
The control unit determines whether eggs are stored in all rows of the open tray and whether eggs are stored in several rows of the open tray.
The control unit determines whether or not the eggs in the open tray containing eggs are damaged.
The control unit detects whether a predetermined number of open trays containing eggs are stored in the transport container.
The storage device places an empty open tray containing no eggs onto the open tray containing eggs on the uppermost surface of the transport container.
With this above configuration, before storing an open tray containing eggs in a transport container, it is possible to check the presence or absence of defects, and then store a defect-free open tray in the transport container.

The storage device hand is
an egg suction unit that suctions a plurality of eggs housed in an open tray without a lid;
a lifting part for lifting the open tray; the lifting part is a tray suction part in which the egg suction part is provided; The tray includes the tray suction section that lifts up a part or all of the tray (excluding the placing section) by suction.

Part or all of the tray suction section may or may not be in contact with the upper surface of the open tray.

According to the above configuration, since the eggs are adsorbed by the egg adsorption section, the object to be suctioned by the tray suction section can be reduced by the weight of the eggs. Therefore, the tray suction unit can lift the open tray with a relatively small suction force. In this manner, the eggs and the open tray can be stored in the transport container by the egg adsorption section adsorbing the eggs accommodated in the open tray and the tray suction section adsorbing the open tray. Thereby, when the open tray containing eggs is stored in the transport container, the gap between the open tray and the inner wall of the transport container can be made smaller than before, and damage to the eggs on the open tray can be suppressed.

Note that the eggs adsorbed by the egg adsorption section may be floating (that is, separated) from the open tray. Furthermore, the distance between the floating eggs and the top surface of the open tray may be relatively small. Thereby, even if the egg falls from the egg suction part, damage to the egg can be suppressed.

The tray suction part is a notch provided on the outer periphery of the open tray at a position that does not buffer against the egg suction part and does not protrude beyond the outer edge of the open tray when viewed in the lifting direction of the tray suction part. The tray may include a hook portion located at the cutout portion and hooked onto the end portion of the cutout portion to grip the open tray.

When viewed in the lifting direction, the hook portion is inserted within the opening area of a notch provided on the outer periphery of the open tray without protruding beyond the outer edge of the open tray, and is inserted toward the center of the tray or toward the center of the tray. The hook may be moved by moving in a direction perpendicular to the direction, and when released, an operation of returning to the origin (release) may be performed.
The hook portion may have a leg including a claw, and the open tray may be gripped by hooking the leg onto the notch toward the center of the tray.
The hook portion may have a pair of legs including claws placed back to back, and the legs may be spread within the cutout portion in a direction orthogonal to the center direction of the tray and hooked thereon.

According to the above configuration, the open tray is attracted to the tray suction section and is also held by the hook section. Thereby, the open tray can be stored in the transport container more reliably.

The tray suction section may include a hole closing section that closes at least a portion of a notch provided on the outer periphery of the open tray.

According to the above configuration, at least one of the notches provided on the outer periphery of the open tray (generally, a notch for inserting a finger provided in the open tray so that a person can hold it by hand) The part is closed by the hole closing part. Thereby, the suction of the open tray by the tray suction section can be made more stable.

The tray suction section may have an outer edge that follows the outer shape of the open tray.

The tray suction section may have an outer edge that follows the contour of the rectangular open tray.

According to the above configuration, it is possible to suppress the generation of a gap between the tray suction section and the open tray. Thereby, the suction of the open tray by the tray suction section can be made more stable.

The lifting part has a pressure sensor that detects the pressure in the space formed by the tray suction part and the open tray,
a first desorption mechanism that causes the tray suction unit to adsorb and desorb the open tray;
The apparatus may further include a control section that controls the first detachment mechanism to detach the open tray into the transport container when the pressure detected by the pressure sensor is less than or equal to a predetermined value.

According to the above configuration, the pressure in the space formed by the tray suction section and the open tray is detected by the pressure sensor, and if the detected pressure is below a predetermined value, suction by the tray suction section is not sufficient. (that is, the open tray is adsorbed by the tray suction unit), and the control unit controls the first detachment mechanism to detach the open tray into the transport container. This allows the tray suction section to reliably suction the open tray.

The first desorption mechanism may further perform adsorption and desorption of eggs by the egg adsorption section.

According to the above configuration, the adsorption and desorption of eggs by the egg suction section and the adsorption and desorption of the open tray by the tray suction section can be realized by one desorption mechanism. Thereby, the cost of the storage device hand can be reduced compared to the case where the storage device hand has a plurality of attachment/detachment mechanisms.

The storage device hand may further include a second attachment/detachment mechanism that causes the egg attraction unit to attract and detach the egg.

According to the above configuration, the first desorption mechanism causes the tray suction section to adsorb and detach the open tray, and the second desorption mechanism causes the egg suction section to adsorb and detach the eggs. This makes it possible to independently control the adsorption and desorption of the open tray and the adsorption and desorption of the eggs, making it possible to more stably transport the eggs and the open tray.

The storage device hand is
an egg suction unit that suctions a plurality of eggs housed in an open tray without a lid;
a lifting part for lifting the open tray;
The lifting portion is a pair of gripping members that grip both sides of the open tray, and when the open tray is removed from the transport container after being placed in the transport container, the length in the width direction is equal to or smaller than the open tray. The pair of gripping members are longer than the length of the tray in the width direction and shorter than the length of the inner wall of the transportation container in the width direction.

According to the above configuration, the egg suction part attracts eggs stored in the open tray, and the lifting part lifts the open tray. In addition, when the lifting part removes the open tray after placing it in the transport container, the length of the lifting part in the width direction is longer than the length of the open tray in the width direction, and the width of the transport container shorter than the length in the direction. Therefore, even if the difference between the width of the transport container and the width of the open tray is relatively small, when the lifting section removes the open tray, the open tray can be moved into the transport container without damaging the transport container. Can be placed. That is, when the open tray is stored in the transport container, the gap between the open tray and the inner wall of the transport container can be made smaller than before, and damage to the eggs on the open tray can be suppressed.

The lifting part is
a hand main body connected to a storage device;
The first actuator may be installed on the hand body and capable of rotating the pair of gripping members about an axis parallel to the depth direction of the hand body and perpendicular to the width direction of the hand body. do not have.

According to the above configuration, each of the pair of gripping members comes into contact with the open tray by rotating inward of the hand body about an axis parallel to the depth direction perpendicular to the width direction of the hand body, It becomes possible to grasp both sides of the open tray.

The lifting part is
a hand main body connected to a storage device;
The second actuator may be installed on the hand main body and can expand and contract the distance between the pair of gripping members in the width direction of the hand main body.

The egg adsorption unit may have the same number of adsorption members that adsorb one egg as the number of eggs that can be accommodated in the open tray.
The suction member may be a bellows-shaped suction pad.

According to the above configuration, one egg is adsorbed by one adsorption member. This allows for more stable transfer of eggs.

The storage device is
robot arm and
and the storage device hand provided at the tip of the robot arm.

The robot arm may be a vertically articulated robot or a horizontally articulated robot.

The storage system is
The above storage device,
a first loading section for loading the empty transport container into the storage device;
a second loading section for loading the open tray containing eggs into the storage device;
and an unloading section for unloading the transport container in which the open tray containing eggs is stored.

When the open tray containing eggs is stored in the transport container, the gap between the open tray and the inner wall of the transport container can be made smaller than before, and damage to the eggs on the open tray can be suppressed.

FIG. 1 is a schematic diagram illustrating a storage system according to one embodiment. It is a schematic diagram showing the hand for storage devices of a first embodiment. It is a schematic diagram showing the back side of the hand for storage devices of a first embodiment. FIG. 3 is a schematic diagram showing an example of an open tray. It is a flowchart showing the adsorption operation and desorption operation of the open tray containing eggs. It is a schematic diagram which shows the hook part in the hand for storage devices of 2nd embodiment. FIG. 3 is a schematic diagram showing the positional relationship between the hook portion and the open tray when viewed in the -z direction. It is a schematic diagram which shows the hook part in the hand for storage devices of 2nd embodiment. FIG. 7 is a schematic diagram showing a state in which an egg suction part suctions an egg (not shown) in a hand for a storage device according to a third embodiment. FIG. 7 is a schematic diagram showing a state in which a pair of gripping members grips an open tray in a storage device hand according to a third embodiment. FIG. 7 is a schematic diagram showing a state in which the cylinder of the second actuator is extended in the storage device hand of the third embodiment. FIG. 7 is a schematic diagram showing a state in which the cylinder of the first actuator is contracted in the storage device hand of the third embodiment. FIG. 7 is a schematic diagram showing a hole closing part included in a tray suction part in a storage device hand according to another embodiment. FIG. 7 is a schematic diagram showing an outer edge along the outer shape of an open tray in a hand for a storage device according to another embodiment.

(Summary of storage system)
An overview of a storage system that is an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a schematic diagram showing a storage system according to one embodiment. As shown in FIG. 1, the storage system 1 includes a storage device 11, a first carry-in section 13, an intermediate conveyor 15, a second carry-in section 17, a first conveyor 19, a carry-out section 21, a second conveyor 23, and a third conveyor. Conveyor 25 is included.
The storage system 1 is controlled by a main control unit 10 provided in a management system that centrally manages the storage system 1. The storage system 1 may be controlled by a separately provided control unit. The main control unit 10 and the individual control units may be realized by, for example, a dedicated circuit, firmware, or a combination of hardware such as a processor and memory and a program that defines a control procedure.

The storage device 11 includes a robot arm 12 and a storage device hand 14 . The storage device hand 14 is provided at the tip of the robot arm 12. The storage device 11 stores an open tray containing eggs (hereinafter referred to as an open tray containing eggs) in the transportation container 100. The open tray is a tray that does not have a lid and has an open top surface, and examples thereof include a mold tray made of pulp, a paper tray made of paper, and a PET tray made of plastic. In this embodiment, the transport container 100 is a cardboard box, but is not limited to this, and may be any container such as a plastic container. Details of the storage device hand 14 will be described later.

The first loading section 13 includes a roller conveyor and the like, and conveys the empty transport container 100 to the storage device 11. Although not shown, in this embodiment, a box-making machine is arranged upstream of the first carrying-in section 13, and the first carrying-in section 13 is continuous to the box-making machine. The first carrying-in section 13 transports empty cardboard boxes assembled by a box-making machine to standby positions 13a and 13b below the storage device 11. The first carrying-in section 13 transports the cardboard box to the intermediate conveyor 15 after transporting the cardboard box to the standby positions 13a and 13b.

The intermediate conveyor 15 is adjacent to the first loading section 13 and includes a first detection sensor 15b. The first detection sensor 15b detects whether the transport container 100 has arrived on the intermediate conveyor 15. The first detection sensor 15b may be, for example, a load sensor or an optical sensor, but is not limited thereto.
The intermediate conveyor 15 includes a holding portion 15a. The holding portion 15a contacts the flap of the transport container 100a to suppress movement of the transport container 100a. Although not shown, the intermediate conveyor 15 further includes one holding part on the opposite side of the holding part 15a (at a position facing the holding part 15a in the y direction). This holding part contacts the flap of the transport container 100b located upstream of the transport container 100a and suppresses the movement of the transport container 100b.
The second carry-in section 17 includes a belt conveyor and the like, and conveys the open tray containing eggs to the storage device 11. Although not shown, in this embodiment, an egg stuffing device for packing eggs into open trays is disposed upstream of the second carrying-in section 17, and the second carrying-in section 17 is continuous to the egg stuffing device. A first conveyor 19 is arranged downstream of the second carry-in section 17. The second carry-in section 17 transports the open tray containing eggs to the first conveyor 19.

The first conveyor 19 includes a second detection sensor (not shown). A second detection sensor (not shown) detects whether the open tray containing eggs has reached the top of the first conveyor 19. The second detection sensor (not shown) may be, for example, a load sensor or an optical sensor, but is not limited thereto.
When the second detection sensor (not shown) detects that the open tray containing eggs has arrived on the first conveyor 19, the control unit 10 determines whether the open tray containing eggs is defective. As an example, the control unit 10 uses a third detection sensor (not shown) to check whether the eggs in the open tray are undamaged, whether the eggs are accommodated in all rows of the open tray (or whether the eggs are in the open tray). are stored in the number rows of trays). The third detection sensor (not shown) may be, for example, a load sensor, an optical sensor, an image sensor, or an ultrasonic sensor, but is not limited thereto. When the control unit 10 determines that the open tray containing eggs is free of defects, it controls the storage device 11 to lift the open tray containing eggs and store it in the transport container 100 on the intermediate conveyor 15.

The second conveyor 23 normally (initial state) faces upward (in the z direction). In FIG. 1, the second conveyor 23b is in a state facing upward. When the control unit 10 determines that the open tray containing eggs is defective, it lowers the second conveyor 23. In FIG. 1, the second conveyor 23a is in a lowered state. When the second conveyor 23 descends, the control unit 10 operates the first conveyor 19 and the second conveyor 23 to convey the open tray containing eggs to the third conveyor 25.
When the open tray containing eggs is conveyed to the third conveyor 25, the control unit 10 raises the second conveyor 23 again.

The control unit 10 detects whether a predetermined number of open trays containing eggs are stored in the transport container (that is, whether the transport container is full). As an example, the control unit 10 counts the number of times the storage device 11 is loaded, and when the counted number reaches a predetermined number of times, it determines that the transport container is full, and the number of times the counted number reaches a predetermined number of times. If this is not reached, it is determined that the transport container is not full. The storage device 11 stores the open tray containing eggs in the transport container 100 until the controller 10 detects that the transport container is full. When the control unit 10 detects that the transport container is full, the intermediate conveyor 15 transports the transport container to the unloading unit 21 . Note that the storage device 11 may place an empty open tray in which no eggs are stored on the open tray containing eggs on the uppermost surface of the transportation container. The empty open tray acts as a lid for the topmost open tray containing eggs to prevent damage to the eggs.
The discharge section 21 is adjacent to the intermediate conveyor 15 and includes a roller conveyor and the like. Although not shown in the drawings, in this embodiment, a scale is disposed downstream of the carry-out section 21 to measure the weight of the transport container in which the open tray containing eggs is stored, and the weight is adjusted as necessary. A box sealing machine is arranged downstream of the scale, and a palletizer is arranged downstream of the box sealing machine. The unloading section 21 continues to the scale and transports the transportation container in which the open tray containing eggs is stored to the scale.

(First embodiment)
Next, a first embodiment of the storage device hand 14 will be described with reference to FIG. FIG. 2 is a schematic diagram showing the storage device hand of the first embodiment.
The storage device hand 14 includes an arm connection section 140, an egg suction section 141, a lifting section 143, a tool changer 146, a first attachment/detachment mechanism 145, and a second attachment/detachment mechanism 147.
The robot arm 12 is attached to the arm connection section 140.

The egg adsorption section 141 and the lifting section 143 will be explained with reference to FIG. FIG. 3 is a schematic diagram showing the back side of the storage device hand 14 of the first embodiment (that is, the storage device hand 14 viewed in the Z direction). The lifting portion 143 includes a box-shaped tray suction portion 149 that does not have a bottom (that is, is open) and a pressure sensor 151 . Tray suction section 149 includes a rectangular outer edge section 153. Tray suction portion 149 is dimensioned such that outer edge 153 can contact the outer edge of the open tray. Details of the open tray will be described later. Pressure sensor 151 detects the pressure within tray suction section 149 . The installation location of the pressure sensor 151 is not limited to the example shown in FIG. 3.
A plurality of egg suction parts 141 are provided inside the tray suction part 149. Each egg suction part 141 includes a bellows-shaped suction pad, and one egg suction part 141 suctions one egg. The number of egg adsorption units 141 is the same as the number of eggs that can be accommodated in the open tray. The egg adsorption unit 141 is arranged to correspond to the position where eggs are lined up on the open tray. In this embodiment, as an example, an open tray on which eight eggs can be arranged in the x direction and five eggs in the y direction is used, and 40 egg adsorption units 141 are provided.

The open tray will be explained with reference to FIG. 4. FIG. 4 shows an example of an open tray in this embodiment. The open tray 102 includes an egg placement portion 104, a peripheral portion 106, and a cutout portion 108. Open tray 102 does not have a lid. The egg placement section 104 includes a plurality of recesses, and one egg is placed in each recess. The peripheral portion 106 is provided so as to surround the egg placement portion 104 and includes a flat portion. The outer edge portion 153 of the tray suction portion 149 contacts the flat portion of the peripheral edge portion 106 of the open tray 102 . The notch portion 108 is a recess extending toward the center of the open tray 102 (tray center direction) with respect to the peripheral portion 106, and forms a space into which a person's finger can be inserted. The open tray 102 can be carried by a person by inserting a finger into the notch 108. As an example, the open tray 102 has two cutouts 108 on one short side and one cutout on the other short side. Note that the open tray shown in FIG. 4 is only an example, and the number of recesses in the egg placement section 104 and the location and/or number of notches 18 are not limited thereto.

Returning to FIG. 2, the description of the tool changer 146, the first attachment/detachment mechanism 145, and the second attachment/detachment mechanism 147 will be continued. The egg suction section 141 and the lifting section 143 are attached to the robot arm 12 via a tool changer 146. The tool changer 146 makes it possible to install another set of egg suction parts 141. This makes it possible to realize a storage device hand 14 that can accommodate various open trays that can accommodate different numbers of eggs.
The first desorption mechanism 145 adsorbs and desorbs the open tray among the open trays containing eggs. The first detachment mechanism 145 includes a first pipe 155 and a first pipe connection part 157. The first pipe 155 is connected to a first vacuum blower (not shown). The first pipe connection part 157 connects the first pipe 155 to the tray suction part 149. The first vacuum blower (not shown) has a switching valve, and switches between suction and exhaust of air in the first piping 155 and the tray suction section 149. When the first vacuum blower (not shown) sucks air, the pressure inside the tray suction section 149 decreases, and the open tray 102 is attracted to the tray suction section 149 . When the first vacuum blower (not shown) exhausts the air, the pressure within the tray suction section 149 increases, and the open tray 102 is detached from the tray suction section 149.

The second desorption mechanism 147 adsorbs and desorbs eggs from the egg-containing open tray. Since the second detachment mechanism 147 has the same configuration as the first detachment mechanism 145, only the points different from the first detachment mechanism 145 will be explained. The second detachment mechanism 147 includes a second pipe 161 and a second pipe connection part 163. The second pipe 161 is connected to a second vacuum blower (not shown), and the second pipe connection part 163 connects the second pipe 161 to the egg adsorption part 141. The second vacuum blower (not shown) has a switching valve, and switches between suction and exhaust of air in the second pipe 161. When the second vacuum blower (not shown) sucks air while the egg adsorption section 141 is in contact with the egg, the egg is adsorbed to the egg adsorption section 141 . When the second vacuum blower (not shown) exhausts the air, the eggs are detached from the egg adsorption section 141.

(Adsorption/desorption operation of open tray containing eggs)
The adsorption operation and detachment operation of the open tray containing eggs will be explained with reference to FIG. 5. FIG. 5 is a flowchart showing the adsorption operation and detachment operation of the open tray containing eggs. As an example, the control unit 10 starts the process shown in FIG. 5 in response to a startup instruction from the administrator of the storage system 1.
When the control unit 10 starts the process shown in FIG. 5, it starts sucking air from the first vacuum blower (not shown) and the second vacuum blower (not shown) (S10). Subsequently, the control unit 10 detects, by the first detection sensor 15b, that the transport container 100 has arrived on the intermediate conveyor 15 (S12). Subsequently, the control unit 10 detects, by a second detection sensor (not shown), that the open tray containing eggs has reached the top of the first conveyor 19 (S14). Subsequently, the control unit 10 uses a third detection sensor (not shown) to determine whether or not there is a defect in the open tray containing eggs (S16). When the control unit 10 determines that the open tray containing eggs is defective (S16: No), the control unit 10 moves down the second conveyor 23 and conveys the defective open tray containing eggs to the third conveyor 25 (S20). Return to S14. On the other hand, if the control unit 10 determines that there is no defect in the egg-containing open tray (S16: Yes), it moves the storage device hand 14 above the egg-containing open tray and starts suctioning the eggs and the open tray ( S18).

Subsequently, the control unit 10 determines whether the pressure measured by the pressure sensor 151 is less than or equal to a predetermined value (S22). If it is determined that the pressure measured by the pressure sensor 151 is less than or equal to the predetermined value (S22: Yes), it is determined that the eggs have been adsorbed to the egg adsorption section 141 and the open tray has been adsorbed to the tray suction section 149, and in S24 to move to. On the other hand, if the control unit 10 determines that the pressure measured by the pressure sensor 151 is not less than the predetermined value (S22: No), at least one of the eggs and the open tray is adsorbed to the egg adsorption unit 141 or the tray suction unit 149. It is determined that the error has not been detected, and the error is notified, for example by sounding a notification sound (S26), and the process is terminated. When proceeding to S24, the control unit 10 moves the storage device hand 14 above the transport container 100 on the intermediate conveyor 15, and stores the eggs and the open tray in the transport container 100 (S24). Specifically, the control unit 10 switches air suction to air exhaust using respective switching valves of a first vacuum blower (not shown) and a second vacuum blower (not shown).

Subsequently, the control unit 10 determines whether the transport container 100 is full (S28). As an example, the control unit 10 counts the number of times that open trays containing eggs are stacked, determines whether the counted number has reached a predetermined value, and if the counted number has reached a predetermined value, the transport container 100 is full. If it is less than the predetermined value (S28: Yes), it is determined that the transport container 100 is not full (S28: No). If it is determined that the transport container 100 is not full (S28: No), the process returns to S14, and the adsorption and desorption operations of the open tray containing eggs (S14 to S24) are performed until it is determined that the transport container 100 is full. repeat. If it is determined that the transport container 100 is full (S28: Yes), the control unit 10 transports the transport container 100 to the unloading unit 21, and increments the box counter by 1 (S30). Subsequently, the control unit 10 determines whether the count number of the box counter is a predetermined value (S32). If it is determined that the count number of the box counter is not the predetermined value (S32: No), the process returns to S12 and repeats S12 to S30 until the count number reaches the predetermined value. When the control unit 10 determines that the count number of the box counter is a predetermined value (S32: Yes), the control unit 10 ends the process.

Note that in S22, the control unit 10 determines whether the eggs and the open tray have been attracted to the egg adsorption unit 141 and the tray suction unit 149 based on the pressure measured by the pressure sensor 151, but the present invention is not limited to this. . For example, the pressure within the second pipe 161 may be detected by a pressure sensor (not shown), and it may be determined whether the egg has been adsorbed by the egg adsorption section 141 based on the pressure value.

(effect)
According to the first embodiment, since the eggs are attracted by the egg adsorption section 141, the tray suction section 149 does not need to adsorb the eggs, and it is sufficient to adsorb the open tray 102. Since the open tray 102 is lighter than the egg, the tray suction unit 149 can suck it with a relatively small suction force. Furthermore, since the first desorption mechanism 145 adsorbs and desorbs the open tray 102, and the second desorption mechanism 147 adsorbs and desorbs the eggs, the suction force of the first desorption mechanism 145 is applied to the open tray 102. The size can be adjusted to be suitable for the weight of the egg, and the suction force of the second attachment/detachment mechanism 147 can be adjusted to be suitable for the weight of the egg. Thereby, the open tray 102 and the eggs can be stored in the transport container 100 more reliably.

(Second embodiment)
Next, a second embodiment of the storage device hand will be described. The storage device hand 14 a of the second embodiment is different from the storage device hand 14 of the first embodiment in that the tray suction section 149 has a hook section 200 . The rest of the configuration of the storage device hand 14a is the same as that of the first embodiment, so a description thereof will be omitted.

The hook portion 200 will be explained with reference to FIGS. 6 to 8. FIG. 6 is a schematic diagram showing the hook portion 200 in the storage device hand 14a of the second embodiment. In FIG. 6, the egg E is in a state of being adsorbed by the egg adsorption section 141 (the same applies to FIG. 8). The hook part 200 is installed inside the tray suction part 149. In FIG. 6, for convenience of explanation, illustration of the tray suction section 149 is omitted, and only a portion of the tray suction section 149 is shown when viewed in the -x direction.
The hook portion 200 is positioned inside the tray suction portion 149 so as to fit inside the cutout portion 108 of the open tray 102. This will be explained in detail with reference to FIG. FIG. 7 shows the positional relationship between the hook portion 200 and the open tray 102 when viewed in the -z direction. In FIG. 7, for convenience of explanation, components other than the hook portion 200 of the storage device hand 14a (tray suction portion 149, etc.) are not illustrated. As shown in FIG. 7, the hook portion 200 is arranged to fit within the opening area of the cutout portion 108 of the open tray 102, and does not protrude beyond the outer edge D of the peripheral edge portion 106 of the open tray 102. In other words, the hook portion 200 does not protrude beyond the outer edge D of the open tray 102 when viewed in the lifting direction of the tray suction portion 149 (when the tray suction portion 149 is viewed in the z direction).

Returning to FIG. 6, the explanation will be continued. The hook portion 200 has a pair of legs (202a, 202b) and a solenoid valve 204. Each leg (202a, 202b) includes a claw (206a, 206b), and the claws (206a, 206b) are arranged dorsally (ie, back to back). The solenoid valve 204 opens and closes the legs (202a, 202b) by switching ON/OFF of energization. Note that in FIG. 6, illustrations of wiring and the like for energizing the solenoid valve 204 are omitted. FIG. 6 shows the legs (202a, 202b) in an open state, and FIG. 8 shows the legs (202a, 202b) in a closed state. As shown in FIG. 6, the legs (202a, 202b) are parallel to the direction (y direction) orthogonal to the direction (-x direction) toward the center of the open tray 102 from the state shown in FIG. 8 (closed state). By moving away from each other in this direction, the claws (206a, 206b) are caught in the cutout portion 108, and the hook portion 200 grips the open tray 102.

(effect)
According to the second embodiment, the open tray 102 is attracted to the tray suction section 149 and held by the hook section 200 . That is, the open tray 102 is transferred into the transport container 100 by both the tray suction section 149 and the hook section 200. Thereby, the open tray 102 can be more stably stored in the transport container 100.

(Third embodiment)
Next, differences from the first embodiment regarding the third embodiment of the storage device hand will be described. FIG. 9 is a schematic diagram showing a storage device hand 14b of the third embodiment. The storage device hand 14b has a lifting part 300 and an egg suction part 303. The lifting part 300 includes an arm connection part 301, a support part 305, a hand main body 307, a tool changer 308, a first actuator 309, a second actuator 311, a joining member 313, a pair of gripping members 315, and a slide base 317.
The arm connection section 301 is installed on the upper surface of the hand body 307, and the robot arm 12 is attached thereto. The egg adsorption section 303 is attached to the support section 305. The support portion 305 includes a shaft 306 , and the shaft 306 is attached to the lower surface of the hand body 307 . In FIG. 9, as an example, 54 egg adsorption units 303 are installed, nine in the x direction and six in the y direction (not shown). A tool changer 308 is attached to the upper surface of the hand body 307. The tool changer 308 allows attachment of another set of egg suction parts 303. This makes it possible to realize a storage device hand 14b that can accommodate various open trays that can accommodate different numbers of eggs.
The first actuator 309 is attached to the joining member 313 and the gripping member 315 by fitting bolts or the like into the joining holes A and B. The joining member 313 is attached to a slide base 317, and the slide base 317 is attached to the second actuator 311. The gripping member 315 is attached to the slide base 317 by fitting a bolt or the like into the joining hole C. The gripping member 315 includes two flat plates 315a and 315b whose angle is greater than 90° and less than 180° (for example, 160°). Instead of the flat plates 315a and 315b, a single flat plate may be bent.

The operation of the storage device hand 14b will be continued with reference to FIGS. 9 to 12. In FIGS. 9 to 12, illustrations of eggs are omitted for convenience of explanation. The storage device hand 14b first sucks the egg. FIG. 9 shows a state in which the egg adsorption section 303 adsorbs eggs. As shown in FIG. 9, during egg attraction, the flat plates 315a of the pair of gripping members 315 face outward (in the direction away from the open tray 102) in the direction (z direction) orthogonal to the hand body 307.

The storage device hand 14b grips the open tray 102 when the egg suction is completed. FIG. 10 shows a state in which the pair of gripping members 315 grip the open tray 102. As shown in FIG. As shown in FIG. 10, the cylinder 309a of the first actuator 309 is extended, the gripping member 315 on the right side of the paper rotates clockwise about the joint hole C, and the gripping member 315 on the left side of the paper rotates clockwise around the joint hole C. Rotate counterclockwise using the axis of rotation. As a result, each flat plate 315a faces inward (direction toward the center of the hand body 307) with respect to the direction (z direction) perpendicular to the hand body 307. As a result, each flat plate 315a comes into contact with the peripheral edge 106 of the open tray 102 and grips the open tray 102. In this way, the first actuator 309 can rotate the pair of gripping members 315 about an axis parallel to the depth direction (y direction) of the hand body 307 that is orthogonal to the width direction (x direction) of the hand body 307. It is.
Note that since the open tray 102 is soft and easily compressed when force is applied, in FIG. There is. Further, in FIG. 10, the open tray 102 is bent in the -z direction. However, FIG. 10 is only an example, and the flat plate 315a of the gripping member 315 may grip the peripheral edge 106 (outer edge) of the open tray 102 without compressing the peripheral edge 106 of the open tray 102. The open tray 102 does not have to be curved.

When the storage device hand 14b finishes gripping the open tray 102, it moves into the transport container and places the open tray 102 into the transport container. Subsequently, the storage device hand 14b extends the cylinder 311a of the second actuator 311. FIG. 11 shows a state in which the cylinder 311a of the second actuator 311 is extended. As described above, the second actuator 311 is joined to the slide base 317, and the slide base 317 is joined to the gripping member 315. When the cylinder 311a of the second actuator 311 extends, the slide base 317 and the gripping member 315 on the right side of the paper move in the -x direction, the slide base 317 and the gripping member 315 on the left side of the paper move in the x direction, and the pair of gripping members Increase the distance between 315. Note that, as shown in FIG. 11, each flat plate 315a of each gripping member 315 maintains a state facing inward (direction toward the center of hand body 307) with respect to the direction (z direction) orthogonal to hand body 307. be done.

Subsequently, the storage device hand 14b contracts the cylinder 309a of the first actuator 309. FIG. 12 shows a state in which the cylinder 309a of the first actuator 309 is contracted. As shown in FIG. 12, the first actuator 309 contracts the cylinder 309a until each flat plate 315a of each gripping member 315 becomes parallel to the direction (z direction) orthogonal to the hand body 307. When the contraction of the cylinder 309a is completed, the storage device hand 14b releases the adsorption by the egg adsorption section 303, places the egg on the open tray 102, and moves it out of the transport container. However, FIG. 12 is only an example, and the flat plate 315a of the gripping member 315 is not parallel to the direction perpendicular to the hand body 307 (z direction), but extends inward (direction toward the center of the hand body 307) by a predetermined angle. It doesn't matter if it's facing you.

(effect)
According to the third embodiment, the pair of gripping members 315 grip the open tray 102 by driving the first actuator 309 and the second actuator 311 . Further, the storage device hand 14b can be adjusted so that the length of the storage device hand 14b in the width direction (the longitudinal direction of the hand body 307, the x direction) is smaller than the length in the width direction of the transport container. More specifically, the interval between each gripping member 315 (d1 in FIG. 10, d2 in FIG. 11, d3 in FIG. 12) can be made smaller than the width of the inner wall of the transport container. Thereby, when the storage device hand 14b moves into the transport container and when it moves to the outside of the transport container, the open tray can be placed without damaging the transport container.

(Another embodiment)
(1) In the first embodiment, the storage device hand 14 has a first detachment mechanism 145 and a second detachment mechanism 147, but it has one detachment mechanism for adsorbing and detaching the open tray 102 and eggs. You can also use it as

(2) In the first embodiment, the tray suction section 149 may include a hole closing section 400 that closes at least a portion of the notch section 108 provided on the outer periphery of the open tray 102. FIG. 13 shows an example of the hole closing part 400. The hole closing part 400 is provided inside the tray suction part 149 so as to correspond to the position of the notch part 108 of the open tray 102. The hole closing portion 400 may be formed of sponge, for example. In addition, in FIG. 13, the hole closing part 400 is provided when the storage device hand has one attachment/detachment mechanism 401, but the hole closing part 400 is provided in the storage device hand 14 having two attachment/detachment mechanisms 145, 147. You can set it up.
As described above, the open tray 102 has a notch 108 formed therein. Therefore, when the outer edge 153 of the tray suction section 149 is brought into contact with the peripheral edge 106 of the open tray 102, a gap is created between the outer edge 153 and the notch 108, which may cause the suction force to be weakened. On the other hand, by providing the hole closing part 400 in the tray suction part 149, the gap caused by the notch part 108 can be reduced, and more stable suction by the tray suction part 149 can be realized.

(3) In the first embodiment, the tray suction section 149 has a rectangular outer edge 153, but is not limited to this, and may have an outer edge 500 along the outer shape of the open tray as shown in FIG. I don't mind. In FIG. 14, the outer edge portion 500 is provided when the storage device hand has one attachment/detachment mechanism 401, but in the storage device hand 14 having two attachment/detachment mechanisms 145 and 147, the outer edge portion 500 is provided on the tray suction portion 149. A section 500 may also be provided. By providing the outer edge portion 500, the gap caused by the notch portion 108 can be reduced, and more stable suction by the tray suction portion 149 can be realized.

(4) In the second embodiment, the hook part 200 has one leg including a claw, and the leg is moved in the direction toward the center of the open tray 102 (tray center direction) to fit into the notch part 208. The open tray may be held by hooking it.

(5) In the third embodiment, the storage device hand 14b includes both the first actuator 309 and the second actuator 311, but it is not necessary to include one of the actuators and not the other. In this case, it is preferable that the interval between the gripping members 315 be smaller than the width of the inner wall of the transport container when the storage device hand 14b moves into and out of the transport container.
Further, in the third embodiment, the flat plate 315a of the gripping member 315 may move to the notch 108 of the open tray 102, contact the notch 108, and grip the open tray 102.

1 Storage System 10 Control Unit 12 Robot Arm 13 First Loading Unit 14 Storage Device Hand 17 Second Loading Unit 21 Carrying Out Unit 102 Open Tray 108 Notch 141 Egg Adsorption Unit 143 Lifting Unit 145 First Detachment Mechanism 147 Second Detachment Mechanism 149 Tray suction part 151 Pressure sensor 153 Outer edge part 200 Hook part 300 Holding part 303 Egg adsorption part 307 Hand main body 309 First actuator 311 Second actuator 315 Gripping member 400 Hole closing part 500 Outer edge part

Claims (6)

a storage device having a robot arm and a storage device hand provided at the tip of the robot arm for storing an open tray containing eggs in a transport container;
determining whether or not the open tray containing eggs is defective before storing it in the transport container, and storing the open tray containing eggs in the transport container if it is determined that there is no defect; a control unit that controls the storage device;
A storage system with. The control unit determines whether eggs are stored in all rows of the open tray and whether eggs are stored in several rows of the open tray.
A storage system according to claim 1. The control unit determines whether or not the eggs in the egg-containing open tray are damaged.
A storage system according to claim 1. The control unit detects whether a predetermined number of open trays containing eggs are stored in the transport container.
A storage system according to claim 1. The storage device includes:
placing an empty open tray containing no eggs on top of the open tray containing eggs in the transport container;
A storage system according to claim 1. The storage device hand is
an egg suction unit that suctions a plurality of eggs housed in an open tray without a lid;
It has a hook part or a grip part that grips the open tray with eggs by hooking or gripping on a notch provided on the outer periphery of the open tray with eggs.
A storage system according to claim 1.