Shelf opening device for egg container transport cart and automatic egg pack placing system

Abstract

To provide a shelf opening device that can automatically open folded shelves (return the folded state to the original state (rack state), which can automatically open the folded shelves.SOLUTION: A shelf opening device 1 according to the present invention comprises: a shelf opening unit 14 which is movable in the vertical direction on the rear side of a frame body; a shelf opening unit drive part 13; a slope forming part 15 provided on the shelf opening unit 14; a first preliminary opening part 17 which is inserted into the gap at the center bend in order to increase the opening state of the acute angle formed the folding shelf which is in a sloped state or cantilever state at the slope forming part 15; a second preliminary opening part 27 which is inserted into a position in contact with the front bottom surface (front shelf plate part 322f) across the hinge of the folding shelf; and an extrusion part 16 which pushes the folding shelf forward and places the folding shelf on a loading rail.SELECTED DRAWING: Figure 2C

Description

Technical Field

[0001] The present invention relates to a shelf opening device for a chicken egg container transport cart and an automatic chicken egg pack loading system. 。

Background Art

[0002] In order to transport packs filled with chicken eggs to retailers such as supermarkets, transport racks are used. For example, there are transport roll boxes dedicated to chicken egg packs manufactured by Yoshida Ersis Co., Ltd., and raw egg carts (roll racks) manufactured by San-Ei Seisakusho Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting a case for accommodating chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly storable in the depth direction. 。

[0003] In the transport rack of Patent Document 1, the back frame and the side frame are connected via hinges, and all the shelf boards are folded in half at the center and folded toward the back frame side, so that the side frame is folded toward the back frame side to become compact. 。

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The operation of loading chicken egg packs onto the above transport rack was performed after returning (opening) the folded shelf boards of the transport rack. 。 However, when all the shelf boards are returned to their original positions, as the loading progresses, the shelf board directly above becomes an obstacle, and since a space of a necessary degree for the loading operation is required, the loading filling rate of the packs decreases. To increase this filling rate, it may be performed in a folded state without returning the shelf board directly above. However, in the case of manual work, there is a possibility of forgetting to return the shelf board directly above. Also, it is conceivable to automatically load the egg packs onto the transport rack with a robot arm. However, when the plurality of shelf boards are not folded and are in their original positions, the shelf board directly above becomes an obstacle to the working space of the robot arm. Similar to the above, the loading operation may be performed in a folded state without returning the shelf board directly above. However, manually returning the shelf board will interrupt the work temporarily, resulting in a decrease in work efficiency. And, as far as the inventors know, there is no device that automatically returns the shelf board of the transport rack to its original position. Therefore, an object of the present invention is to provide a shelf opening device that can automatically open a folding shelf (return the folded state to the original state (shelf state)). Also, to provide a shelf opening device that can automatically open a folding shelf in conjunction with the operation of a robot arm for placing packs. Also, to provide an automatic egg pack placement system having a feeding device that automatically introduces an egg container transport cart into the shelf opening device and discharges it from the shelf opening device after placing the packs, and the shelf opening device (and the robot arm).

[0006]

Means for Solving the Problems

Means for Solving the Problems

[0007] The shelf opening device of the present invention is a frame body forming a back surface, a front surface, and both side surfaces, On the back side of the frame body, a shelf opening unit (14) that is movable in the vertical direction, a shelf opening unit drive unit (13, 131) that drives the shelf opening unit (14) up and down and, an inclination forming unit (15, 151) provided on the shelf opening unit (14) (for example, suction means), which is located at one end (the back side facing the front) of the placement rail of the egg container transport cart (for example, a pair of rails facing each other ), and folds the folding shelf in a folded state at the folding state position (P1) into a middle-folded state (for example, a shelf folded into two with the hinge at the top of the middle fold in the upward direction), and makes the shelf inclined or cantilevered with respect to the placement rail, the inclination forming unit (15, 15 1), and, a first preliminary opening unit (17) inserted into the gap of the middle fold to increase the opening state of the acute angle formed by the middle fold of the folding shelf in an inclined state or a cantilevered state by the inclination forming unit (15, 151) (from an initial 0 degree to, for example, 10 degrees to 30 degrees), and, a second preliminary opening unit (27) inserted at a position in contact with or near the bottom surface (front shelf plate part) on the front side (front of the hinge position) across the hinge of the folding shelf when the opening of the middle fold has been increased by the first preliminary opening unit (17), that is, in the vicinity of contacting the bottom surface (for example, below the bottom surface and the gap from the bottom surface is within 2 cm), and, an extrusion unit (16) that holds the opening state of the middle fold by the first and second preliminary opening units (17, 27), releases the inclination action by the inclination forming unit (15, 151) (after suction release), extrudes the folding shelf forward, and places the folding shelf on the placement rail is provided. The shelf opening device includes at least one correction clip provided on the shelf opening unit (14).

[0008] ​​​​A lamp (28) that abuts on at least one side frame of the chicken egg container transport cart or grips and corrects so that a pair of side frames have a predetermined position relationship (a positional relationship in which the pair of side frames are perpendicular to the rear frame) with respect to the rear frame of the chicken egg container transport cart You may be provided with a correction clamp (28). A drive unit 282 for the correction clamp (for example, an air cylinder , an electric cylinder, etc.) for driving the correction clamp (28) may be provided. The correction clamp (28) may be configured to expand and contract from the outside of the side frame of the chicken egg container transport cart toward the side frame . The correction clamp (28) may be provided with a horizontally long rectangular contact portion . A part or all of the contact portion may be made of an elastic body.

[0009] The second preliminary release portion (27) is a rod-shaped pin provided in the shelf release unit (14) (271), and the bottom surface on the front side (the front side of the hinge position) sandwiching the hinge of the folding shelf ( front shelf board portion) or a position in contact with the bottom surface or in the vicinity of the bottom surface (for example, below the bottom surface and within a gap of 2 cm from the bottom surface ), and a drive unit for the pin (for example, an air cylinder, an electric cylinder, etc.) for driving the pin (271) may be provided. (for example, an air cylinder, an electric cylinder, etc.) may be provided. The second preliminary release portion (27) may be provided above or below the correction clamp (28). The second preliminary release portion (27) and / or the correction clamp (28) may be provided in front of the first preliminary release portion (17).

[0010] The shelf opening device has a control unit, The control unit is ​Command the shelf opening unit drive parts (13, 131) to control the vertical movement of the shelf opening unit (14) and command the tilt forming parts (15, 151) to control the folding shelf in the middle-fold state at the folding state position (P1) to be in an inclined state or a cantilevered state with respect to the mounting rail Command the first preliminary opening part (17) to insert (in a rod shape) into the gap of the middle fold to control the acute angle opening state formed by the middle fold of the folding shelf in the inclined state or the cantilevered state to be enlarged Command the second preliminary opening part (27) to insert (in a rod shape) at a position in contact with or near the bottom surface (front shelf plate part) on the front side (front side of the hinge position) of the folding shelf sandwiching the hinge of the folding shelf in a state where the acute angle opening state of the middle fold has been enlarged by the first preliminary opening part (17) (for example, below the bottom surface and the gap from the bottom surface is within 2 cm) to control the acute angle opening state to be maintained Command the extrusion part (16) to push the folding shelf forward and control the folding shelf to be placed (opened or deployed) on the mounting rail The control part may command the tilt forming part to control to release the inclined state or the cantilevered state, then command the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then command the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and control the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail Command the extrusion part (16) to push the folding shelf forward and control the folding shelf to be placed (opened or deployed) on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail Command the extrusion part (16) to push the folding shelf forward and control the folding shelf to be placed (opened or deployed) on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail Command the extrusion part (16) to push the folding shelf forward and control the folding shelf to be placed (opened or deployed) on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail Command the extrusion part (16) to push the folding shelf forward and control the folding shelf to be placed (opened or deployed) on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail The control part commands the tilt forming part to control to release the inclined state or the cantilevered state, then commands the first preliminary opening part (17) to release the state of being inserted into the gap of the middle fold (return the rod shape to the origin position), then commands the second preliminary opening part (27) to release the maintenance of the acute angle opening state (return the rod shape to the origin position), and controls the front end of the folding shelf in a state where the acute angle opening is large to be placed on the mounting rail

[0011] The control part With the chicken egg pack transfer means (robot arm), the folding shelf and / or the chicken egg pack When stacking chicken egg packs (EP) on top of the (EP), when stacking (for example, the topmost chicken egg pack (E P)), the inclination forming parts (15, 151) are commanded so that the folding shelf in the middle-folded state at the folded state position (P 1) is in an inclined state or a cantilevered state with respect to the placement rail (the state where the folding shelf is inclined backward) may be controlled. For example, when stacking the topmost chicken egg pack (EP), by making the folding shelf in a state of being inclined backward a space can be secured between the folding shelf and the chicken egg pack below it, and the operation interference of the robot arm and the suction hand part can be reduced.

[0012] The control unit commands the driving part for the correction clamp so that the correction clamp (28) abuts on or grips at least one side frame of the chicken egg container transport cart, and thereby controls the pair of side frames to have a predetermined positional relationship (a positional relationship in which the pair of side frames is perpendicular to the back frame) with respect to the back frame of the chicken egg container transport cart. The extrusion part (16) may be one or a plurality. The tip (161) of the extrusion part (16) may have an elastic member. The first preliminary release part (17) may have a first support column (171) extending forward from the shelf release unit (14) and a second support column ( 172) that rotates according to the rotation of the first support column (171) in the column axis direction.

[0013] The second support column (172) may be rod-shaped and an elastic member may be provided around it. The tip of the second support column (172) faces vertically downward, and the second support column (172) faces the middle-folded state (hinge direction) of the folding shelf in an inclined state or a cantilevered state by the suction parts (15, 151). The first preliminary release part (17) may have a first support column (171) extending forward from the shelf release unit (14) and a second support column ( 172) that rotates according to the rotation of the first support column (171) in the column axis direction. The second support column (172) may be rod-shaped and an elastic member may be provided around it. The second support column (172) may be rod-shaped and an elastic member may be provided around it. The tip of the second support column (172) faces vertically downward, and the second support column (172) faces the middle-folded state (hinge direction) of the folding shelf in an inclined state or a cantilevered state by the suction parts (15, 151). The tip of the second support column (172) faces vertically downward, and the second support column (172) faces the middle-folded state (hinge direction) of the folding shelf in an inclined state or a cantilevered state by the suction parts (15, 151). The tip of the support column (172) rotates 90 degrees around the rotation axis and is inserted into the folding shelf in a middle-folded state, and the opening of the acute angle of the middle fold is widened.

[0014] The shelf opening device may have a stopper or a clamp that abuts or grips the frame or a part of the chicken egg container transport cart, and suppresses the movement of the chicken egg container transport cart. The stopper may be provided on the rear frame, side frame, front frame of the shelf opening device and / or the shelf opening unit. The tip of the stopper or clamp may be composed of an elastic member. A drive unit for driving the stopper or clamp ( for example, an air cylinder, an electric cylinder, etc.) may be provided. The shelf opening device may have one or more stop position detection units (S2) that detect a part constituting the transported chicken egg container transport cart. When the stop position detection unit detects the chicken egg container transport cart , the control unit may issue a command to the stopper or clamp and be driven to stop the chicken egg container transport cart.

[0015] The shelf opening device may have one or more detection units that detect a predetermined position of the shelf opening unit (14). When the detection unit detects the vertical position of the shelf opening unit (14) , the control unit may issue a command to the shelf opening unit drive units (13, 131) to start or stop the drive. The shelf opening unit (14) may have one or more folding shelf detection units that detect the folding shelf in the middle-folded state at the folded state position (P1). When the folding shelf detection unit detects the folding shelf , the control unit may issue a command to the shelf opening unit drive units (13, 131) to start or stop the drive. ​​

[0016] The shelf opening device may have one or more shelf opening detectors (S3) for detecting whether the folding shelf is in an open state and the height direction position of the folding shelf in the open state. The control unit may be configured to output an alarm when the folding shelf (position) in the open state is not detected by the shelf opening detector (S3) after the operation of the extrusion unit. The shelf opening device of another invention includes a frame body forming a back surface, a front surface, and both side surfaces,

[0017] a shelf opening unit (14) that is movable in the vertical direction on the back side of the frame body, a shelf opening unit driving unit (13, 131) that drives the shelf opening unit (14) up and down, and an inclination forming unit (15, 151) provided in the shelf opening unit (14) (for example, suction means), which is located at one end (the back side facing the front) of the mounting rail of the egg container transport cart (for example, a pair of rails facing each other ) and is in a folded state at the folded state position (P1), and folds the folding shelf in a middle-folded state (for example, a shelf folded into two with the hinge at the top of the middle fold in the upward direction), and makes the folding shelf inclined or cantilevered with respect to the mounting rail, the inclination forming unit (15, 15 1), and an opening control unit (not shown) for opening the folded state of the folded shelf in an inclined state or a cantilevered state toward the front by suction means or locking means. The opening control unit issues a command to the transfer means provided with the suction means, sucks the flat surface portion of the folded shelf in an inclined state or a cantilevered state by the inclination forming unit (15, 151) with the suction means, stops the action of the inclination forming unit (15, 151) on the folded shelf, and is provided with. The opening control unit issues a command to the transfer means provided with the suction means, sucks the flat surface portion of the folded shelf in an inclined state or a cantilevered state by the inclination forming unit (15, 151) with the suction means, stops the action of the inclination forming unit (15, 151) on the folded shelf, and Issue a command to the transfer means provided with the suction means, and fold the The shelf can be moved forward and each element (the inclination forming part, the suction means, the transfer means) can be controlled to place it on the placement rail. The suction means is composed of means capable of, for example, negative pressure suction and magnet suction. The opening control unit Issues a command to the transfer means provided with the locking means, and the locked part (a part of the front frame, the object to be locked, a rod-shaped frame, etc.) of the folding shelf in an inclined state or a cantilevered state in the inclination forming part (15, 151) is locked by the locking means (for example, hooked with a hook and grasped with a chuck), The action of the inclination forming part (15, 151) on the folding shelf is stopped, Issue a command to the transfer means provided with the locking means, and move the folding shelf locked by the locking means forward and control each element (the inclination forming part, the locking means, the transfer means) to place it on the placement rail. The shelf opening device may be provided with a transfer means having a suction means and / or a transfer means having a locking means, or may be configured to issue a command to a transfer means of another system for use. The shelf opening device may be provided with a robot arm and its hand for placing the chicken egg pack (EP) on the folding shelf of the chicken egg container transport cart, and the robot arm and its hand may also serve as the transfer means. Before the operation of the suction means or the locking means, by inclining or cantilevering the folding shelf with the inclination forming part, the operation range of the suction means or the locking means can be widely secured, and the contact with the chicken egg pack can be suppressed. By fixing the folding shelf at a fixed position with the inclination forming part, the deviation of the initial position due to the deformation of the folding shelf ​​​​​​​​Eliminate the situation where the folding shelf moves forward towards the moving means side, etc., and enable more stable adsorption or locking. It can be carried out.

[0018] Another invention's automatic egg pack placement system for chicken eggs is as follows: Automatically introduce the chicken egg container transport cart (3) to the shelf opening device (1), and after placing the chicken egg pack (EP), there is a feeding device (2) that leads it out from the shelf opening device (1), the shelf opening device (1), and a robot arm. It has.

Brief Explanation of Drawings

[0019]

Figure 1

Figure 2A

Figure 2B

Figure 2C

Figure 2D

Figure 2E

Figure 2F

Figure 2G

Figure 3A

Figure 3B

Figure 4A

Figure 4B

Figure 4C

Figure 5A

Figure 5B

Figure 5C

[0020] (Embodiment 1) The egg pack automatic placing system according to the first embodiment will be described. FIG. 1 shows the overall configuration of the egg carton automatic placement system. The feed device 2 has the second, third and fourth folding shelves 322, 323 and 324 in a folded state. The egg container transport cart 3 with the bottom first folding shelf 321 open is automatically transported. The egg packs are introduced into the shelf opening device 1, and after a predetermined number of egg packs EP are loaded, the egg packs are removed from the shelf opening device 1. The feed device 2 is a conveying means (not shown) such as a rail-type conveyor that carries a cart and moves it. ) and a standby detection unit S1 that detects a standby position provided before being sent to the shelf opening device 1. When the egg container transport cart 3 reaches a position where it is detected by the standby detection unit S1, the transport means The egg container transport cart 3 is stopped at the standby position. If vehicle 3 is not available, the egg containers waiting at the standby position (or not waiting) will be The egg container transport cart 3 is sent in. The shelf opening device 1 places the egg packs EP on the egg container transport cart 3. When the required number of eggs have been stacked, the egg container transport cart 3 is discharged downstream in the conveying direction from the shelf opening device 1. . The shelf opening device 1 places a predetermined number of egg cartons on the first folding shelf 321 by a robot arm (not shown). After the EPs are loaded, the second folding shelf 322 is automatically opened. Next, the shelf opening device 1 After a predetermined number of egg packs EP are loaded onto the folding shelf 322 by a robot arm (not shown), Automatically open the triple-fold shelf 323. The automatic opening of the fourth-fold shelf 324 is the same. Details will be described later. Do. The robot arm (not shown) is provided with a suction part at the tip of the arm. The suction part (not shown) Suctions and holds the upper surfaces of a plurality of egg packs EP conveyed by a belt conveyor (not shown), And transfers and stacks them on the first, second, third, and fourth fold shelves of the egg container transport cart 3.

[0021] (Egg container transport cart) Next, the egg container transport cart 3 will be described. Commonly circulated egg container transport Carts are, for example, the dedicated transport roller box for egg packs manufactured by Yoshida Elsys Co., Ltd. shown in the prior art, The raw egg cart (roll rack) manufactured by San-Ei Seisakusho Co., Ltd., and the transport rack described in Patent Document 1. What these have in common is a bottom frame, a rear frame, both side frames And a middle-foldable fold shelf (sometimes also referred to as a shelf board). As shown in FIG. 2A, the egg container transport cart 3 includes a bottom frame 33, a rear frame 34 fixed to the bottom frame 33 in an L shape in side view, A first side frame 31 and a second side frame (not shown) connected to the rear frame 33 with a hinge (not shown) so as to be foldable. The bottom frame 33 is provided with wheels that can rotate freely at its four corners. On the first side frame 31, a first side plate 311, a second side plate 312, a third side plate 313, and a fourth side plate 314 are provided at predetermined intervals in order from the bottom, in the width direction of the frame (the direction from the back surface perpendicular to the vertical direction to the front surface).

[0022] The first side plate 311, the second side plate 312, the third side plate 313, and the fourth side plate 314 each extend perpendicularly (substantially perpendicularly) from their respective bottom edges toward the inside of the egg container transport cart 3 to form a first placement level. Board 312, the third side plate 313, and the fourth side plate 314 are provided in the width direction of the frame (the direction from the back surface perpendicular to the vertical direction to the front surface). From the back surface to the front). The first side plate 311, the second side plate 312, the third side plate 313, and the fourth side plate 314 each extend At a right angle (substantially right angle) from their respective bottom edges toward the inside of the egg container transport cart 3 to form a first placement level. - First placement rail 3111, second placement rail 3121, third placement rail 3131, fourth placement rail 31 41 are provided. Second side frames (not shown) facing each of the first side plate 311, second side plate 312, third side plate 313, and fourth side plate 314 also have similar opposing side plates and placement rails provided. -

[0023] One end of the folding shelf is pivotally supported and rotatably connected to the end on the back side (the side of the back frame 34) of a pair of opposing placement rails. The folding shelf is configured to be foldable in the middle by a hinge at its central part (for example, the fourth hinge 3241 of the fourth folding shelf 324). In Fig. 2A, the first folding shelf 321 is in a state of being opened on the first placement rail 3111, and a predetermined number of chicken egg packs EP have already been stacked. The second folding shelf 322, third folding shelf 323 , and fourth folding shelf 324 are each in a folded state and placed at the folded state position P1. The front tip and back tip of each folding shelf extend obliquely upward. Thereby, the movement of the chicken egg pack EP in the back direction and front direction can be restricted. Also, it can function as a guide for the advancing direction when inserting the second support column of the first preliminary opening part described later.

[0024] (Shelf opening device) The shelf opening device 1 includes a frame body 10 that forms a back part 12, a front part 11, and both side surfaces (not shown), a shelf opening unit 1 4 that is movable in the vertical direction on the back part 12 side of the frame body 10, a shelf opening unit drive part 13 that drives the shelf opening unit 14 up and down, and a drive belt 13 1 (a toothed belt or a chain may also be used), a suction drive part 1 5 provided on the shelf opening unit 14, and a suction pad 151 provided at its tip. The shelf opening unit 14 includes a main body frame 141 and a front frame 142 provided forward from the main body frame 141. The main body frame 141 is provided with a suction drive unit 15 and a first preliminary opening unit 17. Also, a clamp drive unit 128 for driving a back fixing clamp 127 is provided. The suction pad 151 driven forward by the suction drive unit 15 contacts and sucks the folding shelf in the folded state at the folded position P1, and by pulling it backward, it is inclined or lifted with respect to the mounting rail. In FIG. 2A, the shelf opening unit drive unit 13 is stopped at a position facing the second folding shelf 322 (the stop position may be detected by a sensor not shown), the suction drive unit 15 extends obliquely downward forward, and the suction pad 151 adsorbs to the second folding shelf 322 (the back shelf plate portion 322r) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward to the back, so that it is inclined or lifted with respect to the second mounting rail 3121. The first preliminary opening unit 17 is inserted into the gap of the fold to increase the acute opening state formed by the fold of the folding shelf in the inclined or lifted state (from the initial 0 degrees, for example, widened from 10 degrees to 30 degrees).

[0025] The suction pad 151 driven forward by the suction drive unit 15 contacts and sucks the folding shelf in the folded state at the folded position P1, and by pulling it backward, it is inclined or lifted with respect to the mounting rail. In FIG. 2A, the shelf opening unit drive unit 13 is stopped at a position facing the second folding shelf 322 (the stop position may be detected by a sensor not shown), the suction drive unit 15 extends obliquely downward forward, and the suction pad 151 adsorbs to the second folding shelf 322 (the back shelf plate portion 322r) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward to the back, so that it is inclined or lifted with respect to the second mounting rail 3121. The first preliminary opening unit 17 is inserted into the gap of the fold to increase the acute opening state formed by the fold of the folding shelf in the inclined or lifted state (from the initial 0 degrees, for example, widened from 10 degrees to 30 degrees). In FIG. 2A, the shelf opening unit drive unit 13 is stopped at a position facing the second folding shelf 322 (the stop position may be detected by a sensor not shown), the suction drive unit 15 extends obliquely downward forward, and the suction pad 151 adsorbs to the second folding shelf 322 (the back shelf plate portion 322r) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward to the back, so that it is inclined or lifted with respect to the second mounting rail 3121. In FIG. 2A, the shelf opening unit drive unit 13 is stopped at a position facing the second folding shelf 322 (the stop position may be detected by a sensor not shown), the suction drive unit 15 extends obliquely downward forward, and the suction pad 151 adsorbs to the second folding shelf 322 (the back shelf plate portion 322r) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward to the back, so that it is inclined or lifted with respect to the second mounting rail 3121. In FIG. 2A, the shelf opening unit drive unit 13 is stopped at a position facing the second folding shelf 322 (the stop position may be detected by a sensor not shown), the suction drive unit 15 extends obliquely downward forward, and the suction pad 151 adsorbs to the second folding shelf 322 (the back shelf plate portion 322r) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward to the back, so that it is inclined or lifted with respect to the second mounting rail 3121. In FIG. 2A, the shelf opening unit drive unit 13 is stopped at a position facing the second folding shelf 322 (the stop position may be detected by a sensor not shown), the suction drive unit 15 extends obliquely downward forward, and the suction pad 151 adsorbs to the second folding shelf 322 (the back shelf plate portion 322r) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward to the back, so that it is inclined or lifted with respect to the second mounting rail 3121. In FIG. 2A, the shelf opening unit drive unit 13 is stopped at a position facing the second folding shelf 322 (the stop position may be detected by a sensor not shown), the suction drive unit 15 extends obliquely downward forward, and the suction pad 151 adsorbs to the second folding shelf 322 (the back shelf plate portion 322r) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward to the back, so that it is inclined or lifted with respect to the second mounting rail 3121.

[0026] The first preliminary opening unit 17 is inserted into the gap of the fold to increase the acute opening state formed by the fold of the folding shelf in the inclined or lifted state (from the initial 0 degrees, for example, widened from 10 degrees to 30 degrees). The first preliminary opening unit 17 is inserted into the gap of the fold to increase the acute opening state formed by the fold of the folding shelf in the inclined or lifted state (from the initial 0 degrees, for example, widened from 10 degrees to 30 degrees). The first preliminary opening unit 17 is inserted into the gap of the fold to increase the acute opening state formed by the fold of the folding shelf in the inclined or lifted state (from the initial 0 degrees, for example, widened from 10 degrees to 30 degrees). In FIGS. 2B and 2C, the first preliminary opening unit 17 has a first support column 171 extending forward from the shelf opening unit 14 and a second support column 172 that rotates according to the rotation of the first support column 171 in the column axis direction. The second support column 172 is rod-shaped, and an elastic member may be provided around it. In FIGS. 2B and 2C, the first preliminary opening unit 17 has a first support column 171 extending forward from the shelf opening unit 14 and a second support column 172 that rotates according to the rotation of the first support column 171 in the column axis direction. The second support column 172 is rod-shaped, and an elastic member may be provided around it. In FIGS. 2B and 2C, the first preliminary opening unit 17 has a first support column 171 extending forward from the shelf opening unit 14 and a second support column 172 that rotates according to the rotation of the first support column 171 in the column axis direction. The second support column 172 is rod-shaped, and an elastic member may be provided around it. The tip of the second support column 172 faces vertically downward at the origin position. In the preliminary opening operation, the suction With the movement of the pulling pad 151, at least a part or the tip of the second support column 172 rotates 90 degrees according to the rotation of the first support column 171 and is inserted into the second folding shelf 322 in the middle-fold state (in the direction of the second hinge 3221) of the second folding shelf 322 in an inclined state or a cantilevered state, and the opening angle of the acute angle of the middle-fold greatly expands. At this time, the position of the front-side tip 3222 of the second folding shelf 322 moves from the back to the front and does not touch the second placement rail 3121 and is in a floating state. Towards the middle-fold state (in the direction of the second hinge 3221) of the second folding shelf 322 in an inclined state or a cantilevered state, at least a part of the second support column 172 or the tip rotates 90 degrees according to the rotation of the first support column 171 and is inserted into the second folding shelf 322 in the middle-fold state. The opening angle of the acute angle of the middle-fold greatly expands. At this time, the position of the front-side tip 3222 of the second folding shelf 322 moves from the back to the front and does not touch the second placement rail 3121 and is in a floating state. The position of the front-side tip 3222 of the second folding shelf 322 moves from the back to the front and does not touch the second placement rail 3121 and is in a floating state. The position of the front-side tip 3222 of the second folding shelf 322 moves from the back to the front and does not touch the second placement rail 3121 and is in a floating state. An inclined surface 173 is provided on the side surface of the second support column 172 (the surface in contact with the bottom surface of the front shelf plate portion 322f of the second folding shelf 322). Corresponding to the setting of the inclination angle of this inclined surface, the opening angle of the acute angle of the middle-fold can be set. Corresponding to the setting of the inclination angle of this inclined surface, the opening angle of the acute angle of the middle-fold can be set.

[0027] The second preliminary release portion 27 includes a rod-shaped pin 271 and a driving portion 272 for the pin that advances the pin 271 from the origin position or returns (retracts) the pin 271 to the origin position, and is provided on a front frame 142 provided forward from the main body frame 141 of the shelf opening unit 14 (see Fig. 2F). In Figs. 2B and 2C(a), the pin 271 advances and is inserted into a position in contact with the bottom surface (front shelf plate portion 322f) on the front side across the second hinge 3221 of the second folding shelf 322. In Figs. 2B and 2C(a), the pin 271 advances and is inserted into a position in contact with the bottom surface (front shelf plate portion 322f) on the front side across the second hinge 3221 of the second folding shelf 322. In Figs. 2B and 2C(a), the pin 271 advances and is inserted into a position in contact with the bottom surface (front shelf plate portion 322f) on the front side across the second hinge 3221 of the second folding shelf 322. In Figs. 2B and 2C(a), the pin 271 advances and is inserted into a position in contact with the bottom surface (front shelf plate portion 322f) on the front side across the second hinge 3221 of the second folding shelf 322.

[0028] In the state transition diagram (b) of Fig. 2C, first, the suction pad 151 detaches from the second folding shelf 322 (rear shelf plate portion 322r). In this embodiment, the suction is stopped, and the suction pad 151 returns to the origin position. The suction pad 151 that has returned to the origin position is shown by a dashed line. Next, the first support column 171 rotates counterclockwise to return the second support column 172 to the origin position. The first support column 171 and the second support column 172 that have returned to the origin position are shown by dashed lines. As shown in the state transition diagram (c), on the front side of the second folding shelf 322 In the state transition diagram (b) of Fig. 2C, first, the suction pad 151 detaches from the second folding shelf 322 (rear shelf plate portion 322r). In this embodiment, the suction is stopped, and the suction pad 151 returns to the origin position. The suction pad 151 that has returned to the origin position is shown by a dashed line. Next, the first support column 171 rotates counterclockwise to return the second support column 172 to the origin position. The first support column 171 and the second support column 172 that have returned to the origin position are shown by dashed lines. As shown in the state transition diagram (c), on the front side of the second folding shelf 322 In the state transition diagram (b) of Fig. 2C, first, the suction pad 151 detaches from the second folding shelf 322 (rear shelf plate portion 322r). In this embodiment, the suction is stopped, and the suction pad 151 returns to the origin position. The suction pad 151 that has returned to the origin position is shown by a dashed line. Next, the first support column 171 rotates counterclockwise to return the second support column 172 to the origin position. The first support column 171 and the second support column 172 that have returned to the origin position are shown by dashed lines. As shown in the state transition diagram (c), on the front side of the second folding shelf 322 In the state transition diagram (b) of Fig. 2C, first, the suction pad 151 detaches from the second folding shelf 322 (rear shelf plate portion 322r). In this embodiment, the suction is stopped, and the suction pad 151 returns to the origin position. The suction pad 151 that has returned to the origin position is shown by a dashed line. Next, the first support column 171 rotates counterclockwise to return the second support column 172 to the origin position. The first support column 171 and the second support column 172 that have returned to the origin position are shown by dashed lines. As shown in the state transition diagram (c), on the front side of the second folding shelf 322 In the state transition diagram (b) of Fig. 2C, first, the suction pad 151 detaches from the second folding shelf 322 (rear shelf plate portion 322r). In this embodiment, the suction is stopped, and the suction pad 151 returns to the origin position. The suction pad 151 that has returned to the origin position is shown by a dashed line. Next, the first support column 171 rotates counterclockwise to return the second support column 172 to the origin position. The first support column 171 and the second support column 172 that have returned to the origin position are shown by dashed lines. As shown in the state transition diagram (c), on the front side of the second folding shelf 322 The bottom surface (front shelf part 322f) slides while being supported along the pin 271, and the front-side tip 32 22 drops from the floating state and comes into contact with the second placement rail 3121. Next, the pin 271 is retracted and returned to the origin position.

[0029] In FIG. 2D, the extrusion part 16 releases the tilting action by the suction pad 151 with respect to the second folding shelf 322 in which the first and second preliminary release parts 17 and 27 are in a middle-folded open state with a large opening. After that (after suction release), the second folding shelf 322 is pushed forward from the shelf release unit 14 side, and the second folding shelf 322 is flatly placed on the second placement rail 3121. At this time, the front-side tip 3222 of the second folding shelf 3 22 preferably moves while sliding in contact with the second placement rail 3121. is preferred. In FIG. 2E, the second folding shelf 322 is shown in a state of being flatly placed on the second placement rail 3121. The extrusion part 16 may be one or a plurality. The tip 161 of the extrusion part 16 has an elastic part material. The extrusion part 16 is composed of, for example, an air cylinder, an electric cylinder, or the like.

[0030] The shelf release device 1 has one or more (at least one) shelf release detection parts S3 that detect whether the folding shelf is in an open state and the height-direction position of the folding shelf in the open state In FIG. 2E, the shelf release detection part S3 extends forward from the upper end of the back surface part 12 and detects the presence and distance of the lower folding shelf. The shelf release detection part S3 does not detect when the folding shelf is in a middle-folded state and folded on the back side, but is configured to detect when it is flatly opened.

[0031] The shelf opening device 1 has a control unit (not shown) that controls the stop and discharge of the incoming egg container transport cart 3, the preliminary opening operation, and the opening operation. The control unit commands the shelf opening unit drive unit 13 to control the vertical movement of the shelf opening unit 14 to do. Further, the control unit commands the suction drive unit 15 to place the folding shelf in the middle-folded state at the folded state position P1 to be in an inclined state or a cantilevered state with respect to the mounting rail. Further, the control unit commands the first preliminary opening unit 17 to insert (the rod-shaped second support column 172 ) into the gap of the middle fold to control the acute-angle opening state formed by the middle fold of the folding shelf in the inclined state or the cantilevered state to be enlarged. Further, the control unit commands the pin drive unit 272 to insert the pin 271 into the position in contact with the front bottom surface (front shelf plate portion) by sandwiching the hinge of the folding shelf in the state where the opening of the middle fold has been enlarged by the second support column 172, so as to control the acute-angle opening state to be maintained. Further, the control unit commands the extrusion unit 16 to push out the folding shelf from the back side forward and control to place the folding shelf on the mounting rail. The control unit may output an alarm when it does not detect the folding shelf (position) in the state where the shelf opening detection unit S3 is opened after the operation of the extrusion unit 16.

[0032] The shelf opening device 1 preferably has a stopper or a clamp that abuts or grips the frame of the egg container transport cart 3 to suppress the movement of the egg container transport cart 3. In FIG. 1, a pair of clamps 121 (also referred to as first stoppers) are provided on both side surfaces. In FIG. 2A, the second stopper 122 is provided on the front surface portion 11, and the third stopper (not shown) is provided on the back surface portion 12. A pair of clamps 121, the second stopper ​​​​​​The third stopper (not shown) and the third stopper (not shown) have their tips made of elastic material. The pair of clamps 121, the second stopper 122, and the third stopper 123 are abutted against the frame of the transport carriage 3. The drive unit for driving the stopper (not shown) is, for example, an air cylinder, an electric cylinder, etc. be. In FIG. 1, a shelf opening device 1 or a feed device 2 is connected to an egg container transport cart 3 being transported. The stop position detection unit S2 has one or more stop position detection units S2 that detect a part of the stop position detection unit S2. When the egg container transport cart 3 is detected, the control unit (not shown) controls the pair of clamps 121 and the second The stopper 122 and the third stopper (not shown) are commanded to project each element, and the egg container transport table It is abutted against the frame of the car 3 to fix its movement.

[0033] The pair of clamps 121 fix the shelf opening unit 14 and the egg container transport cart 3 relative to each other. The pair of clamps 121 may be provided on the shelf opening unit 14. Alternatively, they may be provided on both side surfaces of the frame body 10.

[0034] The shelf opening unit 14 places egg packs EP on the back side of the top shelf of each folding shelf with a robot arm. A movable pack guide 181 is provided to prevent the load from shifting when the load is unloaded. 181 is driven by air cylinders or electric cylinders, and stabilizes egg carton stacking. Contributes to improving sexuality.

[0035] The shelf opening device 1 has one or more detection units for detecting a predetermined position of the shelf opening unit 14. When the detection unit detects the vertical position of the shelf opening unit 14, the control unit In another embodiment, the shelf opening unit driver 13 is instructed to start or stop driving the shelf opening unit. The unloading unit 14 may have one or more folding shelf detection units that detect a folding shelf in a mid-folded state at the folded state position P1. When the folding shelf detection unit detects a folding shelf, the control unit may issue a command to the shelf opening unit drive unit 13 to start or stop the drive.

[0036] (Operation flow) Figure 3A shows a series of operations. First, start the conveyor operation of the feeding device 2 (#1). Sent to the shelf opening device 1, the egg container transport cart 3 (also referred to as cart 3) is detected by the sensor S2 (#2). Next, drive a stopper (not shown) (#3). Stop the conveyor and stop the cart 3 with a stopper (not shown) (#4). Next, lower the upper shelf opening unit 14 to a predetermined position (# 5). Fix the relative movement between the shelf opening unit 14 and the cart 3 with a pair of rear fixing clamps 127 (see Figure 2F) from the side to the rear frame of the cart 3 (#6). Next, use a robot arm to stack the egg packs EP on the first folding shelf (#7). A predetermined number of stackings on the first folding shelf are completed, and then the shelf opening operation is performed (#8). This operation will be described later. When the folding shelf is opened, the height of the shelf is detected by the shelf opening detection unit S3, and the presence or absence of an abnormal shelf height is determined (#9). If there is no abnormality, the presence or absence of remaining folding shelves is confirmed (#10). If there are remaining folding shelves present, the stacking continues. When the stacking is completed on all the folding shelves (when there are no remaining shelves ), the operation proceeds to the operation of carrying out the cart 3 (#11). The clamp and the stopper are released (#12). Drive the conveyor and carry out the cart 3 ([[]]END]] #13). Check the presence or absence of the next waiting cart 3 (#13). If the cart 3 is waiting it is sent to the shelf opening device 1, and the above operations are repeated. If there is no cart 3, the process ends.

[0037] FIG. 3B shows the shelf opening operation. First, the suction pad 151 advances toward the folding shelf (#801) and removes the folding shelf on the rear side. The suction pad 151 is then moved back to the intermediate position (#803). This makes it easier for the preliminary opening section 17 to perform its operation. The operation of the first preliminary opening portion 17 (rotational entry of the second support 172) and the operation of the second preliminary opening portion 27 The operation (advancement of pin 271) is executed (#804). The opening state of the folding is increased. The suction of the pull pad 151 is released (#805). ) returns to its original position, and then the second auxiliary opening portion 27 (pin 271) returns to its original position (#806). Next, the pusher 16 advances to a predetermined position (#807), and then retreats (#808). Return the rear fixing clamp 127 (#809) and check the shelf height with the shelf open detector S3. (#810). If the shelf height is normal, the second shelf is loaded (#811) and the shelf opening unit 14 Move the folding shelf to the third shelf position (#812). The third and fourth shelves are also moved in the same way as the second shelf. When the fourth shelf is completed, the shelf opening unit 14 is moved to the origin. If the shelf height is abnormal, stop loading (#820) and decide whether to open the folding shelf manually or not. (#821) If it is determined that the work should be done by a person, the person will correct the folding position of the folding shelf. Then, the abnormality is cleared and operation is resumed (#823). ). If it is determined that the shelf will not be opened by a person, the device 1 is operated to remove the shelf (#8 twenty four).

[0038] (Embodiment 2) The automatic chicken egg pack placement system according to Embodiment 2 will be described. The shelf opening of Embodiment 2 The device further includes a correction clamp 28 for correcting the side frames of the carriage 3 in addition to the configuration of Embodiment 1. In FIG. 2G, only one of the correction clamps 28 is shown, but in this embodiment, the other correction clamp is also provided at the opposing position, forming a pair of correction clamps.

[0039] The pair of correction clamps 28 abut against the pair of left and right side frames of the chicken egg container transport carriage 3 from both sides, so that the pair of left and right side frames are perpendicular to the rear frame of the chicken egg container transport carriage 3. By this correction, the left and right side frames can be prevented from spreading as they go forward. The pair of correction clamps 28 includes a horizontally long rectangular abutting portion 281 and a drive portion 282 for the correction clamp that advances or returns (retracts) the abutting portion 281 from the origin position to a frame 142 provided forward from the main body frame 141 of the shelf opening unit 14. The correction clamp 28 is configured such that the abutting portion 281 advances toward the side frame from the outside of the side frame of the chicken egg container transport carriage 3. The surface layer of the abutting portion 281 is made of an elastic body and corrects the distortion of the side frame by contacting the side frame. The correction clamp 28 is provided upward with respect to the second preliminary opening portion 27. The second preliminary opening portion 27 and the correction clamp 28 are provided forward of the first preliminary opening portion 17. The control unit issues a command to the drive unit 282 for the correction clamp, and when the pair of abutting portions 281 of the correction clamp 28 abut against the pair of side frames of the chicken egg container transport carriage 3, the chicken egg container transport carriage 3 A pair of side frames are controlled to have a positional relationship perpendicular (including a substantial perpendicular relationship) to the rear frame. Control is performed so that the positional relationship is perpendicular (including a substantial perpendicular relationship) to the rear frame.

[0040] (Operation Flow) Describe operations different from those of Embodiment 1. First, start the conveyor operation of the feeding device 2 (#1). It is fed into the shelf opening device 1, and the egg container transport cart 3 (also referred to as cart 3) is detected by the sensor S2 (#2). Next, drive a stopper (not shown) (#3). Stop the conveyor and stop cart 3 with a stopper (not shown) (#4). Next, lower the upper shelf opening unit 14 to a predetermined position (# 5). Fix the relative movement between the shelf opening unit 14 and cart 3 with a pair of rear fixing clamps 127 (see Fig. 2F) from the side with respect to the rear frame of cart 3 (#6). Next, stack the egg packs EP on the first folding shelf with a robot arm (#7). When the stacking of a predetermined number on the first folding shelf is completed, a shelf opening operation is performed (#8).

[0041] Next, show the shelf opening operation. Describe the differences from the embodiment. First, apply the contact portions 281 of the pair of correction clamps 28 to the side frames of cart 3 to correct the distortion of the left and right side frames. Next, the suction pad 151 advances toward the folding shelf (#801) and adsorbs the folding shelf on the back side (#802). The suction pad 151 retreats to the intermediate position (#803). Facilitate the operation by the first preliminary opening portion 17. The operation of the first preliminary opening portion 17 (rotation and entry of the second support column 172) and the operation of the second preliminary opening portion 27 (advancement of the pin 271) are executed (#804). Increase the open state of the middle fold. Suction The suction of the suction pad 151 is released (#805). The first preliminary release portion 17 (the second support column 172 ) returns to the origin, and then the second preliminary release portion 27 (the pin 271) returns to the origin (#806) . Next, the extrusion portion 16 advances to a predetermined position (#807), and then the correction clamp 28 ( the contact portion 281) returns to the origin, and at a timing that partially overlaps with this return to the origin or before or after that, the extrusion portion 16 retreats (#808). The back fixing clamp 127 is returned ( #809), and the shelf height is confirmed by the shelf opening detection unit S3 (#810).

[0042] (Embodiment 3) The chicken egg pack automatic placement system according to Embodiment 3 will be described. The shelf opening device of Embodiment 3 is the same device as the shelf opening device 1 of Embodiment 2, but the extrusion portion 16 and the first preliminary open portion 17 and the second preliminary release portion 27 may or may not be provided. The robot arm 50 is provided with a suction means 51 at the hand at its tip. The robot arm 5 0 is a chicken egg pack transfer means for sucking the top surface of the chicken egg pack with the suction means 51 and stacking the chicken egg packs on the folding shelf and on the chicken egg packs .

[0043] In response to a command from an opening control unit (not shown), the suction pad 151 driven forward by the suction drive unit 15 contacts and sucks the folding shelf in the folded state at the folded state position, and pulls it backward so as to be in an inclined state or a cantilevered state with respect to the mounting rail. In FIG. 4A, the suction drive unit 15 extends obliquely downward and forward, and the suction pad 151 sucks the second folding shelf 322 (the back shelf plate portion) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward and backward, so as to be inclined with respect to the second mounting rail 3121 ​Put it in a tilted or cantilevered state. Next, the opening control unit commands the robot arm 50 equipped with the suction means 51, and the suction drive The second folding shelf 322 in a tilted or cantilevered state by the unit 15 and the suction pad 151 The flat part (front shelf board part 322f) of the second folding shelf 322 is sucked by the suction means 51. Next, the opening control unit stops the suction fixation of the second folding shelf 322 by the suction pad 151. The suction pad 151 returns to its original position. Next, as shown in FIG. 4B, the opening control unit commands the robot arm 5 0 equipped with the suction means 51, and moves the second folding shelf 322 being sucked by the suction means 51 forward. Next, as shown in FIG. 4C, the second folding shelf 322 is placed on the placement rail 3121. Next Then, the robot arm 50 removes the suction means 51 from the second folding shelf 322, and loads the chicken egg packs on the second folding shelf 32 2 with the suction means 51.

[0044] (Embodiment 4) The chicken egg pack automatic placement system according to Embodiment 4 will be described. The shelf opening device of Embodiment 4 is the same device as the shelf opening device 1 of Embodiment 2, but may or may not be provided with the extrusion part 16, the first preliminary opening part 17, and the second preliminary opening part 27. The robot arm 50 is provided with a suction means 51 and a hook 54 at the hand at its tip. The robot arm 50 is a chicken egg pack transfer means for stacking chicken egg packs on the folding shelf and the chicken egg packs by sucking the top surface of the chicken egg pack EP with the suction means 51.

[0045] In response to a command from an opening control unit (not shown), the suction pad 151 driven forward by the suction drive unit 15 abuts on and sucks the folding shelf in a middle-folded state at the folded state position, and pulls it backward. Then, it is set in an inclined state or a cantilevered state with respect to the mounting rail. In FIG. 5A, the suction drive unit 15 extends obliquely downward and forward, and the suction pad 151 is secondarily folded and adsorbed on the shelf 322 (rear shelf plate portion) (it may be sucked by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) obliquely upward and backward, so that it is in an inclined state or a cantilevered state with respect to the second mounting rail 3121. Next, the release control unit commands the robot arm 50 provided with the hook 54, and the suction drive unit 15 and the suction pad 151 hook the rod-shaped frame 3224 at the tip of the front shelf plate portion 322f of the second folding shelf 322 in an inclined state or a cantilevered state with the hook 54. Next, the release control unit stops the suction fixation of the second folding shelf 322 by the suction pad 151. The suction pad 151 returns to its original position. Next, as shown in FIG. 5B, the robot arm 50 is commanded, and the second folding shelf 322 in the state of being hooked by the hook 54 is moved forward. As shown in FIG. 5C, the second folding shelf 322 is placed on the mounting rail 3121. Next, the robot arm 50 removes the hook 54 from the second folding shelf 322, and loads the chicken egg pack EP on the second folding shelf 322 with the suction means 51. As another embodiment, instead of the hook 54, the robot arm 50 may be provided with gripping means at its hand, and may be configured to grip the rod-shaped frame 3224 at the tip of the front shelf plate portion 322f with this gripping means.

[0046] In the above-described Embodiments 1, 2, 3, and 4, the control unit and / or the release control unit is realized in cooperation with hardware such as a processor and a memory, and a program describing the control content.

[0047] ​​​​It may also be implemented by a combination of dedicated circuits and firmware, or may be implemented on a cloud type, on-premises server, or general-purpose computer. The control unit and / or the release control unit may control a series of movements of the feeding device, the shelf opening device, and the robotic arm, or separate controllers may control each of them and communicate the necessary data and commands with each other. The robotic arm may be a multi-axis robot, a scalar robot, or a collaborative robot. When a predetermined number of egg packs are stacked on the first folding shelf, the second folding shelf is automatically opened by the shelf opening device 1. When the robotic arm loads a predetermined number of egg packs onto the second folding shelf, the third folding shelf is automatically opened by the shelf opening device 1. When the robotic arm loads a predetermined number of egg packs onto the third folding shelf, the fourth folding shelf is automatically opened by the shelf opening device 1. Such a series of movements is controlled in this way. In the above embodiment, the inclination forming parts (15, 151) are composed of the suction driving part 15 and the suction pad 151, but one or a plurality of them may be used. Also, the inclination forming part is not limited to this configuration. For example, it may be inclined by means of sandwiching the side surface of the folding shelf.

Explanation of Reference Numerals

[0048] 1 Shelf opening device 10 Frame body 11 Front part 12 Rear part 121 Clamp (pair of side clamps) 122 Second stopper (second clamp) 127 Rear fixing clamp (pair of clamps) 13 Driving part 131 Driving belt (or toothed belt) 14 - shelf opening unit 15 - suction drive unit 151 - suction pad 16 - extrusion unit 161 - elastic part at the extrusion tip 17 - first reserve opening part 27 - second reserve opening part 28 - correction clamp 2 - feeding device 3 - chicken egg container transport cart 31 - first side frame (pair of side frames) 311 - first side plate 312 - second side plate 313 - third side plate 314 - fourth side plate 3111 - first placement rail 3112 - second placement rail 3113 - third placement rail 3114 - fourth placement rail 321 - first folding shelf 322 - second folding shelf 3224 - rod-shaped frame 323 - third folding shelf 324 - fourth folding shelf 50 - robot arm 51 - suction means 54 - hook S1 - first sensor S2 - second sensor S3 - third sensor EP - chicken egg pack

Claims

1. A shelf opening means for opening a folding shelf of an egg container transport cart, The shelf opening means is provided with a means for outputting an alarm when the folding shelf is not normally opened after the folding shelf opening operation.

2. 2. The shelf opening means according to claim 1, further comprising a means for detecting whether or not at least the folding shelf is in an open state.

3. A shelf opening means as claimed in claim 1; and a robot arm that places the egg pack on the egg container transport cart, Stopping the loading of egg cartons if the folding shelf is not normally opened after the folding shelf opening operation; Automatic egg carton placement system.

4. A shelf opening means as claimed in claim 1; a feeding means for automatically transporting and introducing an egg container transport cart with the bottom folding shelf in an open state and the other folding shelves in a folded state, and for removing the cart after a predetermined number of egg packs are loaded; a stop position detection unit that detects the egg container transport cart sent by the sending means; a means for fixing the egg container transport vehicle when the stop position detection unit detects the egg container transport vehicle; A robot arm that places egg packs on the egg container transport cart; Prepare, Automatic egg carton placement system.

Images