Method and system for transferring egg trays

Abstract

Method for transferring egg trays, for example for stacking or destacking trays, at least including the steps: -a) providing a stack area (AS) having a stack support (2) for supporting a stack (S) of egg trays (T), each of the trays carrying eggs (E), the subsequent trays (T) of the stack (S) being mutually orientated in 90 degrees displacement; and -b) transferring individual egg trays (T), each carrying eggs (E), between the stack area (AS) and a tray area (AT); wherein step b) at least includes reorienting the tray (T) over a maximum angle smaller than 90 degrees, for example over an angle of about 45 degrees, with respect to an initial tray orientation.

Description

[0001] Title: Method and system for transferring egg trays

[0002] The invention relates to a method for transferring egg trays, for stacking or destacking trays, at least including the steps:

[0003] -a) providing a stack area having a stack support for supporting a stack of egg trays, each of the trays carrying eggs, the subsequent trays of the stack being mutually orientated in 90 degrees displacement; and

[0004] -b) transferring individual egg trays, each carrying eggs, between the stack area and a tray area.

[0005] Such a method (and corresponding system) is known, e.g., from NL75 13021 (the equivalent ofDE2649394) and US5,112,181.

[0006] As follows from NL7513021, a known tray destacker includes a tray support that turns the tray over an angle of 90 degrees each time a tray is being removed, such that subsequent trays can leave the stack in the same tray orientation on a discharge belt. This requires that the entire stack has to be turned. NL’021 provides an alternative apparatus, configured to pick-up and turn the trays.

[0007] US5,112,181 discloses an apparatus for transferring eggs from a pile of egg trays to an egg depositing position on a supply conveyor of an egg processing machine, comprising means for lifting the upper eggs containing tray from the pile and for lifting the eggs from said tray and moving the eggs to said egg depositing position and supplementary means for controlling the tray lifting operation in dependence on an orientation displaced 90 degrees of every other egg tray of the pile. The known apparatus includes a bulky roundabout structure, for transferring trays and eggs from a tray pile conveyor to a tray conveyor and an egg supply conveyor for an egg processing machine.

[0008] US20 19 / 0062071 discloses a method and an apparatus for handling piece goods, for example beverage containers which are held together by a shrink wrap. Known methods and corresponding systems have various disadvantages. Respective egg tray processing speeds are relatively low, leading to low throughput. Also, they require relatively much energy, in particular for powering turning means for turning egg tray stacks or egg trays. In addition, the turning of the tray stacks or individual trays can lead to relatively high centrifugal forces, which will rise at higher throughputs, thereby limiting system capacity and increasing risk of damage to the eggs.

[0009] The present invention aims to provide an improved method for transferring egg trays. In particular, an aim is to provide a method that can lead to an economical, high speed an reliable stacking or destacking of a plurality of egg trays (the trays being filled with eggs).

[0010] The invention is defined by the independent claims.

[0011] According to an aspect of the invention, an improved method for transferring egg trays is achieved by the features of claim 24.

[0012] Advantageously, there is provided a method for transferring egg trays, wherein the method includes:

[0013] -a) providing a stack area having a stack support for supporting a stack of egg trays, each of the trays carrying eggs, the subsequent trays of the stack being mutually orientated in 90 degrees displacement; and

[0014] -b) transferring individual egg trays, each carrying eggs, between the stack area and a tray area, wherein step b) at least includes:

[0015] - reorienting the tray over a maximum angle smaller than 90 degrees, for example over an angle of (at most) about 45 degrees, with respect to an initial tray orientation.

[0016] It has been found that in this way, increased egg tray through-put can be achieved. In particular, a basic idea of the invention is that stacking or destacking of a stack of egg trays (the trays having the mutually 90 degrees arrangement in the stack) can be achieved using relatively small (non-zero) tray reorientation angles (i.e. reorientation angles smaller than 90 degrees) with respect to initial tray orientations. As a result, the turning of the individual trays can be achieved at relatively low centrifugal forces (thereby decreasing risk of damage to the eggs). According to a particularly advantageous embodiment, said maximum angle (e.g. a turning angle of the stack, or a turning angle of the trays) is about 45 degrees. As will be clear to the skilled person, reorientation of the tray in particular consists of changing the orientation of the tray (i.e. turning the tray), from a first (initial) tray orientation to a second (final, target) tray orientation; the tray has the first tray orientation in the stack area or the tray area, and the tray has the second (target) tray orientation in the tray area or stack area, respectively. In other words, step b) in particular is a step of reorienting (turning) the tray from its initial tray orientation (in particular a tray orientation just / immediately before being picked up by a tray transfer robot) to its target tray orientation (in particular a tray orientation just / immediately after being released by a tray transfer robot) over said (non-zero) maximum angle smaller than 90 degrees (e.g. about 45 degrees).

[0017] Further, each tray reorientation in particular includes a rotation (turning) of the tray (about a respective vertical axis, and in particular at a respective angle of rotation, also called “angular displacement”). Further, according to a preferred embodiment, each of the trays to be transferred is reorientated (turned) between a respective first (initial) orientation and second (target) orientation, over a respective angle of rotation (smaller than 90 degrees).

[0018] Since a relatively small reorienting of a tray is carried out (and preferably of each tray that is being transferred), relatively low centrifugal forces arise, so that the method can be carried out in an energy efficient manner. Also, the method can be carried out utilizing a relatively small footprint (of a respective transfer system).

[0019] It will be appreciated that the present method can apply to stacking the egg trays (each tray carrying eggs). It will also be appreciated that the present method can apply to destacking the trays (carrying eggs).

[0020] According to an embodiment, the eggs trays can (all) be rotated over said maximum angle before being supplied to the stack (wherein the stack can remain in a fixed stack orientation). In this way, the 90 degrees mutual stacking arrangement (in the stack) can be achieved in an efficient manner. For example, the rotation of the trays can include changing the direction of tray rotation each time a tray is to be stacked (i.e. a first tray is rotated in a first direction of rotation before being stacked and a subsequent second tray is rotated in a second direction of rotation that is opposite to the first direction of rotation before being stacked). This can lead to efficient, and highspeed stacking.

[0021] Also, according to an embodiment, destacking of the trays (carrying eggs), can include rotating (all) the trays over said maximum angle after being removed from the stack. Then, the tray rotation can include changing the direction of rotation each time a tray being destacked (i.e. a first tray is rotated in a first direction of rotation after being removed from the stack, and a subsequent second tray is rotated in a second direction of rotation that is opposite to the first direction of rotation after being removed from the stack). This also leads to the above-mentioned advantages.

[0022] Transport means for transferring egg trays can be configured in various ways, and can include e.g. one or more tray supply and / or discharge conveyors, tray transfer belts and-the like.

[0023] Similarly, transport means for transferring tray stacks can be configured in various ways, and can include e.g. one or more stack supply and / or discharge conveyors, stack transfer belts and-the like. During stacking or destacking, a stack of trays can e.g. be held on a tray support (or support structure) in a respective stack area.

[0024] Further, according to a preferred embodiment, the stack of egg trays (each carrying eggs) is transported to or from the stack area (to be destacked or after stacking, respectively), for example via a horizontal transport path. In that case, during its transfer the stack is preferably positioned such that, when viewed in a top view, a center plane of the stack includes an (non-zero) angle a smaller than 90 degrees with a transport direction of the stack, for example an angle of about 45 degrees. In this way, efficient destacking or stacking can be achieved.

[0025] It also follows that an aspect of the invention provides an innovative method for transporting an egg tray, filled with eggs, along a substantially horizontal transport direction (for example as part of the above-described method), including transporting the tray at an angle of about 45 degrees with respect to a tray transport direction, viewed in a top view, during tray transport. The filled egg tray that is transported can e.g. be an individual tray, or e.g. part of a stack of egg trays.

[0026] In this way, above-mentioned advantages can be achieved.

[0027] An aspect of the present invention provides an improved method for destacking egg trays. Optionally, this aspect can be combined with the above-described first aspect. Advantageously, the destacking method includes:

[0028] -providing a stack area for positioning a stack of egg trays (e.g. on a stack support), each of the trays carrying eggs;

[0029] -transferring individual egg trays, each carrying eggs, from the stack area to a (remote) tray receiving area, utilizing a tray pickup head of a tray transfer robot, wherein the robot has an articulated arm configured for moving the tray pickup head in 3D directions, and wherein the tray pickup head includes suction cups for engaging the eggs;

[0030] - releasing each individual egg tray by the robot at the tray receiving area whilst engaging the eggs carried by the tray, after which the robot transfers engaged eggs from the tray receiving area to a remote egg collection area. It has been found that in this way, egg tray processing can be achieved in a reliable manner, at high throughput, and e.g. with a relatively low chance of damaging the eggs. Also, great flexibility can be achieved by the tray transfer robot.

[0031] Optionally, the tray transfer robot rotates the tray pickup head with respect to the stack area (in particular with respect to a respective stack support), about a vertical axis, during the egg tray transfer, wherein preferably each egg tray transfer from the stack area to the tray receiving area involves a rotating movement of the tray pickup head over a maximum (non-zero) angle smaller than 90 degrees, in particular over an angle of (at most) about 45 degrees, from an initial angular pickup head orientation (at / in the stack arae) to a target angular pickup head orientation (at / in the tray receiving area), wherein the robot preferably does not rotate the tray pickup head with respect to the stack area (along an entire egg transfer path from the tray receiving area to the egg collection area) during transfer of eggs from the tray receiving area to the egg collection area.

[0032] It is preferred that the egg collection area has moving egg receiving nests that receive the eggs from the pickup head of the robot, wherein the robot preferably cooperates with the moving egg receiving nest for positioning each of the eggs in a predetermined orientation, for example a vertical egg orientation or a slanted egg orientation.

[0033] According to an embodiment, the tray receiving area adjoins the egg collection area. In this way, the method can be carried out in a processing area having a relatively small footprint.

[0034] According to a further embodiment, the egg collection area can include a number of parallel rows of egg receiving nests that is larger than (e.g. at least twice as large as) a number of egg rows that can be held by the robot. In this case, the robot can transfer a first group of eggs to a first group of the parallel rows of egg receiving nests, wherein the robot transfers a second group of eggs to a second group of the parallel rows of egg receiving nests, the second group of egg receiving nests being different from the first group of egg receiving nests.

[0035] As a result, buffering of eggs can be achieved at the egg collection area, providing additional flexibility in the transfer process, and e.g. proving time to carry out a cleaning operation to one or more parts of the system. Due to egg buffering, respective additional processing time can be made available without having to result in gaps (e.g. empty egg receiving nests) on the egg discharge conveyor, or e.g. an egg sorter machine. Further, the buffering can take into account e.g. delays in tray delivery to the robot. Besides, in this way, more time can be made available for picking up a tray from a stack that requires specific attention, e.g. in case it is found that the tray sticks to some extension to the stack, or for example for carrying out a stack shaking or tray loosening operation. Besides, the robot can be set to a lower transfer speed, for example in case of having to transfer trays that carry relatively fragile eggs (e.g. eggs that have been produced by relatively old poultry).

[0036] According to an embodiment, the robot includes at least two pickup heads, and picks up at least two trays from one or more stacks using those pickup heads.

[0037] By picking up at least two trays, and holding (and transferring) those trays at the same time, further transfer efficiency improvement can be achieved. For example, in this way, at least two stacks can be destacked at the same time. Alternatively, the robot can pickup at least two subsequent trays from a single stack using its at least two pickup heads.

[0038] Further, an aspect of the invention provides a system for transferring egg trays, for stacking or destacking the trays, respectively, the system including:

[0039] - a stack support for supporting a stack of egg trays in a stack area; -at least one tray conveyor for transferring individual egg trays from a tray area to a stack area, or from the stack area to the tray area, respectively (each tray carrying eggs); wherein the at least one tray conveyor is configured to reorient each tray (to a target tray orientation) over a maximum angle smaller than 90 degrees, for example over an angle of about 45 degrees, with respect to an initial tray orientation.

[0040] In this way, above-mentioned advantages can be achieved. In particular, during operation, the at least one tray conveyor rotates (turns) each tray from its initial tray orientation to its target tray orientation, over said (non-zero) maximum angle. Optionally, the system can include a tray transfer robot having a tray pickup head, wherein the robot has an articulated arm configured for moving the tray pickup head in 3D directions, and wherein the tray pickup head includes suction cups for engaging eggs supported on a tray during operation.

[0041] In particular, as follows from the above, the at least one tray conveyor can be configured to pickup each tray in a respective initial tray orientation, reorient each tray from the initial tray orientation to a target tray orientation, such that the reorienting of the tray includes or consists of rotating the tray over a non-zero angle that is smaller than 90 degrees, and release the tray in its target tray orientation.

[0042] Further, an aspect of the invention provides an innovative system for destacking egg trays, for example for use in a method according to the invention, the system including a tray transfer robot, wherein the robot has an articulated arm and a tray pickup head for holding an egg tray, wherein the articulated arm is configured for moving a tray pickup head in 3D directions, wherein the tray pickup head includes suction cups for engaging eggs carried by an egg tray, wherein the robot is configured for releasing each individual egg tray at a tray receiving area whilst engaging the eggs carried by the tray, wherein the robot is further configured to transfer engaged eggs from the tray receiving area to a remote egg collection area.

[0043] In case a size of the egg collection area is associated with a number of parallel rows of egg receiving nests that is larger than (e.g. at least twice as large as) a number of egg rows held by the robot (the rows of nests extending normally with respect to a respective egg discharge direction), the robot is preferably configured to transfer a first group of eggs to a first group of the parallel rows of egg receiving nests, wherein the robot is configured to transfer a second group of eggs to a second group of the parallel rows of egg receiving nests, the second group of egg receiving nests being different from (and e.g. adjacent to, and / or upstream of) the first group of egg receiving nests. In this way, a relatively large egg receiving area can be provided, wherein that efficient egg buffering can be achieved.

[0044] Also, according to a further advantageous embodiment, the robot includes at least two tray pickup heads, for holding at least two trays at the same time.

[0045] Further advantageous embodiments are described in the dependent claims. In the following, non-limiting examples of the invention will be described with reference to the drawing. Therein shows:

[0046] Figure 1A schematically a perspective view of a an embodiment of a system for transferring egg trays from a stack;

[0047] Figure IB schematically a top view of part of the example of Fig. 1A;

[0048] Figure 2A schematically a perspective view of an embodiment of a system for transferring egg trays to a stack, wherein a tray is rotated in a first direction;

[0049] Figure 2B schematically a perspective view of the embodiment of Fig. 2 A, wherein a tray is rotated in a second direction;

[0050] Figure 3 a top view of the embodiment of Figure 2A;

[0051] Figure 4 a side view of part of the embodiment of Figure 2A Figure 5 a top view of part of another example of an egg tray transferring system;

[0052] Figure 6 a front view of part of the embodiment of Fig. 5;

[0053] Figure 7 a partly opened side view of the embodiment of Fig. 5;

[0054] Figure 8A schematically a top view of an alternative embodiment of an egg tray transfer system;

[0055] Figure 8B schematically a side view of the embodiment of Fig. 8A;

[0056] Figure 9A schematically a top view of another alternative embodiment of an egg tray transfer system;

[0057] Figure 9B schematically a side view of the embodiment of Fig. 9A;

[0058] Figure 10 is similar to Figure 6, showing a further example of a transfer system; and

[0059] Figure 11 is similar to Figure 7, showing yet a further embodiment of an egg tray transfer system.

[0060] In the present application, similar or corresponding features are denoted by similar or corresponding reference signs.

[0061] Figures 1-4 show (schematically) systems and methods for stacking or destacking trays. For example, Figures 1A, IB show a destacking operation, Figures 2A, 2B show part of a stacking operation in perspective view, and Figure 3 show the stacking operation in a top view.

[0062] Referring to Figure 1A, a system for transferring egg trays, for stacking or destacking the trays, respectively, can include:

[0063] - a stack support 2 for supporting a stack S of (filled) egg trays T in a stack area AS;

[0064] -at least one tray conveyor 14 for providing a tray area AT (remote / separate from the stack area AS) for supporting egg trays T. For a destacking operation, the tray conveyor 14 can be configured for transferring received trays T away from the tray area AT (as is indicated by respective transport direction Y). Egg trays T used are commonly known trays T. Each of the presently depicted egg trays T are configured to contain a batch of 30 eggs (i.e. 5 x 6 parallel rows of eggs), naturally, different types of egg trays T, holding another number of eggs, can be used. In particular, all stackable trays T of the stack S have the same tray structure (i.e. tray size and shape).

[0065] Also, each of the trays T preferably has a substantially rectangular or square shape (viewed in top view), with two opposite first sides Si (i.e. first lateral edges) and two opposite second sides S2 (i.e. second lateral edges; see Fig. IB) that extend normally with respect to the first stack sides Si. The stacked trays T (each having a respective tray stacking orientation) are each filled with eggs E (i.e. in parallel rows as defined by the trays). Subsequent trays of the stack S are mutually orientated in 90 degrees displacement (viewed in top view). That is, in the stack S, a lowest tray has a base orientation in the stack area AS (viewed on top view), a subsequent second tray is stacked onto the lowest row rotated over 90 degrees with respect to the base orientation (viewed in top view), a subsequent third tray is stacked onto the second tray rotated over 90 degrees with respect to the orientation of the second tray (viewed in top view), et cetera.

[0066] The stack S has a respective (vertical) center plane CL (shown by a dashed line), viewed in top view. In particular, said stack center plane CL is defined by a vertical center plane of the stack S, the center plane extending in parallel with tray sides (of respective stacked trays; see Fig. IB). In other words, the stack center plane CL can be defined by a virtual line that extends in parallel with parallel rows of eggs E (and egg nests) of the trays T of the stack when viewed in top view (see Fig IB).

[0067] The stack support 2 can be configured in various ways, and is in particular configured to support a downwardly facing bottom side of a tray stack S. For example, the stack support 2 can be a part of (i.e. a section of), or provided by, a stack conveyor 1 (as in Fig 1A, IB), or it can be a separate support, configured to receive a stack from a stack conveyor, as will be appreciated by the skilled person.

[0068] A stack conveyor 1 can be configured in various ways. For example, it can include a belt conveyor, roller conveyor, or the-like. The stack conveyor 1 can be configured to support an array of tray stacks S (see Fig. 1A) and to move each stack (in a substantially horizontal direction X) towards the stack area AS that is provide by the stack support 2.

[0069] As follows from the drawings, each of the trays T has a first (initial) tray orientation (i.e. a “tray stacking orientation”) in the stack area AS (respectively in the tray area AT), and a second (target) tray orientation in the tray area AT (respectively in stack area AS).

[0070] As follows from Figure 1, during operation, and when viewed in a top view, each stack S is preferably positioned at an angle with respect to a transport direction X of the respective stack conveyor 1, to be placed into the stack area AS in the corresponding stack orientation. In particular, each stack S is positioned, at least in the stack area AS, such that (when viewed in a top view) the stack’s center plane CL includes that angle a with the transport direction X of the stack towards / into the stack area AS (said transport direction X being defined by the respective stack conveyor 1).

[0071] For example, during operation, each stack S can be transferred to the stack area AS (via a substantially horizontal transport path) by the stack conveyor 1, wherein during its transfer on the conveyor 1 the stack S is positioned such that, when viewed in a top view, the center plane CL of the stack S includes said angle a with its transport direction X (in particular an angle smaller than 90 degrees, for example an angle of about 45 degrees).

[0072] It follows that, when viewed in top view, all trays T of each stack S are misaligned with respect to the stack transport direction X (defined by the stack conveyor 1), i.e. each of the trays T of the stack S includes an angle a (in this case of about 45 degrees) with respect to that transport direction X. It also follows that each (horizontal) row of eggs E in each tray T (of a stack S located in the stack area AS) extends along a direction that includes an angle a (in this case of about 45 degrees) with respect to that stack supply direction X.

[0073] Optionally, an upstream section of the stack conveyor 1 can be associated with a reorientation device (not shown in Fig. 1) for reorienting (i.e. turning) a stack S (to a depicted final stack orientation, i.e. a target orientation) over a maximum angle a smaller than 90 degrees, for example over an angle a of about 45 degrees (as shown in the drawings), with respect to an initial stack orientation on the conveyor 1. As will be clear to the skilled person, such reorientating of the stack S involves reorientation from said initial orientation to a (depicted) final stack orientation.

[0074] In this way, the stack conveyor 1 can e.g. receive a stack S in an initial stack position wherein the stack’s center plane CL extends in parallel with the conveyor transport direction X. The reorientation device can subsequently turn the stack S with respect to the conveyor 1, towards the depicted (final, desired) target stack orientation (i.e. turning at said maximum angle a with respect to the transport direction X, viewed in top view). For example, the stack reorienting device can be a stack turning device that is configured to turn a passing stack (e.g. rotate the stack about a vertical axis) such that the stack acquires the desired ‘misaligned’ (target) orientation in the stack area AS, as depicted. Figures 2A, 2B, 3 depict another example of providing a stack conveyor with a stack of egg trays at a desired angle / orientation (viewed in top view) with respect to a transport direction X, namely via a corresponding stacking process.

[0075] Alternatively, a stack S can be loaded onto an upstream section of the conveyor 1 such that the stack S has the depicted orientation (i.e. at an angle a with respect to the transport direction X, viewed in top view). For example, a stack reorientation device can be a stack loader (e.g. a robot having a movable stack pickup head) that is configured to load the stacks S onto the conveyor 1, and to position each of the stacks S in the desired target orientation (e.g. a 45 degrees ‘misaligned’ orientation as in the present embodiment) on the stack supply conveyor 1.

[0076] The stack conveyor 1, and in particular a stack support 2, can include or be associated with stack stopping means / structure 2a (see Fig. IB), extending e.g. above a conveying surface of the conveyor 1, for halting an inbound stack S and / or maintaining a stack S in a desired (final, target) orientation in the stack area AS. For example, the stopping means 2a can be configured to provide two support surfaces for supporting, c.q. mechanically contacting, an opposite first side and second side of a stack (and preferably two sides of a lowest tray of that stack S) in the stack area AS. Two respective stack support surfaces of the stopping means 2a (i.e. stopping structure 2a) can extend along respective vertical surfaces that include an angle of about 90 degrees with each other. Besides, the stack support surfaces of the stopping means 2a can each include an angle with respect to a transport direction X of the stack conveyor 1, for example an angle of about 45 degrees, viewed in top view (see Fig. IB). The stopping means 2a can include various elements or structures, e.g. corresponding plates, profiles, rods, or different elements as will be clear to the skilled person.

[0077] In Figure 1A, the transfer system also includes a tray conveyor 14 configured for transporting individual trays, preferably in a substantially horizontal direction Y. Further, the system includes an egg conveyor 12 (shown schematically) configured for transporting individual eggs away from the stack area AS, e.g. in a horizontal direction X’. In particular, the egg conveyor 12 can be configured for transporting eggs from an egg area EA located near the stack area AS (in other words: the egg conveyor 12 provides an egg receiving (collection) area EA to receive eggs from the transfer robot 3). It should be appreciated that preferably, the egg conveyor 12 continuously moves during operation. A speed of the egg conveyor 12 can e.g. be detected or determined in various ways, as will be clear to the skilled person, e.g. using a conveyor speed detector, encoder or the-like. Also, the system includes a tray transfer robot 3 (shown schematically), for transferring filled trays T from stack area AS to the tray area AT provided by the tray conveyor 14, and for transferring the eggs E from the trays T (and tray area AT) to the egg conveyor 12.

[0078] The tray transfer robot 3 preferably includes an egg tray pickup head 4 (known as such) configured to engage (and lift) an individual egg tray T (containing / supporting eggs E), wherein the robot 3 has an articulated arm 5 configured for moving the tray pickup head 4 in 3D (3- dimensional) directions, and for rotating the tray pickup head 4 (with respect to a vertical axis). A proximal section of the articulated arm 5 can e.g. be coupled to a base section 6 of the robot 3, and a distal section of the articulated arm 5 can be coupled to the pickup head 4. It will be appreciated that the robot 3 generally includes a dedicated robot control unit (not shown) for controlling the various robot components, in particular for achieving desired robot operation (i.e. arm movement, head movement, tray engagement, egg engagement, egg conveyor speed synchronization).

[0079] An example of the pickup head 4 is shown in more detail in the embodiment of Figures 5-7. The egg tray pickup head 4 preferably includes suction cups 4a for (individually) engaging eggs E supported on a tray T during operation, and for holding the eggs E after a tray T has been disengaged from the pickup head 4 (i.e., the pickup head 4 is configured for separating the eggs E from a respective tray T). Also, for example, the tray pickup head 4 can include tray supports 4b (see Fig. 6), e.g. movable plates or gripper elements, for (releasably) engaging a individual egg tray T therebetween, during picking up, lifting and moving the tray T by the robot 3 (as is known per se).

[0080] The robot 3 can rotate the tray pickup head 4; this can be achieved in various ways. For example, the robot 3 can be configured to rotate the articulated arm 5 over a first vertical robot axis 3a, thereby rotating the pickup head 4. In addition, preferably, the robot 3 can be configured to rotate the tray pickup head 4 with respect to the articulated arm 5 as such, over a second vertical robot axis 3b . For example, the robot 3 can be configured to transfer eggs from the tray area AT to the egg conveyor 12 substantially without rotating the eggs, in particular using robot arm rotation in combination with a robot head counter rotation, as will be clear to the skilled person.

[0081] The present example shows destacking, wherein the tray conveyor 14 is configured to receive the egg trays T (in their target tray orientation, transferred by the robot 3 from a stack S located in the stack area AS) at the respective tray receiving area AT, and to move the empty trays away from the tray receiving area AT after the robot 3 has separated the eggs from the trays (and to deposit those separated eggs at the egg area EA provided by the egg conveyor 12). It follows that in this example, the robot 3 is configured to position each tray T in the tray receiving area AT at a respective (final) target tray orientation (after having turned the tray T from its initial tray orientation in the stack area AS). In Fig. 1A, a tray transport direction provided by the tray conveyor 14 is indicated by an arrow Y. As an example, the tray conveying direction Y can extend substantially normally (i.e. at an angle of 90 degrees) with respect to the stack supply direction X. The alternative embodiment of Fig. 5 shows a corresponding system, wherein the tray conveying direction Y extends substantially in parallel with a stack supply direction X.

[0082] As follow from the above, the robot 3 is preferably configured to transfer eggs E, removed from the trays T, to the egg conveyor 12. The egg conveyor 12 can be configured to transport individual eggs E (received from the robot 3, and removed from the trays T) away from the egg area EA (and nearby stack area AS), to a remote egg receiving / processing area (for example for further egg processing, including e.g. one or more of candling, washing, inspection, boxing, loading, transporting, storing and / or the-like). Egg conveyors as such are commonly known: the egg conveyor 12 can e.g. include a roller conveyor having rollers (e.g. diabolo-shaped rollers) that mutually define parallel egg rows of receiving nests, or a different type of egg conveyor 12. In Fig. 1A, a egg transport direction provided by the egg conveyor is indicated by an arrow X’. For example the egg transport direction X’ can extend in parallel with a stack supply direction X (i.e. the egg conveyor 12 can extend in parallel with the stack conveyor 1), and optionally substantially in the opposite direction (see Fig. 1A), providing a compact system configuration. As an alternative (see e.g. Figure 5), the egg transport direction X’ can e.g. extend normally with respect to a stack supply direction X.

[0083] In case the egg conveyor 12 moves at a certain conveyor speed in a respective transport direction X’ during operation (i.e. during receiving egg from the robot 3), the robot 3 can be configured to synchronize robot head movement with the conveyor speed during the depositing of eggs to the conveyor 12 (i.e. such that a speed of the robot head 4 in the transport direction X’ is the same as the speed of the egg conveyor 12).

[0084] During operation of the system shown in Figures 1A, IB, a method can be carried out that includes the steps: a) providing the stack area AS having the stack support 2 for supporting the stack S of egg trays T (each of the trays carrying eggs E), the subsequent trays T of the stack S being mutually orientated in 90 degrees displacement; b) transferring individual egg trays T (each carrying eggs E), between the stack area AS and the tray area AT.

[0085] In particular, in this example the transferring step b) includes picking up each tray (from the stack S) in the stack area AS, and depositing / releasing each tray (onto the tray conveyor 14) in the tray area AT. As is mentioned before, the trays T in particular can have a respective first (initial) tray orientation in the stack area AS and a respective second (target) tray orientation in the tray area AT. In this embodiment, step b) includes: reorienting (rotating, turning) each tray T (to the respective target tray orientation) over a maximum angle smaller than 90 degrees, in particular an angle of about 45 degrees, with respect to the initial tray orientation, during movement of the tray T away from the stack S and onto the tray conveyor (the movement and rotation being effected by the robot 3, and the rotation being with respect to a vertical axis of rotation). Also, tray movement (achieved by the robot 3) can involve at least a vertical upward movement at the stack S (after the robot 3 having engaged a top tray that is in its initial tray orientation) and optionally a vertical downward movement above the tray conveyor 2 (depending on the vertical position of the tray conveyor), for repositing / releasing the tray T -in a respective (turned) target tray orientation- in the tray area AT. Further, the tray movement can include one or more horizontal translations, for moving a tray T away along horizontal direction(s) from the stack S and towards the tray conveyor 2. It will be appreciated that vertical tray movements and horizontal tray movements (as well as tray rotation) can be achieved simultaneously, by the robot 3, for minimizing tray transport paths.

[0086] It follows that the robot 3 only has to carry out relatively small movements, over relatively short distances (in a relatively small footprint area when see in a top view), for moving loaded trays T from the stack S to the tray receiver / conveyor 14, providing relatively swift and efficient processing.

[0087] During operation, the robot 3 releases each tray T at the tray area AT (in a respective tray target orientation), on the tray conveyor 14 (e.g. by moving tray supports 4a of the pickup head 4 to disengaging positions), whilst retaining the respective eggs E using the suction cups 4b. After that, the tray conveyor 14 can remove the empty tray T (having a respective tray target orientation), in a respective discharge direction Y away from the tray area AT (and stack area AS), and the robot 3 can move the eggs E to the egg receiving area EA of the egg conveyor 12, and release the eggs E so that the egg conveyor 12 can subsequently discharge the eggs E (in a respective egg discharge direction X’). Also, in this case, moving the eggs E towards the egg conveyor 12 can be carried out by the robot 3 using relatively small movements, over relatively short distances. In particular, the robot 3 moves the eggs E from the tray area AT to the egg area EA without rotating the eggs E (with respect to these areas AT, EA), the respective egg movements only including translations (e.g. 3D translations). It follows that preferably, the eggs E are only translated (and not rotated) by the robot 3 along an entire egg transfer path from the tray receiving area to the egg collection area.

[0088] After having released the eggs E (at the egg area EA) to the egg conveyor 12, the robot 3 can move the pickup head 4 back to the stack area AS for picking up a next loaded egg tray T from the stack S, and subsequently repeat the above steps for moving that tray T and the respective eggs E.

[0089] It is preferred that the robot 3 reorients (rotates) subsequent trays T in mutually opposite directions of rotation, during operation, such that the subsequent trays T are deposited on the tray conveyor 14 (i.e. released in the tray area AT) in the same tray target orientation with respect to that conveyor 14.

[0090] Similarly, it is preferred that two subsequent batches of eggs E that are associated with two subsequent destacked trays T are deposited in the same orientation onto the egg conveyor 12, by the robot 3.

[0091] This process can be repeated until the entire stack S has been destacked and the eggs E have all been separated from the respective trays T (and have been transferred to the egg conveyor 12). Due to relatively small (angular) movements that have to be made by the robot, significant time reduction can be achieved. Besides, in this way, egg movement paths and accelerations can be limited so that changes of egg (shell) damage during the egg transfer process (from the tray stack at the stack area AS to the egg area EA c.q. the egg conveyor 12) can be reduced.

[0092] Figures 2A, 2B, 3 depict an example of providing a stack conveyor 1’ with a stack of (filled) egg trays T at a desired angle / orientation (viewed in top view) with respect to a transport direction X, in particular a stack orientation wherein lateral sides of the stack are not aligned with the stack transport direction X.

[0093] In particular, Figures 2, 3 provide a system for transferring egg trays T, for stacking or destacking the trays, respectively, the system including:

[0094] - a stack support 2’ (which can be part of or provided by the stack conveyor 1) for supporting a stack S of egg trays T in a stack area AS;

[0095] -a tray conveyor 14’ for transferring individual egg trays T (filled with batches of eggs E) from a remote tray area AT to the stack area AS. In this example, the tray conveyor 14’ and stack conveyor 1’ can be aligned with each other, and can for example optionally be integrated with each other (i.e. being provided by a single conveyor).

[0096] The tray conveyor 14’ is preferably configured to reorient each supplied tray T (such that the tray T acquires a final -target- tray orientation) over a maximum angle smaller than 90 degrees, for example over an angle of about 45 degrees, with respect to an initial tray orientation. For example, the initial tray orientation can be an orientation wherein two tray sides / edges S2 of the tray T extend in parallel with a tray supply direction provided by the tray conveyor 14’ (see Figure 3). To that aim, the tray conveyor 14’ can be provided with at least one tray reorientation device 15 for reorienting a tray T (to its final, i.e. target, orientation), during the transferring of the tray T to the stack area AS. The reorientation device(s) 15 can reorient a tray T over the desired angle (i.e. a maximum non-zero angle smaller than 90 degrees, for example over an angle of about 45 degrees). Moreover, it is preferred that the tray reorientation device 15 is configured to rotate a first tray T of an array of trays T (located on a conveying surface of the conveyor 14’) in a first direction of rotation before stacking the first tray T), and to rotate a subsequent second tray T of the tray array (located on the conveying surface of the conveyor 14’) in an opposite second direction of rotation before stacking the subsequent second tray.

[0097] For example, the tray reorienting device 15 can be a tray turning device that is configured to turn a passing tray T (e.g. rotate the tray about a vertical axis, e.g. by mechanically engaging a passing tray T, being conveyed by the tray conveyor 14’) such that the tray T acquires the desired ‘misaligned’ target orientation, as depicted.

[0098] The tray turning device 15 can have a first tray turning state (see Fig. 2 A) for engaging a passing tray T such that the passing tray rotates in a first direction (viewed in top view, wherein the turning device 15 can have a second tray turning state (see Fig. 2B) for engaging a passing tray T such that the passing tray rotates in a second direction (that is opposite to the first direction). For example, the tray turning device can be movable into a path of a passing tray T for engaging (and turning) the tray. The tray turning device 15 can include various elements or structures, e.g. a corresponding plate, profile, rod, or different element, that is automatically movable into (and out of) a tray conveying path of the tray conveyor 14’, for mechanically engaging a tray T. Figures 2A, 2B show an example having a single tray turning device 15. Figure 3 schematically shows a further example, including a first turning device 15a and a second tray turning device 15b, for engaging (and turning) passing trays T along opposite sides of a respective tray conveying path. A similar configuration is depicted in the example of Fig. 9A (see below). Further, it will be appreciated that the system can include a control unit (e.g. a computer, processor, or the-like) for controlling operation c.q. movement of the tray turning device(s) 15, such that passing trays T of a tray array are automatically turned in aforementioned (opposite) directions, as will be clear to the skilled person.

[0099] In this case, a downstream stack support 2 can be configured to keep a supported stack S (that is formed from supplied trays T) in the same orientation during stacking, of the trays. For example, the stack support 2 can include a support structure 2a (as mentioned above) for retaining the tray stack S.

[0100] In Figures 2A, 2B, 3 stacking of the reoriented trays T can be achieved e.g. by a tray transfer robot (not shown in Figures 2A, 2B, 3), e.g. a robot as mentioned above. Alternatively, the stack S can be formed by a dedicated tray stacker. It is preferred that the stacking is achieved in the stack area, by the robot or tray stacker, without substantially rotating the trays T further.

[0101] A thus formed tray stack S can be removed from the stack area AS, by the stack conveyor 1’. As is shown in Figures 2A, 2B, the stack S can e.g. be misaligned (viewed in top view) with respect to a stack removal direction X, for example with a respective center plane CL including an angle with the stack transport direction X. Optionally, the system can include at least one stack reorientation device for reorienting each stack S (from an initial stack orientation to a target stack orientation) during the transferring of the stack S, in particular reorientation over a (non-zero) maximum angle smaller than 90 degrees, for example over an angle of about 45 degrees, with respect to an initial stack orientation. In particular, the at least one stack reorientation device can be configured to rotate a passing stack S (being transported by the stack conveyor 1’) such that a respective center plane CL is aligned with the stack transport direction X. For example, such a stack reorientation device can have a similar configuration as an above-mentioned tray reorienting device 15: it can be a stack turning device that is configured to turn a passing stack S (e.g. rotate the stack about a vertical axis, e.g. by mechanically engaging a passing stack S, being conveyed by the stack conveyor 1’) such that the stack acquires the desired ‘aligned’ (target) transport orientation, as depicted in Figures 3, 4.

[0102] Figures 5-7 show a non-limiting example, which in particular is a further embodiment of the example shown in Figures 1A, IB. In particular, Figures 5-7 show an example of the tray transfer robot 3 in more detail, having a tray pickup head 4 and a respective articulated arm 5 configured for moving the tray pickup head 4 in 3D directions. In Figures 5-7, a stack supply direction X, provided by the stack conveyor 1, extends in parallel with respect to a tray discharge direction Y that is provided by the tray conveyor 14. Also, the egg discharge conveyor 12 provides an egg removal direction X’ that extends at about 90 degrees (normally) with respect to the stack conveyor 1. Besides, in this example, the robot head 4 can be configured for laterally expanding the pattern of a batch of eggs E before depositing the eggs into egg receiving nests of the egg conveyor 12, e.g. by including mutually displaceable egg suction cups.

[0103] Figures 8 A, 8B show an alternative example of a tray transfer system and method. The system includes a tray lifting device 103 for receiving individual trays T (each carrying eggs) from a tray conveyor 104 and lifting each tray T to a stack S held in an stack area AS. For example, the stack area can include a support structure 102, having one or more stack support sections for holding a tray stack S at a vertical level above a tray transport level provided by the tray conveyor 104. It will be appreciated that the tray lifting device 103 as such can be called a ‘tray conveyor’, in particular since it is configured to transport a tray vertically / upwardly. The lifting device 103 and respective stack support structure 102 can e.g. form a tray stacker unit.

[0104] The tray conveyor 104 is configured for transferring individual egg trays T, filled with eggs (not shown in Fig. 8A, 8B), from a tray area AT towards the stack area AS. The present conveyor 104 is configured to transfer individual egg trays T along a tray transport direction Y’ in a fixed tray orientation (i.e. they are not rotated / turned during respective tray transport) towards the stack area AS . In particular, the trays T are positioned such on the tray conveyor 104 that respective lateral tray sides are aligned with (i.e. extend in parallel to) the tray supply direction Y’ provided by the tray conveyor 104. Also, subsequent trays of an array of trays T (that are to be stacked) supplied on the tray conveyor 104 preferably have the same orientation, viewed in top view (as indicated by respective tray center lines TC in Fig. 8A).

[0105] In this example, the tray lifting device 103 is associated with a reorientation device 116 for reorienting a tray T (held by or carried on the lifting device 103) to a target tray orientation over a maximum (non-zero) angle smaller than 90 degrees, for example over an angle of about 45 degrees, with respect to an initial tray orientation. In particular, the reorientation device 116 is configured for rotating the tray lifting device 103 (with respect to a vertical axis), in particular in two opposite directions from an initial (intermediate) position of the tray lifting device 103. More particularly, the tray lifting device 103 can include a reorientation device 116 configured to rotate the tray lifting device 103, carrying a tray T, in a first direction of rotation before stacking the tray T (supplied by the tray conveyor 104), and to rotate the tray lifting device in an opposite second direction of rotation when stacking a subsequent second tray T.

[0106] For example, the tray lifting device 103 can be rotatably arranged with respect to the tray conveyor 104, and can include or be coupled to a drive for achieving automated rotation. As above, it will be appreciated that the system can include a control unit (e.g. a computer, processor, or the-like) for controlling operation of the stack turning device(s) 116, such that the tray lifting device 103 is automatically turned in aforementioned (opposite) directions during operation, as will be clear to the skilled person.

[0107] Operation of the example of Figures 8A, 8B can include stacking egg trays T, filled with eggs. An array of trays T is supplied towards the stack area AS by the tray conveyor 104 (along a substantially horizontal tray transfer path), wherein the trays T are lifted by the tray lifting device 103 in the stack area to form a stack S on a respective stack support 102. Preferably, each tray T has a (fixed, initial) tray transport orientation during the transfer by the tray conveyor 104, when viewed in top view.

[0108] The tray lifting device 103 is rotated about a vertical axis over an (non-zero) angle smaller than 90 degrees, in particular an angle of about 45 degrees with respect to an initial orientation, during the stacking of each tray T. Also, preferably, during operation, the tray lifting device 103 is automatically rotated (by the reorientation device 116) in successive opposite directions for stacking respective successive egg trays T of the supplied array of trays T. As a result, a stable stack S can be efficiently formed wherein the subsequent trays T of the stack S have a desired mutually 90 degrees displacement orientation with respect to each other. During the stacking, the stack support 102 remains fixed during receiving trays from the tray conveyor 104.

[0109] Figures 9 A, 9B show an alternative example, which differs from the embodiment of Figures 8A, 8B in that the tray conveyor 104 is associated with a tray reorientation device 115a, 115b for reorienting each tray T from an initial tray orientation to a respective tray target orientation during the transferring of the tray T to the stack area AS, over a maximum angle smaller than 90 degrees, and in this case over an angle of about 45 degrees. As in an above example, there can be provided a first tray turning device 115a and a second tray turning device 115b, for engaging (and turning) passing trays T along opposite sides of a respective tray conveying path. During operation, trays Y can be initially supplied towards the turning device) on the tray conveyor at an initial tray orientation, e.g. having a center line TC aligned with a tray transport direction Y’.

[0110] During operation, a plurality (i.e. an array) of egg trays T is moved, by the tray conveyor 104, from a remote tray area towards the stack area AS (via a tray transport path). Each tray T preferably has the same initial tray area orientation, when viewed in top view. Each tray T is rotated / shifted about a vertical axis to the desired target orientation over an angle smaller than 90 degrees (by the tray reorientation devicell5a, 115b), in particular an angle of about 45 degrees, with respect to the tray area orientation during the tray transfer towards the stack area AS. The thus reorientated trays T (each having a respective target tray orientation) are stacked in the stack area AS, by the lifting device 103 on the stack support 102 (without rotating the lifting device). Successive egg trays T of the array of trays are rotated in successive opposite directions, so that a desired stable stack S is formed in an efficient manner, as mentioned above. In other words, the tray reorientation step can be carried out such that the respective tray area orientation and tray stacking orientation are mutually rotated over said angle smaller than 90 degrees, when viewed in top view.

[0111] Figure 10 shows an example of the transfer system, in particular a further embodiment of the example of Figures 5-7, wherein a size of the egg collection area EA (used by the robot 3 to deposit eggs) is expanded, such that it provides an egg buffering space. In particular, the egg collection area EA includes (i.e. is associated with) a number of parallel rows of egg receiving nests (provided by the egg conveyor 12) that is larger than (e.g. at least twice as large as) a number of egg rows that can be held by the robot 3. Herein, the nest rows extend normally with respect to the respective egg discharge direction X’, provided by the egg conveyor 12. In this way, the robot 3 can transfer a first group of eggs (associated with a first tray T) to a first group G1 of the egg receiving nests (located in the egg receiving / collection area EA), wherein the robot transfers a second group of eggs to a second group G2 of egg receiving nests (the second group G2 of egg receiving nests being different from the first group of egg receiving nests Gl, and e.g. adjoins the first group Gl, wherein the second nest group is also present in the egg receiving area EA). Preferably, the second group G2 is located upstream of the first group G1 (see Figure 10). The example further indicates a subsequent third group G of egg receiving nests, next to the second group G2, the third group G also being present in the egg receiving area. Preferably, the third group G3 is located upstream of the second group G2 (see Figure 10). In this way, egg buffering can be achieved on the egg discharge conveyor 3, providing above-mentioned advantages.

[0112] As is mentioned before, preferably, the egg conveyor 12 continuously moves during operation. Robot head movement is preferably synchronized with conveyor movement during depositing of eggs to the nests groups Gl, G2, G3.

[0113] In Figure 10, three separate groups of egg receiving nests are indicated, but it will be appreciated that an egg receiving area EA can also include more or less than three separate (buffering) nests groups Gl, G2, G3 for receiving eggs from the robot 3. Also, a nest group Gl, G2, G3 does not have to be in the same location with respect to other system components during operation (as long as the nest group is present in the egg receiving area EA during receiving eggs from the robot 3). Further, it will be appreciated that the egg receiving area EA is an area that is associated with the egg conveyor 12, and that is entirely within reach of the robot 3 for depositing eggs (onto the egg conveyor 12)

[0114] Herein, the invention is described with reference to specific examples of embodiments of the invention. It will, however, be evident that various modifications and changes may be made therein, without departing from the essence of the invention. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, alternative embodiments having combinations of all or some of the features described in these separate embodiments are also envisaged. However, other modifications, variations, and alternatives are also possible. The specifications, drawings and examples are, accordingly, to be regarded in an illustrative sense rather than in a restrictive sense.

[0115] For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, it will be appreciated that the scope of the invention may include embodiments having combinations of all or some of the features described.

[0116] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word ‘comprising’ does not exclude the presence of other features or steps than those listed in a claim. Furthermore, the words ‘a’ and ‘an’ shall not be construed as limited to ‘only one’, but instead are used to mean ‘at least one’, and do not exclude a plurality. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to an advantage.

[0117] For example, the term “substantially horizontal” should be construed broadly, since a substantially horizontal direction can be a directly that is entirely horizontal or a direction that includes a small angle with a horizontal surface (e.g. an angle of about 30 degrees). The same holds for a substantially horizontal surface (which may be a slightly inclined surface).

[0118] Also, for example, depositing eggs E onto an egg conveyor 12 can be achieved (by the robot 3) in various ways. It is preferred that during egg depositing, the egg conveyor 12 is operating and moves respective egg receiving nests in a respective egg discharge direction X’. In that case, it is preferred that the robot 3 matches or synchronizes pickup head movement with the egg conveyor 12 during release of the eggs E, in particular such that a horizontal velocity difference between the robot head 4 and the egg conveyor 12 is substantially zero (during egg transfer there-between). Further, as is mentioned above, it is preferred that the robot head 4 is configured to match an egg pattern, of eggs E held thereby, with a pattern of egg receiving nests of an egg discharge conveyor 12. To that aim, for example, the robot head 4 can include integrated egg spreading mechanism for (laterally) spreading the eggs before releasing the eggs E to the egg conveyor 12.

[0119] Further, optionally, the robot 3 can be configured to operate on various types of egg trays, e.g. egg trays of a first type having first dimensions or a first tray height, and egg trays of a second type having second dimensions that differ from the first dimensions or a second tray height that differs from the first tray height. To that aim, e.g. the tray pickup head 4 can be (automatically) adjustable for engaging the different types of trays.

[0120] Further, optionally, the robot 3 can be configured to automatically adjust robot operation based on certain stack characteristics, e.g. a stack height. The robot 3 can e.g. include or be associated with a stack detector (e.g. a camera) for detecting a position or height of a stack S of egg trays, wherein the robot 3 can adjust movement of a tray pickup head based on detection results of the stack detector.

[0121] Also, the system and method can utilize an egg buffer space, e.g. being part of the egg conveyor 12, for carrying out a cleaning operation of part of the system, or for removing a stuck tray.

[0122] Further, embodiments of the invention can utilize a stacker for stacking egg trays T (e.g. without using a tray transfer robot having an articulated arm). Such a tray stacker is known as such, and can e.g. be configured for building a stack from bottom to top or from top to bottom.

[0123] Further, in this application, egg processing is in particular carried out on unfertilized eggs. In other word, the eggs E are dead (non-living) eggs, they do not contain any embryo. Further, as follows from the above, an advantageous aspect of the invention includes transporting egg trays T, filled with eggs E, wherein each tray is oriented at an angle of about 45 degrees with respect to a tray transport direction Y, Y’. In other words: during its transport, lateral tray sides are not aligned with the transport direction Y, Y’, but include said angle of about 45 degrees with that transport direction (viewed in top view).

[0124] Further, the method can involve stacking the stack from bottom to top ( see e.g. Figures 1-7) or alternatively from top to bottom (see Fig. 8- 9).

[0125] Besides, as is mentioned before, according to a further embodiment, a single robot 3’ is used that has at least two separate tray pickup heads 4Q, 4R, for example being mounted to the same articulated arm 5’. An example of such an embodiment is depicted in Figure 11. Each of these pickup heads 4Q, 4R of the robot 3’ can have e.g. the same configuration as the pickup head 4 of above-mentioned embodiments. Operation of the example shown in Figure 11 is similar to operation of the system depicted in Figures 5-8, a difference being that the robot can pickup two subsequent trays T (carrying eggs) from the same stack S (located on the supply conveyor 1), transfer the two trays T simultaneously to the tray conveyor 14 (to release the trays thereto) and subsequently move respective groups of eggs to the egg discharge conveyor 12 (to be deposited thereon, in the egg receiving area EA). Alternatively, the robot 3’can destack two stacks (located on the stack conveyor 1) at the same time. In this way, more efficient egg processing can be achieved, i.e. a high throughput.

[0126] Further, as follows from the above and drawings, reorienting the tray T (from its initial tray orientation to its target tray orientation) in particular includes or consists of rotating the tray (about a vertical axis) over an angle (i.e. a non-zero angle) as will be appreciated by the skilled person. It follows that the tray is rotated to its target orientation over an angle larger than 0 degrees and smaller than 90 degrees, for example over an angle of about 45 degrees, with respect to an initial tray orientation.

[0127] Further, as follows from the above, a tray transfer step can include tray translation in one or more horizontal directions, and e.g. vertical tray movement (i.e. during tray pickup and tray release), e.g. in addition to the tray rotation (tray-reorientation / turning).

Claims

Claims1. Method for destacking egg trays, the method including: -providing a stack area (AS) for positioning a stack (S) of egg trays (T), each of the trays carrying eggs (E), the stack area (AS) in particular having a stack support (2) for supporting the stack (S) of egg trays (T);-transferring individual egg trays (T), each carrying eggs (E), from the stack area (AS) to a tray receiving area (AT), utilizing a tray pickup head (4) of a tray transfer robot (3), wherein the robot (3) has an articulated arm (5) configured for moving the tray pickup head (4) in 3D directions, and wherein the tray pickup head (4) includes suction cups (4a) for engaging the eggs (E);- releasing each individual egg tray (T) by the robot (3) at the tray receiving area (AT) whilst engaging the eggs (E) carried by the tray (T), after which the robot (3) transfers engaged eggs (E) from the tray receiving area (AT) to a remote egg collection area (EA).

2. Method according to claim 1, wherein the tray transfer robot (3) rotates the tray pickup head (4) with respect to the stack area (AS), about a vertical axis, during the egg tray transfer, wherein preferably each egg tray transfer from the stack area (AS) to the tray receiving area (AT) involves a rotating movement of the tray pickup head over a maximum (non-zero) angle smaller than 90 degrees, in particular over an angle of about 45 degrees, from an initial angular pickup head orientation to a target angular pickup head orientation, wherein the robot (3) preferably does not rotate the tray pickup head with respect to the stack area during transfer of eggs from the tray receiving area to the egg collection area (EA).

3. Method according to claim 1 or 2, wherein the egg collection area (EA) has moving egg receiving nests that receive the eggs from the pickup head (4) of the robot (3), wherein the robot (3) preferably cooperates with themoving egg receiving nest for positioning each of the eggs in a predetermined orientation, for example a vertical egg orientation or a slanted egg orientation.

4. Method according to any of claims 1-3, wherein the tray receiving area (AT) adjoins the egg collection area (EA).

5. Method according to any of claims 1-4, wherein the egg collection area (EA) includes a number of parallel rows of egg receiving nests that is larger than, for example at least twice as large as, a number of egg rows that can be held by the robot (3), the nest rows extending normally with respect to a respective egg discharge direction (X’), wherein the robot (3) transfers a first group of eggs to a first group ( l) of the parallel rows of egg receiving nests, wherein the robot transfers a second group of eggs to a second group (G2) of the parallel rows of egg receiving nests, the second group of egg receiving nests being different from, and preferably adjacent to, the first group of egg receiving nests.

6. Method according to any of claims 1-5, wherein the robot (3’) includes at least two pickup heads (4Q, 4R), and picks up at least two trays (T) from one or more stacks (S) using those pickup heads (4Q, 4R).

7. Method according to any of the preceding claims, including transporting at least one of the trays (T), in particular the stack (S) of egg trays (T), along a substantially horizontal transport direction, at an angle of about 45 degrees with respect to the tray transport direction (Y, Y’) when viewed in a top view.

8. Method according to any of the preceding claims, the method at least including the steps:-a) providing the stack area (AS), wherein the stack area (AS) has a stack support (2) for supporting a stack (S) of egg trays (T), each of the trays carrying eggs (E), the subsequent trays (T) of the stack (S) being mutually orientated in 90 degrees displacement; and-b) the tray transfer robot (3) transferring individual egg trays (T), each carrying eggs (E), from the stack area (AS) to a tray area (AT); wherein step b) at least includes reorienting the tray (T) from an initial tray orientation over a maximum angle smaller than 90 degrees to a target tray orientation, for example over an angle of about 45 degrees, wherein the reorienting of the tray (T) in particular consists of rotating the tray (T) over a non-zero angle that is smaller than 90 degrees from its initial tray orientation to the target tray orientation, and wherein in particular the tray (T) has the initial tray orientation in the stack area (AS) and the target tray orientation in the tray area (AT) or alternatively the tray (T) has the initial tray orientation in the tray area (AT) and the target tray orientation in the stack area (AS).

9. Method according to claim 8, including transferring each egg tray (T) between the stack area (AS) and the tray area (AT), by robot pickup head, wherein during its transfer the tray (T) is rotated from its initial tray orientation to a target tray orientation about a vertical axis over an angle of at most 45 degrees, the angle in particular being a non-zero angle, for example an angle of about 45 degrees.

10. Method according to any of the preceding claims 8-9, including transferring a plurality of egg trays (T) between the tray area (AT) and the stack area (AS) via a tray transport path for destacking of the trays, respectively, each tray (T) having a tray area orientation in the tray area when viewed in top view, wherein each tray (T) has a respective tray stacking orientation in the stack area (AS), wherein each tray (T) is rotated about a vertical axis over a non-zero angle that is smaller than 90 degrees, for example an angle of about 45 degrees, during tray transfer between the tray area (AT) and the stack area (AS), such that the respective tray area orientation of the tray (T) and tray stacking orientation of the tray (T) are mutually rotated over said non-zero angle smaller than 90 degrees whenviewed in top view, wherein the stack (S) is held at a fixed stack orientation during destacking of the plurality number of the trays.

11. Method according to any of the preceding claims 8-10, wherein successive egg trays (T) are rotated in successive opposite directions for destacking, respectively, the successive egg trays (T).

12. Method according to any of the preceding claims 8-11, wherein step b) includes utilizing a tray pickup head (4) of a tray transfer robot (3), wherein the robot (3) has an articulated arm (5) configured for moving the tray pickup head (4) in 3D directions.

13. Method according to any of the preceding claims, including transferring a stack (S) of egg trays to or from the stack area (AS), for example via a horizontal transport path, each of the egg trays (T) carrying eggs (E), wherein during its transfer the stack (S) is positioned such that, when viewed in a top view, a center plane (CL) of the stack (S) includes an angle a smaller than 90 degrees with a transport direction (X) of the stack, for example an angle of about 45 degrees.

14. System for transferring egg trays, for stacking or destacking the trays (T), for example a system for carrying out a method according to any of the preceding claims, the system including:- a stack support (2; 102) for supporting a stack (S) of egg trays (T) in a stack area (AS);-at least one tray conveyor (4; 103, 104) for transferring individual egg trays (T) from a tray area (AT) to a stack area (AS), or from the stack area (AS) to the tray area (AT), respectively; wherein the at least one tray conveyor (4; 103; 104) is configured to reorient each tray (T) over a maximum (non-zero) angle smaller than 90 degrees, for example over an angle of about 45 degrees, with respect to an initial tray orientation. wherein in particular the at least one tray conveyor (4; 103; 104) is configured to pickup each tray (T) in a respective initial tray orientation,reorient each tray (T) from the initial tray orientation to a target tray orientation, such that the reorienting of the tray (T) consists of rotating the tray (T) over a non-zero angle that is smaller than 90 degrees, and release the tray (T) in its target tray orientation.

15. System according to claim 14, wherein the tray conveyor is associated with a tray reorientation device (115a, 115b; 116) for reorienting each tray (T) during the transferring of the tray (T) to or from the stack area, respectively, over a maximum angle smaller than 90 degrees, for example over an angle of about 45 degrees.

16. System according to claim 14 or 15, wherein the at least one tray conveyor (4; 103; 104) is configured to rotate a first tray (T) in a first direction of rotation before stacking or destacking the first tray (T), respectively, and to rotate a subsequent second tray (T) in an opposite second direction of rotation before stacking or destacking the subsequent second tray, respectively, wherein the stack support (2) is configured to keep a supported stack (S) in the same orientation during stacking or destacking, respectively, the first tray (T) and the second tray (T).

17. System according to any of the preceding claims 14-16, wherein the at least one tray conveyor includes a tray transfer robot (3) having a tray pickup head (4), wherein the robot (3) has an articulated arm (5) configured for moving the tray pickup head (4) in 3D directions, and wherein the tray pickup head (4) includes suction cups (4a) for engaging eggs (E) supported on a tray during operation.

18. System according to any of claims 14-17, including at least one egg conveyor (12) for transporting eggs to or from an egg area (EA) located near the stack area (AS).

19. System for destacking egg trays, for example for use in a method according to any of the preceding claims, the system including a tray transfer robot (3), wherein the robot (3) has an articulated arm (5) and a tray pickup head (4) for holding an egg tray (T), wherein the articulated arm(5) is configured for moving a tray pickup (4) head in 3D directions, wherein the tray pickup head (4) includes suction cups (4a) for engaging eggs (E) carried by the egg tray (T), wherein the robot (3) is configured for releasing each individual egg tray (T) at a tray receiving area (AT) whilst engaging the eggs (E) carried by the tray (T), wherein the robot (3) is further configured to transfer engaged eggs (E) from the tray receiving area (AT) to a remote egg collection area (EA).

20. System according to claim 19, wherein the tray transfer robot (3) is configured to rotate the tray pickup head (4) with respect to the stack area (AS), about a vertical axis, during the egg tray transfer, preferably such that each egg tray transfer from a stack area (AS) to the tray receiving area (AT) involves a rotating movement of the tray pickup head over a maximum (non-zero) angle smaller than 90 degrees, in particular over an angle of about 45 degrees, from an initial angular pickup head orientation to a target angular pickup head orientation, wherein the robot (3) is preferably configured not to rotate the tray pickup head with respect to the stack area during transfer of eggs from the tray receiving area to the egg collection area (EA).

21. System according to any of claim 19-20, wherein the egg collection area (EA) has moving egg receiving nests that receive the eggs from the pickup head (4) of the robot (3), wherein the robot (3) preferably cooperates with the moving egg receiving nest for positioning each of the eggs in a predetermined orientation, for example a vertical egg orientation or a slanted egg orientation.

22. System according to any of claims 19-21, wherein a size of the egg collection area (EA) is associated with a number of parallel rows of egg receiving nests that is larger than, for example at least twice as large as, a number of egg rows that can be held by the robot (3), the rows extending normally with respect to an egg discharge direction (X’), wherein the robot (3) is configured to transfer a first group of eggs to a first group ( l) of theparallel rows of egg receiving nests, wherein the robot is configured to transfer a second group of eggs to a second group (G2) of the parallel rows of egg receiving nests, the second group (G2) of egg receiving nests being different from the first group (Gl) of egg receiving nests.

23. System according to any of claims 19-22, wherein the robot (3’) includes at least two pickup heads (4Q, 4R), for holding at least two trays (T) at the same time.

24. Method for transferring egg trays, for stacking or destacking trays, for example a method according to any of the preceding claims 1-13, the method at least including the steps:-a) providing a stack area (AS) having a stack support (2) for supporting a stack (S) of egg trays (T), each of the trays carrying eggs (E), the subsequent trays (T) of the stack (S) being mutually orientated in 90 degrees displacement; and-b) transferring individual egg trays (T), each carrying eggs (E), between the stack area (AS) and a tray area (AT); wherein step b) at least includes reorienting the tray (T) over a maximum angle smaller than 90 degrees, for example over an angle of about 45 degrees, with respect to an initial tray orientation, wherein the reorienting of the tray (T) in particular consists of rotating the tray (T) over a non-zero angle that is smaller than 90 degrees from its initial tray orientation to a target tray orientation, and wherein in particular the tray (T) has the initial tray orientation in the stack area (AS) and the target tray orientation in the tray area (AT) or alternatively the tray (T) has the initial tray orientation in the tray area (AT) and the target tray orientation in the stack area (AS).

25. Method according to claim 24, including transferring each egg tray (T) between the stack area (AS) and the tray area (AT), for example via a horizontal transport path or by a robot pickup head, wherein during its transfer the tray (T) is rotated from its initial tray orientation to a targettray orientation about a vertical axis over an angle of at most 45 degrees, the angle in particular being a non-zero angle, for example an angle of about 45 degrees.

26. Method according to any of the preceding claims 24-25, including transferring a plurality of egg trays (T) between the tray area (AT) and the stack area (AS) via a tray transport path for stacking or destacking of the trays, respectively, each tray (T) having a tray area orientation in the tray area when viewed in top view, wherein each tray (T) has a respective tray stacking orientation in the stack area (AS), wherein each tray (T) is rotated about a vertical axis over a non-zero angle that is smaller than 90 degrees, for example an angle of about 45 degrees, during tray transfer between the tray area (AT) and the stack area (AS), such that the respective tray area orientation of the tray (T) and tray stacking orientation of the tray (T) are mutually rotated over said non-zero angle smaller than 90 degrees when viewed in top view, wherein the stack (S) is held at a fixed stack orientation during stacking or destacking of the plurality number of the trays.

27. Method according to any of the preceding claims 24-26, wherein successive egg trays (T) are rotated in successive opposite directions for stacking or destacking, respectively, the successive egg trays (T).

28. Method according to any of the preceding claims 24-27, wherein step b) includes utilizing a tray pickup head (4) of a tray transfer robot (3), wherein the robot (3) has an articulated arm (5) configured for moving the tray pickup head (4) in 3D directions.

29. Method for transporting an egg tray, filled with eggs, along a substantially horizontal transport direction, for example as part of a method according to any of the preceding claims 1-12, 24-28, wherein the method includes: transporting the tray (T) at an angle of about 45 degrees with respect to a tray transport direction (Y, Y’), viewed in a top view, during tray transport, wherein optionally the tray (T) is part of a stack (S) of egg trays.

30. Method for transporting a stack of egg trays along a substantially horizontal transport direction, for example as part of a method according to any of the preceding claims 1-12, 24-28, wherein each of the egg trays (T) is filled with eggs (E), wherein the subsequent trays (T) of the stack (S) are mutually orientated in 90 degrees displacement, wherein the method includes: transporting the stack (S) at an angle of about 45 degrees with respect to a stack transport direction (X), viewed in a top view, during stack transport.

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