Method for egg refilling and refilling device

Abstract

To provide an egg refilling method that enables the time required for refilling work to be shortened by changing the number of eggs (large) in a refill source container and the number of eggs (small) in a refill destination container.SOLUTION: A egg refilling method according to the present invention includes a refilling step in which, in the process of transferring eggs from a designated refill source container T to a designated refill destination container P, an egg seat in the refill source container T that is empty of eggs is used to grip and transfer a designated number of eggs at a designated gripping position of gripping means 3 so as to fill the eggs into the destination container P, the gripping means 3 including at least two egg position changing operations.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a method and apparatus for replacing eggs, and more particularly to a method and apparatus for replacing an odd number of eggs placed on a tray without a lid into an egg container capable of accommodating an even number of eggs.

Background Art

[0002] Eggs packed in a tray are transferred to an egg container with a lid to produce a product. In this case, there are various types of trays with different numbers of rows and columns. Also, among multiple types of egg containers, the numbers of rows and columns are also various. When the numbers of rows and columns of the tray and the egg container do not have an integer multiple relationship, in the replacement operation, the number of round trips between the tray and the egg container by the suction transfer device increases, and the setting of the number of eggs adsorbed (transferred) per time and the adsorption positions becomes complicated.

[0003] In particular, depending on the product, for example, in the case of onsen egg products, a sauce bag may be placed on one of the egg seats, and there has been a demand to pack 3 eggs in a 4-egg container and 5 eggs in a 6-egg container, but this has not been possible to handle.

[0004] Patent Documents 1 and 2 disclose that when filling eggs into various containers such as a 12-egg container, a 10-egg container, an 8-egg container, a 6-egg container, and a 4-egg container, the eggs are conveyed so that the intervals of the accommodating portions are approximately the same, and the eggs E are filled across a plurality of containers 5 regardless of the type of the container.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] The present disclosure provides an egg replacement method and a replacement device that can improve the efficiency of the replacement operation due to the difference in the number of eggs (many or few) in the replacement source container and the number of eggs (few or many) in the replacement destination container, for example, shortening time, productivity, safety, reducing the defect rate due to breakage, etc. Also provided are an egg replacement method and a replacement device that can be effectively executed even when there are restrictions such as work space restrictions, gripping means restrictions, and restrictions on the filling position in the egg pack.

Means for Solving the Problems

[0007] The egg replacement method of the present disclosure is In the operation of replacing eggs from a predetermined replacement source container (T) to a predetermined replacement destination container (P), using the empty egg seats (empty egg seats) where the eggs (previously replaced) in the replacement source container (T) are not placed, including at least two egg position changing operations by the gripping means (3), gripping a predetermined number of eggs at a predetermined gripping position of the gripping means (3), transferring them, and filling them into the replacement destination container (P).

[0008] The replacement source container (T) includes, for example, a tray that accommodates (has) 54 eggs (seats) in 6×9, a tray that accommodates (has) 45 eggs (seats) in 5×9, a tray that accommodates (has) 40 eggs (seats) in 5×8, a tray that accommodates (has) 30 eggs (seats) in 6×5, etc. Note that the rows and columns can be expressed based on the conveyance direction of the tray. The parallel to the conveyance direction may be referred to as a column, and the direction orthogonal to the conveyance direction may be referred to as a row.

[0009] The replacement destination container (P) includes, for example, an egg pack that accommodates (has) 4 eggs (seats) in 2×2, an egg pack that accommodates (has) 6 eggs (seats) in 2×3, an egg pack that accommodates (has) 10 eggs (seats) in 2×5, etc. Note that the rows and columns can be expressed based on the conveyance direction of the egg pack. The parallel to the conveyance direction may be referred to as a column, and the direction orthogonal to the conveyance direction may be referred to as a row.

[0010] The gripping means (3) may be, for example, a suction unit, a multi-finger grasping means, a gripper (e.g., a two-finger, three-finger, or four-finger gripper), or a combination means of two or more of them. The various means of the gripping hand may be arranged, for example, in an arrangement such as 5×2, 6×2, 5×4, 6×4, U-shaped, L-shaped, etc., corresponding to the filling position in the egg pack. The suction unit may be configured as 5×2, and two sets of suction units (3a, 3b) may form a 5×4 gripping means (3). The initial interval between the two first and second suction units may be an interval of two rows (three columns) from the egg seat 1.

[0011] In the replacement operation, the replacement operation may be performed with one or two or more replacement destination containers (P) arranged in parallel.

[0012] The method for replacing eggs is as follows: In the replacement step, in the egg gripping operation, a first state in which the interval between the gripping positions of the gripping means (3) corresponds to the interval of the egg seats in the replacement source container (T), and in the operation of filling the replacement destination container (P) with eggs, a second state in which the interval between the gripping positions of the gripping means (3) corresponds to the interval of the egg seats in the replacement destination container (P). The method may include an interval switching step of switching between the two states. When two egg packs of the replacement destination container (P) are juxtaposed and eggs are filled simultaneously, the interval between the two sets of gripping means (two sets of suction units 3a, 3b) may be changed according to the interval between the two egg packs.

[0013] The egg replacement device (1) of the present disclosure includes: A gripping means (3) for gripping eggs; In the operation of replacing eggs from a predetermined replacement source container (T) to a predetermined replacement destination container (P), using the empty egg seats (empty egg positions) on which the eggs (previously replaced) in the replacement source container (T) are not placed, the gripping means (3) performs at least two egg position changing operations, grips a predetermined number of eggs at a predetermined gripping position of the gripping means (3), transfers them, and controls the operation of the gripping means (3) to fill the replacement destination container (P). A control unit (4); It has.

[0014] The gripping means (3) may be configured to be changeable between a first state in which the interval between the respective gripping positions corresponds to the interval of the egg seats of the replacement source container (T) and a second state in which the interval between the respective gripping positions of the gripping means (3) corresponds to the interval of the egg seats of the replacement destination container (P). The gripping means (3) may be configured to change the interval from an adjacent row in units of one row of gripping positions.

[0015] The gripping means (3) may be composed of two sets (two sets of adsorption units 3a, 3b) and may be configured to be changeable between a state in which the interval between the two sets is adjusted to the egg seats of the replacement source container (T) and a state in which the interval between the two sets is adjusted to the interval between two egg packs. The gripping means (3) may include a first adsorption unit (3a), a second adsorption unit (3b), and a moving mechanism (31) for relatively sliding at least one of the adsorption units (3a, 3b). Each adsorption unit includes a plurality of adsorption pads (32) provided at a plurality of adsorption positions. The control unit (4) may control the moving mechanism (31) during transfer or before filling.

[0016] The egg replacement device (1) It may include a storage unit (41) for storing various data such as identification information of the replacement source container, identification information of the replacement destination container, gripping positions, number of grippings, moving routes (for example, three-dimensional coordinates of moving points, etc.), filling positions (gripping release positions), etc. The control unit (4) may control the gripping means (3) to repeat the gripping operation, transfer operation, and filling operation between the replacement source container (T) and the replacement destination container (P) according to the various data read from the storage unit (41).

[0017] For example, Japanese Patent No. 5167508 discloses that eggs are transported in an egg tray with 6 columns and 5 rows, where the direction parallel to the egg transport direction is defined as the row and the direction perpendicular to the egg transport direction is defined as the column. All eggs in 6 columns and 2 rows are adsorbed and simultaneously transferred to a plurality of egg containers. By simultaneously transferring the eggs in all columns, the transfer unit can always adsorb the eggs at the same position and always fill the eggs into the containers at the same position. The following describes the effects. Regardless of the type of container, eggs can always be efficiently packed into the containers with the same transfer operation. In addition, since the transfer unit does not require complex control, the configuration of the device can be simplified. However, there is also the structure of the gripping means, and it is assumed that there may be cases where the transfer of eggs from one tray to another tray cannot be handled by the above simple operation. In the present disclosure, a replacement pattern that can be corresponded to by the number of eggs gripped by the gripping means, the number of rows and columns of the source container for replacement, and the number of rows and columns of the destination container for replacement is provided.

[0018] The second method for replacing eggs is In the operation of packing eggs from a predetermined source container (T) to a predetermined destination container (P), after one or more columns on one side of the source container (T) become empty, a replacement step is included in which a predetermined number of eggs are gripped, transferred, and packed into the destination container (P) at a predetermined gripping position of the gripping means (3) so as to process the eggs in the adjacent column.

[0019] The second device for replacing eggs is a gripping means (3) for gripping eggs, In the operation of packing eggs from a predetermined source container (T) to a predetermined destination container (P), a control unit (4) is included which controls a series of operations in which, after one or more columns on one side of the source container (T) become empty, a predetermined number of eggs are gripped, transferred, and packed into the destination container (P) at a predetermined gripping position by using the gripping means (3) so as to process the eggs in the adjacent column.

[0020] The destination container (P) may be arranged continuously in one column vertically. The lid container may be arranged distally from the source container (T), and the egg seat may be arranged proximally.

[0021] The number of rows of the filling replacement container (T) may be the same as the number of eggs held in the row of the gripping means.

[0022] The third egg filling replacement method is the transfer from a filling replacement container (ST) with a small number of egg seats to a filling destination container (PT) with a large number of egg seats, including a filling replacement step of gripping all the eggs in the filling replacement container (ST) and transferring and filling them into a plurality of the filling destination containers (PT). In the filling replacement step, when gripping the eggs in the filling replacement container (ST), the interval between the plurality of gripping units of the gripping means may be narrowed according to the position of the egg seat, and when filling the plurality of filling destination containers (PT), the step of widening the interval between the gripping units according to the position of the egg seat may be included.

[0023] The control unit (4) may be composed of a combination of one or more processors, hardware such as a memory for storing an instruction program, and a control program. The control unit may be composed of a combination of an information processing device, a dedicated circuit, firmware, etc.

Brief Description of the Drawings

[0024]

Figure 1

Figure 2A

Figure 2B

Figure 2C

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 7A

Figure 7B

Figure 8

Figure 9

Figure 10A

Figure 10B

Figure 11A

Figure 11B

Figure 11C

Mode for Carrying Out the Invention

[0025] (Embodiment 1) Fig. 1 shows an example of an egg replacement device 1. In Fig. 1, the replacement source container T conveyed by the conveying device 7 is a tray T of 9 rows and 6 columns 54 and the two-column replacement destination container P conveyed by the conveying device 6 is an egg pack P of 2 rows and 5 columns 10 . The replacement device 1 includes a gripping means 3 having first and second suction units 3a, 3b, and a control unit 4 for controlling the gripping means 3. The gripping means 3 includes a first suction unit 3a, a second suction unit 3b, and a moving mechanism 31 for relatively slidingly moving at least one of the suction units 3a, 3b. The moving mechanism 31 is configured to have a linear actuator, an electric motor, etc. There is a certain interval between the first suction unit 3a and the second suction unit 3b. The moving mechanism 31 enables the expansion and contraction of this interval. The first suction unit 3a and the second suction unit 3b each have a plurality of suction pads 32 provided at a plurality of suction positions. The gripping means 3 may be provided with a pipe connected to a vacuum pump (not shown) for applying a suction force to each suction pad, a valve, and the like.

[0026] In the operation of transferring eggs from a predetermined refill source container T to a predetermined refill destination container P, the control unit 4 uses the egg seats in the refill source container T that are in a state without eggs (already refilled), and includes at least two egg position changing operations with the gripping means 3. At a predetermined gripping position of the gripping means 3, a predetermined number of eggs are gripped, transferred, and filled into the refill destination container P, and the operation of the gripping means 3 is controlled. In the present embodiment, the gripping means 3 is attached to the hand of a multi-axis robot or a scalar robot, and its movement is controlled. The storage unit 41 stores various data such as the identification information of the refill source container T, the identification information of the refill destination container P, the gripping position, the number of gripped items, the movement path (for example, the three-dimensional coordinates of the movement points), and the filling position (gripping release position). The control unit 4 controls the robot and the gripping means 3 according to the various data read from the storage unit 41, so as to repeat the gripping operation, the transfer operation, and the filling operation between the refill source container T and the refill destination container P.

[0027] (First refilling pattern) An example of the first refilling pattern is shown in FIGS. 2A to 2C. Here, it is refilled from a 9-row 6-column tray T into a 2-row 5-column egg pack P conveyed in one column. The direction orthogonal to the conveying direction is defined as the row, and the parallel direction is defined as the column. The lid of the egg pack is arranged on the downstream side in the conveying direction, and the egg seat is arranged on the upstream side and conveyed. In this case, there is at least a space equivalent to one lid between the egg seats of adjacent egg packs upstream and downstream. The refilling pattern described here realizes a pattern with a cycle of five trays.

[0028] The conveying device 6 may be configured to include an elastic belt, a positioning rail, a detection sensor, a stop bar, a drive motor, etc. for conveying the egg pack. The conveying device 7 may be configured to include an elastic belt, a positioning rail, a detection sensor, a stop bar, a drive motor, etc. for conveying the tray.

[0029] The first and second suction units 3a and 3b shown in FIG. 1 each have 2×5 (2 rows and 5 columns) suction pads 32. Ten eggs can be suctioned at a time for a total of 2×10 eggs. The initial interval between the first and second suction units 3a and 3b is the interval for two rows (two columns) of egg seats. This initial interval becomes the suction interval when suctioning the eggs on the tray. Before packing (filling) the egg pack, drive the moving mechanism 31 to widen the interval between the suction units according to the interval between two vertical rows of the egg pack, the size of the lid, etc. (packing interval). Eggs can be packed into the egg pack on the downstream side in the conveying direction and the egg pack on the upstream side in the conveying direction. The two suction units are also restricted by interference (collision) in the arrangement of the conveying devices 6 and 7, the robot arm that drives the movement of the suction unit, the installation space including the safety cover, etc., and the area where suction and movement can be performed on the tray may be limited. Also, when there are many eggs on the tray, eggs that are not scheduled to move in the egg seat may also be moved, and moving the eggs in the egg seat on one tray is also restricted considering the arrangement of the empty egg seats, etc. Also, the suction position is restricted so as not to interfere with the eggs already filled in the egg pack. Therefore, in this embodiment (the same applies to the following embodiments), the following replacement patterns are adopted.

[0030] (S1) There are 54 eggs on the tray T1 on the conveying device 7. The slashes indicate that the eggs are in the egg seats, and the white areas (without slashes) indicate the state where there are no eggs in the egg seats. There are vertically arranged egg packs P1 and P2 in a single row on the conveying device 6. (S2) The first and second suction units 3a and 3b suction 20 eggs using all the suction pads 32 and transfer them to the egg packs P1 and P2. The replacement is completed in one gripping and transfer operation. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P3 and P4 are set at predetermined positions. (S3) The first and second suction units 3a and 3b each adsorb eight eggs and pack them into the egg packs P3 and P4. Here, although ten eggs can be adsorbed, only eight eggs are adsorbed. (S4) The first and second suction units 3a and 3b each adsorb two eggs and pack them into the egg packs P3 and P4. The repacking is completed by two gripping and transferring operations. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P5 and P6 are set at predetermined positions.

[0031] (S5) The first and second suction units 3a and 3b each adsorb four eggs and pack them into the egg packs P5 and P6. (S6) The second suction unit 3b moves three eggs out of one row of eggs on the tray T1 to the egg seats at the empty positions (rows) adjacent to the remaining three eggs on the tray T1 to form an arrangement of two rows and three columns (a group of six). (S7) The second suction unit 3b further moves the six eggs to other empty egg seats near the center of the tray T1. S6 to S7 correspond to the operation of changing the positions of the eggs within the tray. Since the movement is restricted by the size of the suction pad unit, the layout of each conveying device for the tray and the egg packs, the arrangement of the robot and its size, etc., the operation of changing the positions of the eggs within the tray is performed. (S9) The first suction unit 3a adsorbs six eggs and packs them into the egg pack P5. In the egg pack P5, the repacking is completed by two gripping and transferring operations. S6 to S9 may be performed once using any of the suction units. For example, when the movement is restricted by the size of the suction pad unit, the layout of each conveying device for the tray and the egg packs, the arrangement of the robot and its size, etc., the two operations of S6, S7, and S9 may be required. After packing, the conveying device 6 sends one pack's worth of the egg packs P5 and P6. The egg pack P5 is sent downstream in the conveying direction, the egg pack P6 moves to the position of the previous egg pack P5, and a new egg pack P7 is set at the position where the previous egg pack P6 was located.

[0032] (S10) Since all the eggs have been re-packed from the tray T1, the conveying device 7 sends the tray T1 downstream in the conveying direction, and a new tray T2 is set at a predetermined position. (S11) The first and second suction units 3a and 3b suction six eggs each and pack them into the egg packs P6 and P7. In the egg pack P6, the re-packing is completed by two gripping and transferring operations. Here, although the second suction unit 3b can suction 10 eggs, it is set to 6 to match the number of eggs suctioned by the first suction unit 3a. After packing, the conveying device 6 sends one pack of the egg packs P6 and P7. The egg pack P6 is sent downstream in the conveying direction, the egg pack P7 moves to the position of the previous egg pack P6, and a new egg pack P8 is set at the position where the previous egg pack P7 was. (S12) The first and second suction units 3a and 3b suction four eggs each and pack them into the egg packs P7 and P8. In the egg pack P7, the re-packing is completed by two gripping and transferring operations. Here, although the second suction unit 3b can suction 10 eggs, it is set to 4 to match the number of eggs suctioned by the first suction unit 3a. After packing, the conveying device 6 sends one pack of the egg packs P7 and P8. The egg pack P7 is sent downstream in the conveying direction, the egg pack P8 moves to the position of the previous egg pack P7, and a new egg pack P9 is set at the position where the previous egg pack P8 was. (S13) The first and second suction units 3a and 3b suction six eggs each and pack them into the egg packs P8 and P9. In the egg pack P8, the re-packing is completed by two gripping and transferring operations. Here, although the second suction unit 3b can suction 10 eggs, it is set to 6 to match the number of eggs suctioned by the first suction unit 3a. After packing, the conveying device 6 sends one pack of the egg packs P8 and P9. The egg pack P8 is sent downstream in the conveying direction, the egg pack P9 moves to the position of the previous egg pack P8, and a new egg pack P10 is set at the position where the previous egg pack P9 was. (S14) The first and second suction units 3a and 3b each suction four eggs and pack them into the egg packs P9 and P10. In the egg pack P9, the repacking is completed in two gripping and transfer operations. Here, although the second suction unit 3b can suction ten eggs, it is set to four to match the suction number of the first suction unit 3a. After packing, the transport device 6 sends one pack each of the egg packs P9 and P10. The egg pack P9 is sent downstream in the transport direction, the egg pack P10 moves to the position of the previous egg pack P9, and a new egg pack P11 is set at the position where the previous egg pack P10 was.

[0033] (S15) Among the eggs in the first row and first column of the tray T2, the eggs in one column are moved to the empty egg seats of the tray T2 so as to form a group of four in a 2x2 arrangement. (S16) Three of the eggs in the first row of the eggs in the first row and first column of the tray T2 are moved by the second suction unit 3b to the immediately adjacent empty egg seats so that they will not be suctioned in the next step. (S17) The remaining three eggs in the first row of the tray T2 are suctioned by the second suction unit 3b, four eggs are suctioned as a group by the first suction unit 3a, and they are moved so that three eggs are located in the position one row empty from the three eggs moved in S16. (S18) The three eggs moved in S16 are suctioned by the second suction unit 3b. At this time, since the first suction unit 3a is located in the empty egg seat between the three eggs moved in S17 and the four eggs, it does not suction anything. The suctioned three eggs are moved next to the three eggs moved in S17 to form a group of six. (S19) The first suction unit 3a suctions six eggs and packs them into the egg pack P10. In the egg pack P10, the repacking is completed in two gripping and transfer operations. After packing, the transport device 6 sends one pack each of the egg packs P10 and P11. The egg pack P10 is sent downstream in the transport direction, the egg pack P11 moves to the position of the previous egg pack P10, and a new egg pack P12 is set at the position where the previous egg pack P11 was. (S20) Move the four groups that were moved in S18 back to their positions before the movement. This is done in the next S21 in order to pick up and transfer each group of four eggs in one operation. The operations from S16 to S18 also correspond to the operation of changing the positions of the eggs within the tray. (S21) The first and second suction units 3a and 3b pick up four eggs each and pack them into the egg packs P11 and P12.

[0034] Refer to Fig. 2B. (S22) Since all the eggs have been repacked from the tray T2, the conveyor 7 sends the tray T2 downstream in the conveying direction, and a new tray T3 is set at a predetermined position. (S23) The first and second suction units 3a and 3b pick up six eggs each and pack them into the egg packs P11 and P12. In the egg packs P11 and P12, the repacking is completed in two gripping and transfer operations. After packing, the conveyor 6 sends the two egg packs P11 and P12 downstream in the conveying direction, and new egg packs P13 and P14 are set at predetermined positions. (S24) The first and second suction units 3a and 3b pick up six eggs each and pack them into the egg packs P13 and P14. (S25) The first and second suction units 3a and 3b pick up four eggs each and pack them into the egg packs P13 and P14. In the egg packs P13 and P14, the repacking is completed in two gripping and transfer operations. After packing, the conveyor 6 sends the two egg packs P13 and P14 downstream in the conveying direction, and new egg packs P15 and P16 are set at predetermined positions. (S26) The first and second suction units 3a and 3b pick up eight eggs each and pack them into the egg packs P15 and P16. (S27) Move three of the eggs in one row of the tray T3 temporarily to the empty egg seats in the row immediately adjacent to the tray T3 so that in the next process, only the remaining three eggs in one column can be picked up and conveyed. The operations from S27 to S30 also correspond to the operation of changing the positions of the eggs within the tray. (S28) Adsorb the remaining three eggs in a row of the tray T3 with the second adsorption unit 3b, move them to the egg seat near the center of the tray T3 leaving one row empty from the three-piece group moved in S27. (S29) Move the three eggs moved in S27 to the adjacent position of the three eggs moved to S28 to form a group of two rows and three columns. (S30) Move two eggs for one column from the six groups at a predetermined interval. (S31) The first and second adsorption units 3a and 3b adsorb two eggs each and pack them into the egg packs P15 and P16. In the egg packs P15 and 16, the repacking is completed by two gripping and transferring operations. After packing, the conveying device 6 sends the two egg packs P15 and P16 downstream in the conveying direction, and new egg packs P17 and P18 are set at predetermined positions. (S32) The first adsorption unit 3a adsorbs two eggs and packs them into the egg pack P17.

[0035] (S33) Since all the eggs have been repacked from the tray T3, the conveying device 7 sends the tray T3 downstream in the conveying direction, and a new tray T4 is set at a predetermined position. (S34) The first and second adsorption units 3a and 3b adsorb eight eggs each and pack them into the egg packs P17 and P18. In the egg pack P17, the repacking is completed by two gripping and transferring operations. After packing, the conveying device 6 sends one pack of the egg packs P17 and P18. The egg pack P17 is sent downstream in the conveying direction, the egg pack P18 moves to the position of the previous egg pack P17, and a new egg pack P19 is set at the position where the previous egg pack P18 was. (S35) The first and second adsorption units 3a and 3b adsorb two eggs each and pack them into the egg packs P18 and P19. In the egg pack P18, the repacking is completed by two gripping and transferring operations. After packing, the conveying device 6 sends one pack of the egg packs P18 and P19. The egg pack P18 is sent downstream in the conveying direction, the egg pack P19 moves to the position of the previous egg pack P18, and a new egg pack P20 is set at the position where the previous egg pack P19 was. (S36) The first and second suction units 3a and 3b each adsorb eight eggs and pack them into the egg packs P19 and P20. In the egg pack P19, the replacement is completed in two gripping and transfer operations. After packing, the conveying device 6 conveys one pack each of the egg packs P19 and P20. The egg pack P19 is sent downstream in the conveying direction, the egg pack P20 moves to the position of the previous egg pack P19, and a new egg pack P21 is set at the position where the previous egg pack P20 was located. (S37) The first and second suction units 3a and 3b each adsorb two eggs and pack them into the egg packs P20 and P21. In the egg pack P20, the replacement is completed in two gripping and transfer operations. After packing, the conveying device 6 conveys one pack each of the egg packs P20 and P21. The egg pack P20 is sent downstream in the conveying direction, the egg pack P21 moves to the position of the previous egg pack P20, and a new egg pack P22 is set at the position where the previous egg pack P21 was located. (S38) Three eggs out of one row of eggs in the tray T4 are moved to the egg seats in the immediately adjacent row. The operations from S38 to S40 also correspond to the egg position changing operations within the tray. (S39) The remaining three eggs in one row of the tray T4 are moved one row apart from the three eggs moved in S38. (S40) The three eggs moved in S38 are moved to the row adjacent to the three eggs moved in S39 to form two rows and three columns. (S41) The six eggs in two rows and three columns grouped in S40 are adsorbed by the first suction unit 3b and packed into the egg pack P22. (S42) Two groups of four eggs are moved to the empty egg seats. The operations from S42 to S43 also correspond to the egg position changing operations within the tray.

[0036] Refer to Figure 2C. (S43) One of the two groups of four eggs is moved to form a group of eight eggs in two rows and four columns. (S44) The first suction unit 3a adsorbs eight eggs and packs them into the egg pack P21. After packing, the conveying device 6 conveys one pack of egg packs P21 and P22. The egg pack P21 is sent downstream in the conveying direction, the egg pack P22 moves to the position of the previous egg pack P21, and a new egg pack P23 is set at the position where the previous egg pack P22 was located.

[0037] (S45) Since all the eggs have been repacked from the tray T4, the conveying device 7 sends the tray T4 downstream in the conveying direction, and a new tray T5 is set at a predetermined position. (S46) The first and second suction units 3a and 3b suction four eggs each and pack them into the egg packs P22 and P23. In the egg pack P22, the repacking is completed by two gripping and transferring operations. After packing, the conveying device 6 conveys one pack of egg packs P22 and P23. The egg pack P22 is sent downstream in the conveying direction, the egg pack P23 moves to the position of the previous egg pack P22, and a new egg pack P24 is set at the position where the previous egg pack P23 was located. (S47) The first and second suction units 3a and 3b suction six eggs each and pack them into the egg packs P23 and P24. In the egg pack P23, the repacking is completed by two gripping and transferring operations. After packing, the conveying device 6 conveys one pack of egg packs P23 and P24. The egg pack P23 is sent downstream in the conveying direction, the egg pack P24 moves to the position of the previous egg pack P23, and a new egg pack P25 is set at the position where the previous egg pack P24 was located. (S48) The first and second suction units 3a and 3b suction four eggs each and pack them into the egg packs P24 and P25. In the egg pack P24, the repacking is completed by two gripping and transferring operations. After packing, the conveying device 6 conveys one pack of egg packs P24 and P25. The egg pack P24 is sent downstream in the conveying direction, the egg pack P25 moves to the position of the previous egg pack P24, and a new egg pack P26 is set at the position where the previous egg pack P25 was located. (S49) The first and second suction units 3a and 3b suction six eggs each and pack them into the egg packs P25 and P26. In the egg pack P25, the repacking is completed by two gripping and transferring operations. After packing, the conveying device 6 conveys one pack each of the egg packs P25 and P26. The egg pack P25 is sent downstream in the conveying direction, the egg pack P26 moves to the position of the previous egg pack P25, and a new egg pack P27 is set at the position where the egg pack P26 was previously located. (S50) Move the arrangement of 9 eggs in one column out of the eggs in the first row and first column of the tray T5 to the empty egg seats of the tray T5 so as to form 4 groups of 2 rows and 2 columns. The operation of S50 also corresponds to the operation of changing the positions of the eggs within the tray. (S51) The first and second suction units 3a and 3b suck 4 eggs each and pack them into the egg packs P26 and P27. In the egg pack P26, the replacement is completed by two gripping and transferring operations. (S52) Move 3 eggs out of the 6 eggs in one row of the tray T5 to the empty egg seats adjacent to the remaining 3 eggs in the tray T5 to form a group of 2 rows and 3 columns (6 eggs). The operation of S52 also corresponds to the operation of changing the positions of the eggs within the tray. (S53) The second suction unit 3b sucks 6 eggs and packs them into the egg pack P27. In the egg pack P27, the replacement is completed by two gripping and transferring operations. After packing, the conveying device 6 conveys two packs each of the egg packs P26 and P27. The egg packs P26 and P27 are sent downstream in the conveying direction, and new egg packs P28 and P29 are set.

[0038] (S54) Since all the eggs in the tray T5 have been replaced, the conveying device 7 sends the tray T5 downstream in the conveying direction, and a new tray T6 is set at a predetermined position. The transfer to the two unpacked egg packs P28 and P29 is repeated with the same operations as after S1 above.

[0039] (Second replacement pattern) Fig. 3 shows an example of the second filling pattern. Here, it is refilled from a 6-row and 5-column tray T into a 2-row and 2-column egg pack P juxtaposed both vertically and horizontally along the conveying direction. The first and second suction units 3a and 3b fill eggs only into three of the four egg seats at predetermined positions among the four egg seats of the egg pack. Accordingly, the suction pad 32 is made to function. For example, the suction pad may be removed from the suction unit, or the valve of the vacuum pipe may be closed. In the present embodiment, three suction pads capable of suction corresponding to the four egg seats of the egg pack are arranged in an L shape.

[0040] (S101) There are 30 eggs on the tray T1 on the conveying device 7. The slashes indicate that the eggs are in the egg seats, and the blank (no slashes) indicates the state where there are no eggs in the egg seats. There are four vertically and horizontally juxtaposed egg packs P1, P2, P3, and P4 on the conveying device 6. (S102) The first and second suction units 3a and 3b use the L-shaped suction pads 32 to suction 6 eggs (3×2) and 6 eggs (3×2), and transfer them to the egg packs P1, P2, P3, and P4. Before filling, the moving mechanism 31 is driven to increase the interval between the units to match the interval of two rows juxtaposed of the egg pack. Then, the 6 eggs of the first suction unit 3a are filled into the egg packs P1 and P2, and the 6 eggs of the second suction unit 3b are filled into the egg packs P3 and P4. The refilling is completed in one gripping and transferring operation. After filling, the conveying device 6 sends the four egg packs downstream in the conveying direction, and new egg packs P5, P6, P7, and P8 are set at predetermined positions.

[0041] (S103) The first suction unit 3a suctions 6 eggs (3×2), transfers them to the egg packs P5 and P6, and fills them. The refilling is completed in one gripping and transferring operation. After filling, the conveying device 6 sends the two egg packs P5 and P6 downstream in the conveying direction, and new egg packs P9 and P10 are set at predetermined positions. (S104) The first suction unit 3a suctions 2 eggs, transfers them to the egg packs P7 and P8, and fills them. At the same time, the second suction unit 3b suctions 2 eggs, transfers them to the egg packs P9 and P10, and fills them. (S105) The first suction unit 3a sucks two eggs, transfers them to the egg pack P7, and packs them. At the same time, the second suction unit 3b sucks two eggs, transfers them to the egg pack P9, and packs them. The egg packs P7 and P9 are completed with the L-shaped egg packing. The suction position is also restricted so as not to interfere with the eggs already filled in the egg pack. (S106) The first suction unit 3a sucks one egg and moves it to an empty egg seat so as to form a row with another egg. The operation of S106 corresponds to the operation of changing the egg position within the tray. (S107) The first suction unit 3a sucks two eggs, transfers them to the egg pack P8, and packs them. The egg pack P8 is completed with the L-shaped egg packing. The suction position is also restricted so as not to interfere with the eggs already filled in the egg pack. (S108) The first suction unit 3a sucks two eggs, transfers them to the egg pack P10, and packs them. The egg pack P10 is completed with the L-shaped egg packing. The suction position is also restricted so as not to interfere with the eggs already filled in the egg pack. After packing, the conveying device 6 sends the four egg packs downstream in the conveying direction, and four new egg packs P11, 12, 13, and 14 are set at predetermined positions. (S109) Since all the eggs in the tray T1 have been repacked, the conveying device 7 sends the tray T1 downstream in the conveying direction, and a new tray T2 is set at a predetermined position. The same operations as those after S101 are repeated.

[0042] (Third repacking pattern) FIG. 4 shows an example of the third repacking pattern. Here, it is repacked from a tray T of 6 rows and 5 columns into an egg pack P of 2 rows and 3 columns arranged vertically along the conveying direction. The first and second suction units 3a and 3b pack balls only in five egg seats at predetermined positions among the six egg seats of the egg pack. Accordingly, the suction pads 32 are made to function. For example, the suction pads may be removed from the suction units, or the valves of the vacuum pipes may be closed. In the present embodiment, five suction pads that can be suctioned are arranged in a U shape corresponding to the six egg seats of the egg pack.

[0043] (S201) There are 30 eggs on the tray T1 of the conveying device 7. The slashes indicate that the eggs are in the egg seats, and the blank (without slashes) indicates the state where there are no eggs in the egg seats. There are two vertically arranged and parallel egg packs P1 and P2 on the conveying device 6. (S202) The first and second suction units 3a and 3b use five suction pads 32 arranged in a U shape to suction five eggs each and transfer them to the egg packs P1 and P2. Before packing, the moving mechanism 31 is driven to increase the distance between the units to match the distance between two juxtaposed rows of the egg pack. Then, five eggs of the first suction unit 3a are packed into the egg pack P1, and five eggs of the second suction unit 3b are packed into the egg pack P2. The replacement is completed in one gripping and transfer operation. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P3 and P4 are set at the predetermined positions.

[0044] (S203) The first suction unit 3a suctions five eggs, transfers them to the egg pack P3, and packs them. The replacement is completed in one gripping and transfer operation. After packing, the conveying device 6 sends one egg pack P3 downstream in the conveying direction, and a new egg pack P5 is set at the predetermined position. (S204) The first suction unit 3a uses the empty egg seats for two eggs to suction three eggs, transfers them to the egg pack P4, and packs them. At the same time, the second suction unit 3b also uses the empty egg seats for two eggs to suction three eggs, transfers them to the egg pack P5, and packs them. (S205) The first suction unit 3a suctions one egg and moves it to the empty egg seat to form a row with another egg. At the same time, the second suction unit 3b suctions one egg and moves it to the empty egg seat to form a row with another egg. The operation of S205 corresponds to the operation of changing the position of the eggs in the tray. (S206) The first suction unit 3a utilizes three empty egg seats to adsorb two eggs, transfers and packs them into the egg pack P4. At the same time, the second suction unit 3b also utilizes three empty egg seats to adsorb two eggs, transfers and packs them into the egg pack P5. The refilling is completed through two gripping and transfer operations. The suction positions are also restricted so as not to interfere with the eggs already filled in the egg pack. After packing, the conveying device 6 sends the two egg packs P4 and P5 downstream in the conveying direction, and new egg packs P6 and P7 are set at predetermined positions. (S207) The first suction unit 3a adsorbs three eggs, transfers and packs them into the egg pack P6. (S208) The first suction unit 3a adsorbs one egg and moves it to an empty egg seat so as to form a row with another egg. The operation of S208 corresponds to the operation of changing the position of the eggs in the tray. (S209) The first suction unit 3a adsorbs two eggs, transfers and packs them into the egg pack P6. The refilling is completed through two gripping and transfer operations. (S210) After packing, the conveying device 6 sends the egg pack P6 downstream in the conveying direction. The egg pack P7 comes to the position of the egg pack P6, and a new egg pack P8 is set at the position of the original egg pack P7. Since all the eggs have been refilled from the tray T1, the conveying device 7 sends the tray T1 downstream in the conveying direction, and a new tray T2 is set at a predetermined position. The same operations as those after S201 are repeated.

[0045] (Fourth refilling pattern) Fig. 5 shows an example of the third refilling pattern. Here, it is refilled from a tray T of 6 rows and 5 columns into an egg pack P of 2 rows and 3 columns arranged vertically along the conveying direction. The first and second suction units 3a and 3b pack eggs only into five egg seats at predetermined positions among the six egg seats of the egg pack. Accordingly, the suction pads 32 are made to function. For example, the suction pads may be removed from the suction units, or the valves of the vacuum pipes may be closed. In this embodiment, five suction pads capable of suction are arranged corresponding to the six egg seats of the egg pack.

[0046] (S301) There are 30 eggs on the tray T1 of the conveying device 7. The slashes indicate that the eggs are in the egg seats, and the white areas (without slashes) indicate the state where there are no eggs in the egg seats. There are two vertically arranged in parallel egg packs P1 and P2 on the conveying device 6. (S302) The first and second suction units 3a and 3b use five suction pads 32 to suction five eggs each and transfer them to the egg packs P1 and P2. Before packing, the moving mechanism 31 is driven to increase the distance between the units to match the distance between two juxtaposed rows of the egg packs. Then, five eggs of the first suction unit 3a are packed into the egg pack P1, and five eggs of the second suction unit 3b are packed into the egg pack P2. The repacking is completed in one gripping and transferring operation. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P3 and P4 are set at the predetermined positions.

[0047] (S303) The first suction unit 3a suctions five eggs, transfers them to the egg pack P3, and packs them. The repacking is completed in one gripping and transferring operation. After packing, the conveying device 6 sends the egg pack P3 downstream in the conveying direction. The egg pack P4 comes to the position of the egg pack P3, and a new egg pack P5 is set at the position of the original egg pack P4. (S304) The first suction unit 3a suctions four eggs, transfers them to the egg pack P4, and packs them. At the same time, the second suction unit 3b suctions four eggs, transfers them to the egg pack P5, and packs them. (S305) The first suction unit 3a suctions one egg, transfers it to the egg pack P4, and packs it. At the same time, the second suction unit 3b suctions one egg, transfers it to the egg pack P5, and packs it. The repacking is completed in two gripping and transferring operations. After packing, the conveying device 6 sends the egg packs P4 and P5 downstream in the conveying direction. The new egg pack P6 comes to the position of the egg pack P4, and the new egg pack P7 is set at the position of the egg pack P5. (S306) The first suction unit 3a sucks four eggs and moves to an adjacent position on the opposite side of the remaining eggs so as to be the same as the packing arrangement of the egg pack. The operation of S306 corresponds to the operation of changing the positions of the eggs within the tray. (S307) The first suction unit 3a sucks five eggs and transfers and packs them into the egg pack P6. The egg pack P6 completes the replacement in one gripping and transfer operation. After packing, the conveying device 6 sends the egg pack P6 downstream in the conveying direction. The egg pack P7 comes to the position of the egg pack P6, and a new egg pack P8 is set at the position of the original egg pack P7. (S308) Since all the eggs in the tray T1 have been replaced, the conveying device 7 sends the tray T1 downstream in the conveying direction, and a new tray T2 is set at a predetermined position. The same operations as those after S301 are repeated.

[0048] (Fifth replacement pattern) FIGS. 6A and 6B show an example of the fifth replacement pattern. Here, it is replaced from a tray T of 9 rows and 6 columns to an egg pack P of 2 rows and 4 columns conveyed in one column. The direction orthogonal to the conveying direction is defined as the row, and the parallel direction is defined as the column. The replacement pattern described here realizes a pattern with one cycle for four trays.

[0049] The first and second suction units 3a and 3b shown in FIG. 6A each have a suction pad 32 of 2×4 (2 rows and 5 columns). They can suck 8 eggs×2 at a time.

[0050] (S601) There are 54 eggs on the tray T1 on the conveying device 7. The slashes indicate that the eggs are in the egg seats, and the white areas (without slashes) indicate the state where there are no eggs in the egg seats. There are egg packs P1 and P2 arranged vertically in one column on the conveying device 6. (S602) The first and second suction units 3a and 3b use the suction pads 32 of 2×4 (2 rows and 5 columns) to suck 8 eggs×2 = 16 eggs and transfer them to the egg packs P1 and P2. The replacement is completed in one gripping and transfer operation. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P3 and P4 are set at predetermined positions. (S603) The first and second suction units 3a and 3b each adsorb four eggs and pack them into the egg packs P3 and P4. Here, although eight eggs can be adsorbed twice, only four eggs are adsorbed each time. (S604) The first and second suction units 3a and 3b each adsorb four eggs and pack them into the egg packs P3 and P4. The packing replacement is completed by two gripping and transferring operations. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P5 and P6 are set at predetermined positions. (S605) The first and second suction units 3a and 3b use the suction pads 32 of 2×4 (two rows and five columns) to adsorb 16 eggs (8 eggs × 2) and transfer them to the egg packs P5 and P6. The packing replacement is completed by one gripping and transferring operation. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P7 and P8 are set at predetermined positions.

[0051] (S606) The second suction unit 3b moves three eggs out of the eggs in one row of the tray T1 to the egg seats at the empty positions (rows) adjacent to the remaining three eggs in the tray T1 to form an arrangement of two rows and three columns (a group of six eggs). (S607) The second suction unit 3b further moves the six eggs to other empty egg seats near the center of the tray T1. From S306 to S307 corresponds to the operation of changing the positions of the eggs in the tray. (S609) The first suction unit 3a adsorbs six eggs and packs them into the egg pack P7. From S606 to S609, S607 may be omitted by using any of the suction units. For example, when the movement is restricted due to the size of the suction pad unit, the layout of each conveying device for the tray and the egg pack, the arrangement and size of the robot, etc., the two-step operation of S606, S607, and S609 may be required.

[0052] (S610) Since all the eggs have been re-packed from the tray T1, the conveying device 7 sends the tray T1 downstream in the conveying direction, and a new tray T2 is set at a predetermined position. The first and second suction units 3a and 3b each adsorb two eggs and pack them into the egg packs P7 and P8. In the egg pack P7, the re-packing is completed by two gripping and transferring operations. After packing, the conveying device 6 sends the egg packs P7 and P8 for one pack. The egg pack P7 is sent downstream in the conveying direction, the egg pack P8 moves to the position of the previous egg pack P7, and a new egg pack P9 is set at the position where the previous egg pack P8 was. (S611) The first and second suction units 3a and 3b each adsorb six eggs and pack them into the egg packs P8 and P9. In the egg pack P8, the re-packing is completed by two gripping and transferring operations. After packing, the conveying device 6 sends the egg packs P8 and P9 for one pack. The egg pack P8 is sent downstream in the conveying direction, the egg pack P9 moves to the position of the previous egg pack P8, and a new egg pack P10 is set at the position where the previous egg pack P9 was. (S612) The first and second suction units 3a and 3b each adsorb two eggs and pack them into the egg packs P9 and P10. In the egg pack P9, the re-packing is completed by two gripping and transferring operations. After packing, the conveying device 6 sends the egg packs P9 and P10 for one pack. The egg pack P9 is sent downstream in the conveying direction, the egg pack P10 moves to the position of the previous egg pack P9, and a new egg pack P11 is set at the position where the previous egg pack P10 was.

[0053] (S613) The first and second suction units 3a and 3b each adsorb six eggs and pack them into the egg packs P10 and P11. In the egg pack P10, the re-packing is completed by two gripping and transferring operations. After packing, the conveying device 6 sends the egg packs P10 and P11 for one pack. The egg pack P10 is sent downstream in the conveying direction, the egg pack P11 moves to the position of the previous egg pack P10, and a new egg pack P12 is set at the position where the previous egg pack P11 was. (S614) The first and second suction units 3a and 3b adsorb two eggs each and pack them into the egg packs P11 and P12. In the egg pack P11, the replacement is completed in two gripping and transfer operations. After packing, the conveying device 6 conveys one pack of the egg packs P11 and P12. The egg pack P11 is sent downstream in the conveying direction, the egg pack P12 moves to the position of the previous egg pack P11, and a new egg pack P13 is set at the position where the previous egg pack P12 was located. (S615) The first and second suction units 3a and 3b adsorb six eggs each and pack them into the egg packs P12 and P13. In the egg pack P12, the replacement is completed in two gripping and transfer operations. After packing, the conveying device 6 conveys one pack of the egg packs P12 and P13. The egg pack P12 is sent downstream in the conveying direction, the egg pack P13 moves to the position of the previous egg pack P12, and a new egg pack P14 is set at the position where the previous egg pack P13 was located.

[0054] (S616) The second suction unit 3b moves three eggs out of one row of eggs on the tray T2 to the egg seats at the empty positions (rows) adjacent to the remaining three eggs on the tray T2 to form an arrangement of two rows and three columns (a group of six). (S617) The second suction unit 3b further moves the six eggs to other empty egg seats near the center of the tray T2. (S619) The first suction unit 3a adsorbs two eggs from one column of the group of six eggs and moves them to other empty egg seats two rows apart. At this time, it is moved so as to be in the same column as one of the columns of the remaining two rows and two columns. S616 to S619 correspond to the operation of changing the positions of the eggs in the tray. S616 to S619 may omit S617 using any of the suction units. For example, when the movement is restricted by factors such as the size of the suction pad unit, the layout of each conveying device for the tray and the egg pack, the arrangement and size of the robot, etc., the two-step operation of S616, S617, and S619 may be required. (S620) The first suction unit 3a sucks two eggs, and the second suction unit 3b sucks four eggs, which are then packed into the egg packs P13 and P14. In the egg pack P13, the replacement is completed in two gripping and transfer operations. After packing, the conveying device 6 sends one pack each of the egg packs P13 and P14. The egg pack P13 is sent downstream in the conveying direction, the egg pack P14 moves to the position of the previous egg pack P13, and a new egg pack P15 is set at the position where the previous egg pack P14 was located. (S621) Since all the eggs have been replaced from the tray T2, the conveying device 7 sends the tray T2 downstream in the conveying direction, and a new tray T3 is set at a predetermined position. The first and second suction units 3a and 3b suck four eggs each and pack them into the egg packs P14 and P15. In the egg pack P14, the replacement is completed in two gripping and transfer operations. After packing, the conveying device 6 sends one pack each of the egg packs P14 and P15. The egg pack P14 is sent downstream in the conveying direction, the egg pack P15 moves to the position of the previous egg pack P14, and a new egg pack P16 is set at the position where the previous egg pack P15 was located.

[0055] Refer to Figure 6B. (S622) The first and second suction units 3a and 3b suck four eggs each and pack them into the egg packs P15 and P16. In the egg pack P15, the replacement is completed in two gripping and transfer operations. After packing, the conveying device 6 sends one pack each of the egg packs P15 and P16. The egg pack P15 is sent downstream in the conveying direction, the egg pack P16 moves to the position of the previous egg pack P15, and a new egg pack P17 is set at the position where the previous egg pack P16 was located. (S623) The first and second suction units 3a and 3b suck four eggs each and pack them into the egg packs P16 and P17. In the egg pack P16, the replacement is completed in two gripping and transfer operations. After packing, the conveyor 6 feeds one pack each of the egg packs P16 and P17. The egg pack P16 is sent downstream in the conveying direction, the egg pack P17 moves to the position of the previous egg pack P16, and a new egg pack P18 is set at the position where the previous egg pack P17 was located. (S624) The first and second suction units 3a and 3b each adsorb four eggs and pack them into the egg packs P17 and P18. In the egg pack P17, the replacement is completed by two gripping and transferring operations. After packing, the conveyor 6 feeds one pack each of the egg packs P17 and P18. The egg pack P17 is sent downstream in the conveying direction, the egg pack P18 moves to the position of the previous egg pack P17, and a new egg pack P19 is set at the position where the previous egg pack P18 was located.

[0056] (S625) The first and second suction units 3a and 3b each adsorb four eggs and pack them into the egg packs P18 and P19. In the egg pack P18, the replacement is completed by two gripping and transferring operations. After packing, the conveyor 6 feeds one pack each of the egg packs P18 and P19. The egg pack P18 is sent downstream in the conveying direction, the egg pack P19 moves to the position of the previous egg pack P18, and a new egg pack P20 is set at the position where the previous egg pack P19 was located. (S626) The first and second suction units 3a and 3b each adsorb four eggs and pack them into the egg packs P19 and P20. In the egg pack P19, the replacement is completed by two gripping and transferring operations. After packing, the conveyor 6 feeds one pack each of the egg packs P19 and P20. The egg pack P19 is sent downstream in the conveying direction, the egg pack P20 moves to the position of the previous egg pack P19, and a new egg pack P21 is set at the position where the previous egg pack P20 was located.

[0057] (S627) The second suction unit 3b moves three of the eggs in one row of the tray T3 to the egg seats at the empty positions (rows) adjacent to the remaining three eggs in the tray T3 to form an arrangement of two rows and three columns (a group of six). (S628) The second suction unit 3b further moves the six eggs to other empty egg seats near the center of the tray T3. (S630) The first suction unit 3a sucks four eggs out of six grouped eggs and moves them to other empty egg seats two rows apart. At this time, it is moved so as to be in the same column as the remaining two-row and one-column column. From S627 to S630 corresponds to the operation of changing the positions of the eggs in the tray. From S627 to S630, S628 may be omitted and performed using any of the suction units. For example, when the movement is restricted due to the size of the suction pad unit, the layout of each transfer device for the tray and the egg pack, the arrangement and size of the robot, etc., the two-step operation of S627, S628, and S630 may be required. (S631) The first suction unit 3a sucks four eggs, and the second suction unit 3b sucks two eggs, and packs them into the egg packs P20 and P21. In the egg pack P20, the repacking is completed by two gripping and transfer operations. After packing, the transfer device 6 sends one pack each of the egg packs P20 and P21. The egg pack P20 is sent downstream in the transport direction, the egg pack P21 moves to the position of the previous egg pack P20, and a new egg pack P22 is set at the position where the previous egg pack P21 was.

[0058] (S632) Since all the eggs in the tray T3 have been repacked, the transfer device 7 sends the tray T3 downstream in the transport direction, and a new tray T4 is set at a predetermined position. The first and second suction units 3a and 3b suck six eggs each and pack them into the egg packs P21 and P22. In the egg pack P21, the repacking is completed by two gripping and transfer operations. After packing, the transfer device 6 sends one pack each of the egg packs P21 and P22. The egg pack P21 is sent downstream in the transport direction, the egg pack P22 moves to the position of the previous egg pack P21, and a new egg pack P23 is set at the position where the previous egg pack P22 was. (S633) The first and second suction units 3a and 3b suck two eggs each and pack them into the egg packs P22 and P23. In the egg pack P22, the repacking is completed by two gripping and transfer operations. After packing, the conveyor 6 feeds one pack each of the egg packs P22 and P23. The egg pack P22 is sent downstream in the conveying direction, the egg pack P23 moves to the position of the previous egg pack P22, and a new egg pack P24 is set at the position where the previous egg pack P23 was located. (S634) The first and second suction units 3a and 3b each adsorb six eggs and pack them into the egg packs P23 and P24. In the egg pack P23, the repacking is completed in two gripping and transferring operations. After packing, the conveyor 6 feeds one pack each of the egg packs P23 and P24. The egg pack P23 is sent downstream in the conveying direction, the egg pack P24 moves to the position of the previous egg pack P23, and a new egg pack P25 is set at the position where the previous egg pack P24 was located.

[0059] (S635) The first and second suction units 3a and 3b each adsorb two eggs and pack them into the egg packs P24 and P25. In the egg pack P24, the repacking is completed in two gripping and transferring operations. After packing, the conveyor 6 feeds one pack each of the egg packs P24 and P25. The egg pack P24 is sent downstream in the conveying direction, the egg pack P25 moves to the position of the previous egg pack P24, and a new egg pack P26 is set at the position where the previous egg pack P25 was located. (S636) The first and second suction units 3a and 3b each adsorb six eggs and pack them into the egg packs P25 and P26. In the egg pack P25, the repacking is completed in two gripping and transferring operations. After packing, the conveyor 6 feeds one pack each of the egg packs P25 and P26. The egg pack P25 is sent downstream in the conveying direction, the egg pack P26 moves to the position of the previous egg pack P25, and a new egg pack P27 is set at the position where the previous egg pack P26 was located. (S637) The first and second suction units 3a and 3b each adsorb two eggs and pack them into the egg packs P26 and P27. In the egg pack P26, the repacking is completed in two gripping and transferring operations.

[0060] (S638) Three of the eggs in one row of the tray T3 are moved to the empty egg seats in the adjacent row of the remaining three eggs to form a group of two rows and three columns. (S639) The second suction unit 3b sucks six eggs and packs them into the egg pack P27. In the egg pack P27, the repacking is completed by two gripping and transferring operations. (S640) After packing, the conveying device 6 sends two packs of the egg packs P26 and P27. The egg packs P26 and P27 are sent downstream in the conveying direction, and new egg packs P28 and P29 are set. A new tray T5 is set. The procedure from S601 above is repeated.

[0061] The control unit 4 may be realized, for example, in cooperation with hardware such as a processor and a memory and a program describing the control content, or may be realized by a combination of a dedicated circuit and firmware, or may be realized by a cloud-type or on-premises server or a general-purpose computer.

[0062] (Embodiment 2) In Embodiment 2, it is a pattern of repacking using one suction unit. FIGS. 7A and 7B show an example of repacking from a 5-row and 6-column tray (30 pieces) into four 2-row and 2-column egg packs (two egg packs simultaneously). The suction unit is one of 4 rows and 2 columns. The egg packs are conveyed in a vertical row along one column in the conveying direction. The gap between two packs (such as P1 and P2) on the downstream side and the upstream side is in a state with almost no gap (for example, a close state), for example, the ends of the packs are in contact with each other so that the distance between the upper and lower egg seats in the two packs is the same. The egg seats of the egg packs are adjacent to each other.

[0063] In this embodiment, after two columns on one side of the tray become empty, the eggs in the adjacent two columns are processed. When there is one suction unit, there is no operation to change the position of the eggs in the tray. The control unit 4 controls the suction of the suction unit, the desorption during packing, and the transfer between the tray and the egg pack.

[0064] (S701) There are 30 eggs on the tray T1 of the conveying device 7. The slashes indicate that the eggs are in the egg seats, and the blank (without slashes) indicates the state where there are no eggs in the egg seats. There are egg packs P1 and P2 arranged in a vertical row on the conveying device 6. Both lids are distal to the tray, and the egg seats are proximal to each other. (S702) The first suction unit 3a uses all 8 suction pads to suction 8 eggs and transfer them to the egg packs P1 and P2. The refilling is completed in one gripping and transfer operation. After refilling, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P3 and P4 are set at the predetermined positions. (S703) The first suction unit 3a suctions 2 eggs and fills the egg pack P4 at the upstream position. Here, although it can suction 8 eggs, it is set to 2. (S704) The first suction unit 3a suctions 6 eggs and fills the egg packs P3 and P4. The refilling is completed with one gripping and transfer operation for the egg pack P1 and two gripping and transfer operations for the egg pack P4. After refilling, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P5 and P6 are set at the predetermined positions. (S705) The first suction unit 3a suctions 4 eggs and fills the egg pack P6 at the upstream position. Here, although it can suction 8 eggs, it is set to 4. The refilling is completed with one gripping and transfer operation for the egg pack P6. (S706) The first suction unit 3a suctions 4 eggs and fills the egg pack P5 at the downstream position. Here, although it can suction 8 eggs, it is set to 4. The refilling can be done so as not to interfere with the eggs already filled in the egg pack P6. The refilling is completed with one gripping and transfer operation for the egg pack P5. After refilling, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P7 and P8 are set at the predetermined positions.

[0065] (S707) The first suction unit 3a suctions all the remaining 6 eggs on the tray T1, fills 4 eggs into the downstream egg pack P7, and 2 eggs into the upstream egg pack P8. Since all the eggs have been transferred from tray T1, the conveyor 7 sends tray T1 downstream in the conveying direction, and a new tray T2 is set at a predetermined position. (S708) The first suction unit 3a sucks two eggs and packs them into the egg pack P8 at the upstream position. The replacement is completed by one gripping and transferring operation for the egg pack P7 and two gripping and transferring operations for the egg pack P8. After packing, the conveyor 6 sends the two egg packs downstream in the conveying direction, and new egg packs P9 and P10 are set at predetermined positions. (S709) The first suction unit 3a sucks eight eggs using all eight suction pads and transfers them to the egg packs P1 and P2. The replacement is completed by one gripping and transferring operation. After packing, the conveyor 6 sends the two egg packs downstream in the conveying direction, and new egg packs P11 and P12 are set at predetermined positions. (S710) The first suction unit 3a sucks eight eggs using all eight suction pads and transfers them to the egg packs P1 and P2. The replacement is completed by one gripping and transferring operation. After packing, the conveyor 6 sends the two egg packs downstream in the conveying direction, and new egg packs P13 and P14 are set at predetermined positions. (S711) The first suction unit 3a sucks two eggs and packs them into the egg pack P14 at the upstream position. (S712) The first suction unit 3a sucks six eggs and packs four into the downstream egg pack P13 and two into the upstream egg pack P14. After packing, the conveyor 6 sends the two egg packs downstream in the conveying direction, and new egg packs P15 and P16 are set at predetermined positions.

[0066] (S713) The first suction unit 3a sucks four eggs and packs them into the upstream egg pack P16. The replacement is completed by one gripping and transferring operation for the egg pack P16. Since all the eggs have been transferred from tray T2, the conveyor 7 sends tray T2 downstream in the conveying direction, and a new tray T3 is set at a predetermined position. (S714) The first suction unit 3a sucks 4 eggs and packs them into the egg pack P15 at the downstream position. The packing into the egg pack P15 is completed in one gripping and transferring operation. It can be packed so as not to interfere with the eggs already packed in the egg pack P16. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P17 and P18 are set at predetermined positions. (S715) The first suction unit 3a sucks 6 eggs and packs 4 into the downstream egg pack P17 and 2 into the upstream egg pack P18. (S716) The first suction unit 3a sucks 2 eggs and packs them into the egg pack P18 at the upstream position. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P19 and P20 are set at predetermined positions.

[0067] (S717) The first suction unit 3a uses all 8 suction pads to suck 8 eggs and transfers them to the egg packs P19 and P20. The packing replacement is completed in one gripping and transferring operation. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P21 and P22 are set at predetermined positions. (S718) The first suction unit 3a uses all 8 suction pads to suck 8 eggs and transfers them to the egg packs P21 and P22. The packing replacement is completed in one gripping and transferring operation. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P23 and P24 are set at predetermined positions. (S719) The first suction unit 3a sucks 2 eggs and packs them into the egg pack P24 at the upstream position. Since all the eggs have been repacked from the tray T3, the conveying device 7 sends the tray T3 downstream in the conveying direction, and a new tray T4 is set at a predetermined position. (S720) The first suction unit 3a sucks 6 eggs and packs 4 into the downstream egg pack P23 and 2 into the upstream egg pack P24. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P25 and P26 are set at predetermined positions. (S721) The first suction unit 3a sucks 4 eggs and packs them into the egg pack P26 at the upstream position.

[0068] Refer to Fig. 7B. (S722) The first suction unit 3a sucks 4 eggs and packs them into the egg pack P25 at the downstream position. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P25 and P26 are set at predetermined positions. (S723) The first suction unit 3a sucks 6 eggs and packs 4 into the downstream egg pack P28 and 2 into the upstream egg pack P27. (S724) The first suction unit 3a sucks 2 eggs and packs them into the upstream egg pack P27. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P29 and P30 are set at predetermined positions. (S725) The first suction unit 3a uses all 8 suction pads to suck 8 eggs and transfers them to the egg packs P29 and P30. The repacking is completed in one gripping and transfer operation. (S726) Since all the eggs have been repacked from the tray T4, the conveying device 7 sends the tray T4 downstream in the conveying direction, and a new tray T5 is set at a predetermined position. After packing, the conveying device 6 sends the two egg packs downstream in the conveying direction, and new egg packs P31 and P32 are set at predetermined positions. The procedure from S701 above is repeated.

[0069] (Embodiment 3) In Embodiment 3, it is a pattern of refilling using one suction unit. FIG. 8 shows an example of refilling from trays (30 pieces) arranged in 6 rows and 5 columns to 4 egg packs (simultaneously 3-egg packs) arranged in 2 rows and 2 columns. The suction unit is one arranged in 6 rows and 2 columns. The egg packs are conveyed in a vertical column of one row along the conveyance direction. The gaps between three packs (such as P1 and P2) on the downstream side and the upstream side are in a state with almost no gap (for example, a close state), for example, in a state where the ends of the packs are in contact so that the intervals between the upper and lower egg seats in the three packs are the same. The egg seats of the egg packs are adjacent to each other.

[0070] In the present embodiment, after two columns on one side of the tray become empty, the eggs in the adjacent two columns or one column are processed. The number of rows of the tray is the same as the number of rows gripped by the suction unit. When there is one suction unit, there is no operation for changing the positions of the eggs in the tray. The control unit 4 controls the suction of the suction unit, the desorption during filling, and the transfer between the tray and the egg pack.

[0071] (S801) There are 30 eggs on the tray T1 on the conveying device 7. The slashes indicate that the eggs are in the egg seats, and the blank (no slashes) indicates a state where there are no eggs in the egg seats. There are egg packs P1, P2, and P3 arranged in a vertical column of one row on the conveying device 6. The lids of the three-egg packs are distal from the tray, and the egg seats are proximal. (S802) The first suction unit 3a sucks 12 eggs using all 12 suction pads and transfers them to the egg packs P1, P2, and P3. The refilling is completed in one gripping and transferring operation. After filling, the conveying device 6 sends the three egg packs downstream in the conveying direction, and new egg packs P4, P5, and P6 are set at predetermined positions. (S803) The first suction unit 3a sucks 12 eggs using all 12 suction pads and transfers them to the egg packs P4, P5, and P6. The refilling is completed in one gripping and transferring operation. After filling, the conveying device 6 sends the three egg packs downstream in the conveying direction, and new egg packs P7, P8, and P9 are set at predetermined positions. (S804) The first suction unit 3a sucks six eggs using six suction pads in one row and transfers them to their respective egg seats distal as viewed from the trays T1 of the egg packs P7, P8, and P9. When all the eggs are gone from the tray T1, it is sent out by the conveying device 7 and a new tray T2 is set. Note that, in S803, the two columns at the end of the tray T1 may be transferred, and in S804, the middle one column may be transferred. (S805) The first suction unit 3a sucks six eggs using six suction pads in one row and transfers them to their respective egg seats proximal as viewed from the trays T2 of the egg packs P7, P8, and P9. After filling, the three egg packs are sent downstream in the conveying direction by the conveying device 6, and new egg packs P10, P11, and P12 are set at predetermined positions.

[0072] (S806) The first suction unit 3a sucks twelve eggs using all twelve suction pads and transfers them to the egg packs P10, P11, and P12. The refilling is completed in one gripping and transfer operation. After filling, the three egg packs are sent downstream in the conveying direction by the conveying device 6, and new egg packs P13, P14, and P15 are set at predetermined positions. (S807) The first suction unit 3a sucks twelve eggs using all twelve suction pads and transfers them to the egg packs P13, P14, and P15. The refilling is completed in one gripping and transfer operation. When all the eggs are gone from the tray T2, it is sent out by the conveying device 7 and a new tray T3 is set. After filling, the three egg packs are sent downstream in the conveying direction by the conveying device 6, and new egg packs P16, P17, and P18 are set at predetermined positions. The procedure from S801 above is repeated.

[0073] (Embodiment 4) Embodiment 4 shows an example of transfer from a replacement source container (ST) without a lid and with a small number of egg seats to a replacement destination container (PT) without a lid and with a large number of egg seats.

[0074] In FIG. 9, the eggs are transferred from a tray ST (without lid) of 6 rows and 5 columns (30 eggs) to a tray PT (without lid) of 9 rows and 5 columns (45 eggs). First and second suction units 3a and 3b have suction pads arranged in 3 rows and 5 columns. When sucking, the unit interval is narrowed according to the egg seats of the tray ST. When packing into the tray PT, there are cases where packing is done with the unit interval as it is and cases where packing is done with an interval.

[0075] (S901) There are 30 eggs on the tray ST1 on the transfer device 7. The slashes indicate that the eggs are in the egg seats, and the blank (without slashes) indicates the state where there are no eggs in the egg seats. There are trays PT1 and PT2 arranged in a vertical column of 1 row on the transfer device 6. (S902) The first and second suction units 3a and 3b suck 15 eggs each from the tray ST1 with the interval narrowed and pack them into the tray PT1. The tray ST1 is sent downstream and a new tray ST2 is set. (S903) The first and second suction units 3a and 3b suck 15 eggs each from the tray ST2 with the interval narrowed, widen the interval between the first and second suction units 3a and 3b, and pack them into the trays PT1 and PT2. The tray PT1 completes the transfer in two gripping and transfer operations. The tray ST2 is sent downstream and a new tray ST3 is set. The tray PT1 is sent downstream by the transfer device 6, and the trays PT2 and 3 are also sent at the same time. (S904) The first and second suction units 3a and 3b suck 15 eggs each from the tray ST3 with the interval narrowed and pack them into the tray PT2. The tray ST3 is sent downstream and a new tray ST4 is set. The tray PT2 is sent downstream by the transfer device 6, and a new tray PT3 is set. It is repeated in order from S901.

[0076] (Embodiment 5) In FIGS. 10A and 10B, the eggs are transferred from a tray ST (without lid) of 5 rows and 6 columns (30 eggs) to a tray PT (without lid) of 9 rows and 6 columns (54 eggs). A plurality of suction units are provided corresponding to the number of rows and columns of the tray, and the distance between adjacent units is configured to expand and contract. The first, second, third, fourth, and fifth suction units 3a, 3b, 3c, 3d, and 3e each have suction pads arranged in 1 row and 6 columns. When suctioning, the unit interval is narrowed according to the egg seats of the tray ST. When packing the tray PT, there are cases where it is packed with the unit interval as it is and cases where it is packed with intervals left.

[0077] (S101) There are 30 eggs on the tray ST1 on the conveying device 7. The slashes indicate that the eggs are in the egg seats, and the white (no slashes) indicates the state where there are no eggs in the egg seats. There are trays PT1 and PT2 arranged in a vertical column in 1 row on the conveying device 6. (S102) The first to fifth suction units 3a to 3e suction 6 eggs each from the tray ST1 in a state where the interval is narrowed and pack them into the tray PT1. The tray ST1 is sent downstream and a new tray ST2 is set. (S103) The first to fifth suction units 3a to 3e suction 6 eggs each from the tray ST2 in a state where the interval is narrowed, keep the intervals of the first to fourth suction units 3a to 3d as they are, expand the fifth suction unit 3e, and pack them into the trays PT1 and PT2. The tray PT1 completes the repacking in 2 gripping and transferring operations. The tray ST2 is sent downstream and a new tray ST3 is set. The tray PT1 is sent downstream by the conveying device 6, and the trays PT2 and 3 are also sent at the same time. (S104) The first to fifth suction units 3a to 3e suction 6 eggs each from the tray ST3 in a state where the interval is narrowed and pack them into the tray PT2. The tray ST3 is sent downstream and a new tray ST4 is set. (S105) The first to fifth suction units 3a to 3e suction 6 eggs each from the tray ST4 in a state where the interval is narrowed, keep the intervals of the first to third suction units 3a to 3c as they are, keep the intervals of the fourth and fifth suction units 3d and 3e as they are, expand them, and pack them into the trays PT2 and PT3. The tray PT2 completes the repacking in 3 gripping and transferring operations. The tray ST4 is sent downstream and a new tray ST5 is set.

[0078] Refer to FIG. 10B. (S106) The first to fifth suction units 3a to 3e suck six eggs each from the tray ST5 in a state where the intervals are narrowed, and pack them into the tray PT3. The tray ST5 is sent downstream and a new tray ST6 is set. (S107) The first to fifth suction units 3a to 3e suck six eggs each from the tray ST6 in a state where the intervals are narrowed. The intervals between the first and second suction units 3a and 3b remain the same, while the intervals between the third to fifth suction units 3c, 3d, and 3e are widened to the original intervals and packed into the trays PT3 and PT4. The tray PT3 completes the repacking in two gripping and transfer operations. The tray ST6 is sent downstream and a new tray ST7 is set. The tray PT3 is sent downstream by the conveyor 6, and the trays PT4 and 5 are also sent simultaneously. (S108) The first to fifth suction units 3a to 3e suck six eggs each from the tray ST7 in a state where the intervals are narrowed, and pack them into the tray PT4. The tray ST7 is sent downstream and a new tray ST8 is set. (S109) The first to fifth suction units 3a to 3e suck six eggs each from the tray ST8 in a state where the intervals are narrowed. The interval between the first suction unit 3a and the other suction units 3b, 3c, 3d, and 3e remains the same, and they are widened and packed into the trays PT4 and PT5. The tray PT4 completes the repacking in three gripping and transfer operations. The tray ST8 is sent downstream and a new tray ST9 is set. The tray PT4 is sent downstream by the conveyor 6, and the trays PT5 and 6 are also sent simultaneously. (S110) The first to fifth suction units 3a to 3e suck six eggs each from the tray ST9 in a state where the intervals are narrowed, and pack them into the tray PT5. The tray ST9 is sent downstream and a new tray ST10 is set. The tray PT5 is sent downstream by the conveyor 6, and the trays PT6 and 7 are also sent simultaneously. It is repeated in order from S101.

[0079] (Embodiment 6) In Fig. 11A, eggs are repacked from a supply-side tray (without a lid) of 5 columns and 8 rows (40 eggs) into the egg seats of an egg pack of 2 columns and 5 rows. The egg packs are vertically conveyed continuously in a single column. The suction unit corresponds to the 8 rows of the supply-side tray and the 2 columns of the egg pack, and is 2 columns and 8 rows. The suction unit has suction pads arranged in 2 columns and 8 rows.

[0080] (S111) There are 40 eggs on the tray on the conveying device. The gray parts indicate that the eggs are in the egg seats, and the white areas indicate that there are no eggs in the egg seats. There is a single column of vertically arranged egg packs on the conveying device. The suction unit sucks 16 eggs from the tray and packs them into two adjacent egg packs continuously in the conveying direction. The egg packs are sent 8 rows downstream. (S112) The suction unit sucks 16 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 8 rows downstream. (S113) The suction unit sucks 8 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The empty supply-side tray is sent downstream, and the next supply-side tray is sent. (S114) The suction unit sucks 8 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 8 rows downstream. (S115) The suction unit sucks 16 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 8 rows downstream. (S116) The suction unit sucks 16 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 8 rows downstream. This is repeated in order from S111.

[0081] In Fig. 11B, eggs are repacked from a supply-side tray (without a lid) of 5 columns and 9 rows (45 eggs) into the egg seats of an egg pack of 2 columns and 5 rows. The egg packs are vertically conveyed continuously in a single column. The suction unit corresponds to the 9 rows of the supply-side tray and the 2 columns of the egg pack, and is 2 columns and 9 rows. The suction unit has suction pads arranged in 2 columns and 9 rows.

[0082] (S121) There are 45 eggs on the tray on the conveying device. The gray part indicates that the eggs are in the egg seats, and the white part indicates the state where there are no eggs in the egg seats. There is a row of vertically arranged egg packs on the conveying device. The suction unit sucks 18 eggs from the tray and packs them into two adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. (S122) The suction unit sucks 18 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. (S123) The suction unit sucks 9 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The empty supply-side tray is sent downstream, and the next supply-side tray is sent. (S124) The suction unit sucks 9 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. (S125) The suction unit sucks 18 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. (S126) The suction unit sucks 18 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. It is repeated in order from S121.

[0083] In Fig. 11C, it is repacked from a 6-column 9-row (54 pieces) supply-side tray (without lid) to the egg seats of a 2-column 5-row egg pack. The egg packs are vertically conveyed continuously in a row. The suction unit corresponds to 9 rows of the supply-side tray and 2 columns of the egg pack, and is 2 columns by 9 rows. The suction unit has suction pads of 2 columns by 9 rows.

[0084] (S131) There are 45 eggs on the tray on the conveying device. The gray part indicates that the eggs are in the egg seats, and the white part indicates the state where there are no eggs in the egg seats. There is a row of vertically arranged egg packs on the conveying device. The suction unit sucks 18 eggs from the tray and packs them into two adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. (S132) The suction unit sucks 18 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. (S133) The suction unit sucks 18 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The empty supply-side tray is sent downstream, and the next supply-side tray is sent. (S134) The suction unit sucks 18 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. (S135) The suction unit sucks 18 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. (S136) The suction unit sucks 18 eggs from the tray and packs them into adjacent egg packs continuously in the conveying direction. The egg packs are sent 9 rows downstream. It is repeated in order from S131.

[0085] (Alternative embodiment) (1) The egg container tray is not limited to 9 rows × 6 columns, 5 rows × 6 columns, etc. (2) The gripping means is not limited to the suction pad. (3) The repacking pattern is not limited to FIGS. 2A-2C, 3, 4, 5, 6A-6B, 7A-7B, 8, 9, 10A-10B, 11A-11C. (4) In Embodiment 6, FIGS. 11A-11C, it is described as an egg pack of 2 columns × 5 rows, but it is not limited thereto, and any 2-column egg pack is acceptable. For example, the same repacking is possible for egg packs of 2 columns × 2 rows, 2 columns × 3 rows, 2 columns × 5 rows, 2 columns × 6 rows.

Description of reference numerals

[0086] 1 Egg repacking device 3 Gripping means 3a First suction unit 3b Second suction unit 31 Moving mechanism 32 Suction pads 4 Control unit 41 Memory unit P Egg pack T Tray

Claims

1. In the operation of transferring eggs from a predetermined refill source container (T) to a predetermined refill destination container (P), the method includes a refilling step of using an empty egg seat in the refill source container (T) where no eggs are placed, gripping a predetermined number of eggs at a predetermined gripping position of the gripping means, transferring the eggs, and packing the eggs into the refill destination container (P), the refilling step including at least two egg position changing operations by the gripping means. How to refill eggs.

2. The refilling step includes a spacing change step of switching between a first state in which the spacing between each gripping position of the gripping means corresponds to the spacing between egg seats in the source container (T) during the egg gripping operation, and a second state in which the spacing between each gripping position of the gripping means corresponds to the spacing between egg seats in the destination container (P) during the operation of filling eggs into the destination container (P), 2. The method of claim 1 for refilling eggs.

3. The interval changing step includes: When two of the refilling containers (P) are arranged side by side and eggs are filled at the same time, the interval between the two sets of gripping means is changed according to the interval between the two refilling containers (P).

3. The method for refilling eggs according to claim 2.

4. a gripping means for gripping an egg; a control unit that controls the operation of the gripping means in a task of transferring eggs from a specified refilling source container (T) to a specified refilling destination container (P) so that, using an empty egg seat in the refilling source container (T) where no eggs are placed, the gripping means grips and transfers a specified number of eggs at a specified gripping position of the gripping means, including at least two egg position changing operations, and packs the eggs into the refilling destination container (P); The egg refilling device has

5. In the operation of transferring eggs from a predetermined refill source container (T) to a predetermined refill destination container (P), the method includes a refilling step of gripping a predetermined number of eggs at a predetermined gripping position of a gripping means, transferring the eggs and packing them into the refill destination container (P) so that after one or more rows on one side of the refill source container (T) become empty, eggs in the adjacent row are processed. How to refill eggs.

6. a gripping means for gripping an egg; The device has a control unit that controls a series of operations in which, in the operation of transferring eggs from a specified source container (T) to a specified destination container (P), a predetermined number of eggs are gripped at a predetermined gripping position using a gripping means, transported, and packed into the destination container (P) so that after one or more rows on one side of the source container (T) become empty, eggs in the adjacent row are processed. Egg refilling device.

Images