Egg container loading system

Abstract

To provide an egg container loading system with a layout that takes into consideration a work area, a cart waiting area, a shipping area, and movement lines of carts and workers.SOLUTION: A system 1 comprises: a first egg container transport device 72a having a first waiting area W1 where egg containers are located; a first multi-axis robot arm 21a having a first suction gripper 212a that grips the egg containers in the first waiting area W1, and transferring the gripped egg containers to a shelf; a first bogie pusher 34 that transports a bogie 8 from a first bogie transfer device 30, which faces the first multi-axis robot arm 21a, to a first loading section 38, which is close to the first multi-axis robot arm 21a, along a first transfer line L1; and a first trolley discharge device 36 for transporting a trolley 8a from the first loading section 38 to a trolley discharge section 39 along the first discharge line L11.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present invention relates to an egg container loading system for an egg container transport cart.

Background Art

[0002] For transporting egg containers filled with eggs (also referred to as "egg packs") to retailers such as food supermarkets, transport racks are used. For example, there are transport roll boxes dedicated to chicken egg packs manufactured by Yoshida Ersis Co., Ltd. and roll racks manufactured by San-Young Manufacturing Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for housing chicken eggs. The transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. For example, there are transport roll boxes dedicated to chicken egg packs manufactured by Yoshida Ersis Co., Ltd. and roll racks manufactured by San-Young Manufacturing Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for housing chicken eggs. The transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. For example, there are transport roll boxes dedicated to chicken egg packs manufactured by Yoshida Ersis Co., Ltd. and roll racks manufactured by San-Young Manufacturing Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for housing chicken eggs. The transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. Further, Patent Document 1 describes a transport rack for transporting an egg container for housing chicken eggs. The transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. The transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. The transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction.

[0003] Patent Document 2 describes a shelf opening device that can automatically open a folding shelf (return the folded state to the original state (shelf state)). In FIG. 2A, egg containers are vertically arranged on the back side of the shelf. In FIG. 1, an example in which the cart moves in one direction is described. Patent Document 2 describes a shelf opening device that can automatically open a folding shelf (return the folded state to the original state (shelf state)). In FIG. 2A, egg containers are vertically arranged on the back side of the shelf. In FIG. 1, an example in which the cart moves in one direction is described. Patent Document 2 describes a shelf opening device that can automatically open a folding shelf (return the folded state to the original state (shelf state)). In FIG. 2A, egg containers are vertically arranged on the back side of the shelf. In FIG. 1, an example in which the cart moves in one direction is described.

[0004] Patent Document 3 describes that, as shown in paragraph 0032, FIGS. 6 and 7 of the specification, a folding shelf board is unfolded by a gripping portion (11) of a robot arm (2). Patent Document 3 describes that, as shown in paragraph 0032, FIGS. 6 and 7 of the specification, a folding shelf board is unfolded by a gripping portion (11) of a robot arm (2).

[0005] Patent Document 4 discloses a transfer device for an egg pack that sends the egg pack on a transport unit to an assembly location for boxing the egg packs on the transport unit. The transfer device includes a shaft that reciprocates between the transport unit side and the assembly location side, a main arm that is integrally provided on the shaft and moves the egg pack from the transport unit to the assembly location, and a main arm that is moved to a position where it does not interfere with the egg pack using the movement of the shaft. Patent Document 4 discloses a transfer device for an egg pack that sends the egg pack on a transport unit to an assembly location for boxing the egg packs on the transport unit. The transfer device includes a shaft that reciprocates between the transport unit side and the assembly location side, a main arm that is integrally provided on the shaft and moves the egg pack from the transport unit to the assembly location, and a main arm that is moved to a position where it does not interfere with the egg pack using the movement of the shaft. Patent Document 4 discloses a transfer device for an egg pack that sends the egg pack on a transport unit to an assembly location for boxing the egg packs on the transport unit. The transfer device includes a shaft that reciprocates between the transport unit side and the assembly location side, a main arm that is integrally provided on the shaft and moves the egg pack from the transport unit to the assembly location, and a main arm that is moved to a position where it does not interfere with the egg pack using the movement of the shaft. Patent Document 4 discloses a transfer device for an egg pack that sends the egg pack on a transport unit to an assembly location for boxing the egg packs on the transport unit. The transfer device includes a shaft that reciprocates between the transport unit side and the assembly location side, a main arm that is integrally provided on the shaft and moves the egg pack from the transport unit to the assembly location, and a main arm that is moved to a position where it does not interfere with the egg pack using the movement of the shaft. It is provided with a retracting means for retracting. At the assembling location, there are provided regulating members for preventing the egg pack from floating up. A transfer unit is disclosed in Patent Document 5, which includes a pressing member 7 for pushing out the peripheral wall of the egg pack and sending it to the assembling location, and a pressing member 8 for pressing the top surface of the egg pack. At the assembling location, there are provided width regulating members for regulating the displacement in the arrangement when the egg pack is pressed and moved.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Summary of the Invention

Problems to be Solved by the Invention

[0007] The following problems cannot be solved by the above patent documents. (1) In Patent Document 2, when placing horizontally instead of vertically at the uppermost stage, there is a possibility that the bottom of the shelf board in the folded state at the back of the shelf and the hand part of the robot arm may come into contact (interfere). (2) Not only the one-way movement of the cart disclosed in Patent Document 2, but also a layout considering the work area, the cart waiting area, the shipping area, and the flow lines of the cart and the operator is required. [[ID=५७]](3) Multiple types of egg containers may be sent from the upstream side by a conveyor. In such a case, ​​Previously, workers manually loaded them. With the conveyance of such a variety of egg containers, there is a demand to enable loading on the device side. (4) There are various types of carts (roll-inners), and there are differences in shape such as height, width, depth, and the positions of protrusions and beams (frames). Therefore, it is difficult to convey various carts with a single cart conveyance device. (5) When performing shelf opening (expansion) with a robot arm as in Patent Document 3, after adsorbing the shelf board and then expanding it, depending on the distortion and deformation of the roll-inner, there is a concern that adsorption failure, adsorption peeling during expansion, etc. may occur. Due to the load capacity of the robot arm and the space limitation for movement within the cart (roll-inner), it is difficult to add a large mechanical structure to the hand part of the robot arm in addition to the adsorption mechanism. (6) In Patent Documents 4 and 5, for the egg packs conveyed parallel to the longitudinal direction of the egg packs, they are pushed out from the side surface of the egg packs and collected at the integration location. However, it is necessary to change the regulating members according to the longitudinal length of the egg packs, and the switching operation is complicated. When using a cylinder as the pressing means (Patent Document 5), during the return to the origin, the next egg pack cannot be conveyed to the extrusion position. In Patent Document 4, even when the next egg pack is arranged, the extrusion part retracts upward to avoid interference and returns to the origin, but the time until the return to the origin makes it impossible to perform the next extrusion.

[0008] Therefore, the first object of the present invention is, first, to provide a cart loading device capable of corresponding to various carts (roll-inners) and an egg container loading system including the same. The second object is to provide a cart fixing device capable of suppressing the failure of shelf opening (expansion) and an egg container loading system including the same. ​​​​​​​​​​​​​​​A third object is to provide a loading control device compatible with various egg containers and an egg container loading system including the same. Provide a stem. A fourth object is to provide an egg container loading system having a layout that takes into account work areas, cart waiting areas, shipping areas, the flow lines of carts and workers, etc. Provide an egg container loading system having a layout that takes into account work areas, cart waiting areas, shipping areas, the flow lines of carts and workers, etc. A fifth object is to provide a sorting and conveying device that sorts egg containers conveyed from the upstream side from the main conveying device to the loading waiting area of the egg container conveying device, and an egg container loading system including the same. Provide an egg container loading system having a layout that takes into account work areas, cart waiting areas, shipping areas, the flow lines of carts and workers, etc. Provide.

Means for Solving the Problems

[0009] In the present invention, the egg container is filled with predetermined eggs. The egg container loading system (1) of the present invention A first egg container conveying device (72a) having a first waiting area (W1) for one egg container or two or more egg containers (P) arranged in parallel (arranged in parallel in the longitudinal direction), A first adsorption gripping portion (212a) for gripping the egg container in the first waiting area (W1), and at least one of the first egg container transport carts (8, (hereinafter, may also be simply referred to as "cart")) A first multi-axis robot arm (21a) that transfers the gripped egg container to a shelf (which may or may not be a folding shelf) of At least one of the first egg container transport carts (8, (hereinafter, may also be simply referred to as "cart")) A first multi-axis robot arm (21a) that transfers the gripped egg container to a shelf (which may or may not be a folding shelf) of At least one of the first egg container transport carts (8, (hereinafter, may also be simply referred to as "cart")) A first cart loading device (30) that conveys the first egg container transport cart (8) (with the lowermost shelf board in the deployed state) to the side of the first multi-axis robot arm (21a) (to the egg container loading position), A first cart loading device (30) that conveys the first egg container transport cart (8) (with the lowermost shelf board in the deployed state) to the side of the first multi-axis robot arm (21a) (to the egg container loading position), And A first cart extrusion device (34) provided on the first cart loading device (30), which moves the first egg container transport cart (8) along a first loading line (L1) (linear) toward a first loading portion (38) (loading position) that is proximal to the first multi-axis robot arm (21a), A first cart extrusion device (34) provided on the first cart loading device (30), which moves the first egg container transport cart (8) along a first loading line (L1) (linear) toward a first loading portion (38) (loading position) that is proximal to the first multi-axis robot arm (21a), A first cart extrusion device (34) provided on the first cart loading device (30), which moves the first egg container transport cart (8) along a first loading line (L1) (linear) toward a first loading portion (38) (loading position) that is proximal to the first multi-axis robot arm (21a), A first vehicle extrusion device (34) for sending, The first egg container transport cart (8a) from the first loading section (38), (in a direction intersecting the first loading line (L1) at 90° (substantially 90° intersection is sufficient.) ) A first vehicle unloading device that transports the cart along the first unloading line (L11) to the cart unloading section (39) (36). The first waiting area (W1) of the first egg container transport device (72a), the first multi-axis robot arm (21a), and the first loading section (38) may be arranged in an L shape starting from the main body axis (AR) of the first multi-axis robot arm (21 a) (L-shaped layout). Furthermore, the first waiting area (W1), the first multi-axis robot arm (21a), the first loading section (38) , and the first vehicle loading device (30) may be arranged in an L shape starting from the main body axis (AR) of the first multi-axis robot arm (21a). The first waiting area (W1) of the first egg container transport device (72a) is arranged between the first multi-axis robot arm (21a) and the first loading section (38), and the first multi-axis robot arm (21a), the first waiting area (W1), and the first loading section (38) may be arranged linearly. Furthermore, the first multi-axis robot arm (21a), the first waiting area (W1), the first loading section (38), and the first vehicle loading device (30) may be arranged linearly. Also, the first multi-axis robot arm (21a), the first waiting area (W1), the first loading section (38), the first vehicle loading device (30), and the cart unloading section (39) may be arranged in a T shape starting from the first loading section (38) (T-shaped layout). The moving distances of the hand portion (211) and the suction gripping portion (212) can be shortened, and the loading processing time can be shortened.

[0010] ​​​ The egg container loading system (1) further includes a second egg container conveying device (72b) having a second standby area (W2) for one egg container or two or more egg containers (P) arranged in parallel (arranged in parallel longitudinally), a second suction and gripping portion (212b) for gripping the egg container (P) in the second standby area (W2), and a second multi-axis robot arm (21b) for transferring the gripped egg container (P) to at least one shelf (which may or may not be a folding shelf) of the second egg container transport cart (8). and a second cart loading device (40) for transporting the second egg container transport cart (8) (with the lowermost shelf board in the deployed state) to the side of the second multi-axis robot arm (21b) (to the egg container loading position). and a second cart extrusion device (44) provided in the second cart loading device (40), which transports the second egg container transport cart (8) along a second loading line (L2) (linear) toward a second loading portion (48) (loading position) that is proximal to the second multi-axis robot arm (21b). a second cart unloading device (46) for transporting the second egg container transport cart (8b) from the second loading portion (48) to the cart unloading portion (39) along a second unloading line (L21) (a direction that intersects the second loading line (L2) at 90° (substantially 90° intersection is acceptable). ). The second standby area (W2) of the second egg container conveying device (72b), the second multi-axis robot arm (21b), and the second loading portion (48) may be arranged in an L shape starting from the main body axis (AR) of the second multi-axis robot arm (21b) (L-shaped layout). b). Further, the second standby area (W2), the second multi-axis robot arm (21b), and the second loading unit (48) , and the second cart loading unit (40) may be arranged in an L shape with the main body axis (AR) of the second multi-axis robot arm (21b) as the starting point. Point as an L shape and arranged. The second standby area (W2) of the second egg container transport device (72b) is arranged between the second multi-axis robot arm (21b) and the second loading unit (48), and the second multi-axis robot arm (21b), the second standby area (W2), and the second loading unit (48) may be arranged linearly . Further, the second multi-axis robot arm (21b), the second standby area (W2) , the second loading unit (48), and the second cart loading device (40) may be arranged linearly . Or, the second multi-axis robot arm (21b), the second standby area (W2), the second loading unit (48), the second cart loading device (40), and the cart unloading unit (39) may be arranged in a T shape with the second loading unit (48) as the starting point (T-shaped layout). The moving distance of the hand part (211b) and the suction gripping part (212) can be shortened, and the loading processing time can be shortened.

[0011] The egg container loading system (1) is equipped with a cart sending device (391) for sending out the loaded first egg container transport cart (8a) and / or the second egg container transport cart (8 b) from the cart unloading unit (39) along a sending line (L3) arranged in parallel with the first and second loading lines (L1, L2). It may also be provided. Yes. The sending line (L3) is preferably arranged between the first and second loading lines (L1, L2). It is preferable that the sending line (L3) is arranged between the first and second loading lines (L1, L2). The closer the ends of the first and second loading units (30, 40) are to the sending line (L3), the better. Workability can be improved. For example, by making the movement path of the cart (8) in a U-shape and arranging the loading and unloading adjacent to each other, workability is improved. Further, by combining the U-shaped flow lines into a mountain-shaped flow line (sharing the unloading), the processing capacity can be improved while suppressing the dedicated space and cost.

[0012] The cart unloading section (39) and the delivery line (L3) may be shared, or in another embodiment, the cart unloading section and the delivery line may be provided separately. For example, the first egg container transport cart (8a) may be moved from the first loading section (38) in a direction that intersects the first loading line (L1) at 90° (any direction that is substantially 90°), and along the third unloading line in a direction away from the second loading section (48) to the cart unloading section. It may be provided with a third cart unloading device, and / or the second egg container transport cart (8b) may be moved from the second loading section (48) in a direction that intersects the second loading line (L2) at 90° (any direction that is substantially 90°), and along the fourth unloading line in a direction away from the first loading section (38) to the cart unloading section. It may be provided with a fourth cart unloading device.

[0013] The first loading line (L1), the first loading section (38), the first multi-axis robot arm (21a), the first waiting area (W1), the first unloading line (L11), and the second loading line (L2), the second loading section (48), the second multi-axis robot arm (21b), the second waiting area (W2), and the second unloading line (L21) are lines passing through the cart unloading section (39) (the delivery line (L3) which is a line parallel to the first and second loading lines). ​It may also have a layout configuration with translational symmetry or mirror symmetry with respect to

[0014] (Alternative layout) The egg container loading system (1) of the present invention has a first egg container conveying device (72a) having a first waiting area (W1) for one egg container or two or more egg containers (P) arranged in parallel (arranged in parallel in the longitudinal direction), a first adsorption gripping portion (212a) for gripping the egg container in the first waiting area (W1) (provided at the tip position on the first hand portion (211a)), and a first multi-axis robot arm (21a) for transferring the gripped egg container to at least one shelf (which may or may not be a folding shelf) of the first egg container transport cart (8), a first cart loading device (300) for transporting the first egg container transport cart (8) (with the lowermost shelf board in the unfolded state) to the side of the first multi-axis robot arm (21a), a first cart extrusion device (340) provided on the first cart loading device (300), which transports the first egg container transport cart (8) in a lateral direction (linear) from either the left or the right to the other along a first loading line (L10) towards the first loading portion (38) (loading position) which is proximal to the first multi-axis robot arm (21a), a first cart extrusion device (340 ), a first cart unloading device for transporting the first egg container transport cart (8a) from the first loading portion (38) to the cart unloading portion (39) along a first unloading line (L11) which is in the same direction as the first loading line (L10), ), and the first loading line (L10), the first loading portion (38), the first unloading line (L1 1), and the first multi-axis robot arm (21a) are arranged in a T shape (T shape ), characterized in that the first loading line (L10), the first loading portion (38), the first unloading line (L1 layout). The first waiting area (W1) of the first egg container transfer device (72a) is the first is arranged between the multi-axis robot arm (21a) and the first loading section (38), and the first multi-axis robot arm (21a), the first waiting area (W1), and the first loading section (38) may be arranged linearly. It may be arranged linearly. The egg container loading system (1) further includes a second egg container transfer device (72b) having a second waiting area (W2) for one egg container or two or more egg containers (P) arranged in parallel (arranged in parallel in the longitudinal direction), a second suction gripping portion (212b) that grips the egg container (P) in the second waiting area (W2) (provided at the second hand portion (211b) at the tip position thereof), and a second multi-axis robot arm (21b) that transfers the gripped egg container (P) to at least one shelf (which may or may not be a folding shelf) of the second egg container transport cart (8), a second cart loading device (400) that transports the second egg container transport cart (8) (with the lowermost shelf board in the deployed state) to the side of the second multi-axis robot arm (21b), a second cart extrusion device (440) provided in the second cart loading device (400), which transports the second egg container transport cart (8) along a second loading line (L20) that is 180 degrees different from the first loading line (L10) and is in the horizontal direction (linear) from one side to the other side, towards the second loading section (48) (loading position) that is proximal to the second multi-axis robot arm (21b), and a second cart unloading device (46) that transports the second egg container transport cart (8b) from the second loading section (48) to the cart unloading section (39) along a second unloading line (L21) that is in the same direction as the second loading line (L20). It is provided with (In the state where the lowermost shelf board is deployed), the second egg container transport cart (8) is transported to the side of the second multi-axis robot arm (21b), a second cart loading device (400), a second cart extrusion device (440) provided in the second cart loading device (400), which transports the second egg container transport cart (8) towards the second loading section (48) (loading position) that is proximal to the second multi-axis robot arm (21b), along a second loading line (L20) that is 180 degrees different from the first loading line (L10) and is in the horizontal direction (linear) from one side to the other side, and a second cart unloading device (46) that transports the second egg container transport cart (8b) from the second loading section (48) to the cart unloading section (39) along a second unloading line (L21) that is in the same direction as the second loading line (L20). The second cart extrusion device (440) transports the second egg container transport cart (8) along a second loading line (L20) that is 180 degrees different from the first loading line (L10) and is in the horizontal direction (linear) from one side to the other side, towards the second loading section (48) (loading position) that is proximal to the second multi-axis robot arm (21b). The second egg container transport cart (8b) is transported from the second loading section (48) to the cart unloading section (39) along a second unloading line (L21) that is in the same direction as the second loading line (L20). (L20) and is in the same direction as the second loading line (L20), along the second unloading line (L21) to the cart unloading section (39). It is provided with The second loading line (L20), the second loading section (48), the second unloading line (L2 1), and the second multi-axis robot arm (21b) are arranged in a T shape (T-shaped layout). The second waiting area (W2) of the second egg container transfer device (72b) is located between the second multi-axis robot arm (21b) and the second loading section (48), and the second multi-axis robot arm (21b), the second waiting area (W2), and the second loading section (48) may be arranged linearly .

[0015] (Cart Loading Device) The first and second cart loading devices (30, 40) are each provided with at least one cart state detection unit (346, 446) for detecting the open state of any folding shelf of the cart (8) to be loaded and / or the orientation of the cart (front-back direction). The cart state detection unit (346, 446) may be installed at the entrance of the loading route of the first and second cart loading devices (30, 40), and may be provided at a position where it can be detected before or after being installed in the first and second cart extrusion devices (34, 44). It can distinguish between the state where the folding shelf is open and the folded state, and can simultaneously detect the orientation of the cart at the position of the folded state of the folding plate. The cart state detection units may be installed respectively so as to detect the position of the folded state of the plurality of folding plates from one or both side surfaces of the cart toward the center side of the cart, and may detect whether each folding plate is in an open (deployed) state or a folded state. The cart state detection unit may be installed from the ceiling toward the floor, measure the distance to the plate surface in the open (deployed) state of the folding plate, and detect whether the lowermost folding plate is in an open state. ​​​​​​​​​

[0016] (Cart carrying device) The carriage discharge section (39), the carriage sending device (391) or the egg container loading system (1) A retention detection device for detecting whether or not there is a (retained) cart (8) inside the cart discharge section. A state detection unit (392) may be provided. The staying state detection unit may be, for example, a pair of light emitting and receiving optical sensors, a reflective optical sensor, a distance measuring sensor, or the like. The image processing device may be configured with a sensor, an imaging means, an image analysis device, etc.

[0017] (Frame Guide) The first carriage loading device (30) or egg container loading system (1) comprises: The front side of the first egg container transport cart (8) is in front and the rear side is in the rear. When sending, Along the first carry-in line (L1) (front-rear direction), A first left guide portion (31) (regulating function) that guides the left frame, and / or a first left guide portion (31) (regulating function) that guides the right frame. The first right guide portion (33) (regulating function) may be provided to guide the cylinder. Either one of the guide portions may be provided with a movement mechanism (32) that changes the distance between them. The second carriage loading device (40) or egg container loading system (1) The front side of the second egg container transport cart (8) is in front and the rear side is in the rear. When sending, Along the second carrying-in line (L2), the left frame of the second egg container transport cart (8) is A second left guide (43) (regulating function) that guides the right frame and / or The second right guide portion (41) (regulating function) may be provided, and further, at least one of the guide portions The interior may be provided with a movement mechanism (42) that changes the distance between them. The first cart loading device (300) or the egg container loading system (1) When transporting the first egg container transport cart (8) in any direction on its left and right side surfaces, A first front frame that abuts against and guides the left and right front frames of the first egg container transport cart (8) A guiding part (restricting function) and / or a first rear frame guiding part (restricting function) that abuts against and guides the left and right rear frames May be provided. Furthermore, at least one of the guiding parts may be provided with a moving mechanism that makes the distance between the two variable. The second cart loading device (400) or the egg container loading system (1) When transporting the second egg container transport cart (8) in any direction on its left and right side surfaces, A second front frame that abuts against and guides the left and right front frames of the second egg container transport cart (8) A guiding part (restricting function) and / or a second rear frame guiding part (restricting function) that abuts against and guides the left and right rear frames May be provided. Furthermore, at least one of the guiding parts may Be provided with a moving mechanism that makes the distance between the two variable. Any one of the above guiding parts may be provided at any location of the first and second loading parts, the cart unloading part, and the delivery line. The above moving mechanism may receive information about the cart from the control device of the system, an external device, cart size detection means, etc., and be capable of automatic movement, or may be configured to be movable by means. The automatic moving mechanism may be composed of, for example, a linear motion device driven by air, electricity, or hydraulic pressure.

[0018] (Caster Guide) The first cart loading device or the egg container loading system (1) The first egg container transport cart with a rectangular (rectangular, square) caster arrangement in the left, right, front, and back When transporting with the front (forward) of (8) in front and the back (rear) of it at the back, a first left caster guiding the left front and rear casters along the first loading line (L1) a guiding part (restricting function), and / or a first right caster guiding the right front and rear casters a guiding part (restricting function) may be provided. The second cart loading device or the egg container loading system (1) When transporting the second egg container transport cart with a rectangular (rectangular, square) arrangement of left, right, front and rear casters, with the front (forward) of (8) in front and the back (rear) of it at the back, a second left caster guiding the left front and rear casters along the second loading line (L2) a guiding part (restricting function), and / or a second right caster guiding the right front and rear casters a guiding part (restricting function) may be provided. The first and second cart loading devices or the egg container loading system (1) When transporting the first egg container transport cart (8) with the line connecting the left and right front casters and the line connecting the left and right rear casters being parallel in any direction of its left and right side surfaces, a first front caster guiding part (343a) (restricting function) guiding the left and right front casters, and and / or a first rear caster guiding part (343b) (restricting function) guiding the left and right rear casters may be provided. The first and second cart loading devices or the egg container loading system (1) When transporting the first egg container transport cart (8) with the line connecting the left and right front casters and the line connecting the left and right rear casters being parallel in any direction of its left and right side surfaces, a second front caster guiding part (restricting function) guiding the left and right front casters, and / or a second rear caster guiding part (restricting function) guiding the left and right rear casters may be provided. ​​The first and second loading parts, the cart unloading part, and anywhere on the delivery line may be provided with any of the above caster guides. Any of them may be provided. Also, at least one of the caster guides may be provided with a moving mechanism that makes the distance between the two variable. It may be provided. The above moving mechanism may receive information about the cart from the system control device, external device, cart size detection means, etc., and be capable of automatic movement, or may be configured to be movable by means. The automatic moving mechanism may be configured by, for example, a linear motion device driven by air, electricity, or hydraulic pressure. It may be. .

[0019] The egg container loading system (1) From the first loading part (38) along the first unloading line (L11), a first rear guide part (restricting function) that guides the rear frame of the first egg container transport cart (8a), and / or And / or a first front guide part (restricting function) that guides the front frame (lower part) may be provided. Furthermore, at least one of the guide parts may be provided with a moving mechanism that makes the distance between the two variable. It may be. The first front guide part may also serve as a stopping part that stops the first egg container transport cart (8) being transported along the first loading line (L1). The first rear guide part may be configured to be movable downward when the first egg container transport cart (8) is loaded along the first loading line (L1). The egg container loading system (1) From the second loading part (48) along the second unloading line (L21), a second rear guide part (restricting function) that guides the rear frame of the second egg container transport cart (8), and / or, and / or A second front guide part (restricting function) that guides the front frame (lower part) may be provided. The egg container loading system (1) From the second loading part (48) along the second unloading line (L21), a second rear guide part (restricting function) that guides the rear frame of the second egg container transport cart (8), and / or, and / or A second front guide part (restricting function) that guides the front frame (lower part) may be provided. It may be provided. Furthermore, at least one of the guide parts may be provided with a moving mechanism that makes the distance between the two variable. This is acceptable. The second front guide part may also serve as a stopping part for stopping the second egg container transport cart (8) being conveyed along the second loading line (L2). The second rear guide part may be configured to be movable downward when the second egg container transport cart (8 ) is being loaded along the second loading line (L2). The above moving mechanism may be capable of automatically moving by receiving information about the cart from the control device of the system, an external device, a cart size detection means, etc., or may be configured to be movable by a means. The automatic moving mechanism may be composed of, for example, a linear motion device driven by air, electricity, or hydraulic pressure. .

[0020] (Sorting and conveying device) The sorting and conveying device includes an upstream detection part for detecting an egg container being conveyed by a conveying device, and at a predetermined timing from the detection by the upstream detection part, is disposed above the egg container and contacts the parallel side of the conveying direction of the egg container while rotating only in one direction, and sends out from the conveying device to another conveying device in a conveying direction orthogonal to the conveying device, at least one transfer and sending part. The sorting and conveying device includes a rotating body (for example, an endless belt) where at least one of the transfer and sending parts is provided, and at least two rolls (for example, belt pulleys) for stretching the rotating body, and at least one of the rolls is composed of a driving roll (the rest are passive rolls that rotate freely and are composed of), and a driving device (for example, a motor, etc.) for rotating the driving roll. This is acceptable. The drive device (e.g., a positioning motor) may control, for example, the feeding timing, the feeding amount, and / or the feeding speed (acceleration and deceleration) of the egg container according to the size and / or the weight of the egg container. of the egg container according to the size and / or the weight of the egg container.

[0021] The egg container loading system (1) may include a main conveying device (71) that conveys the egg containers conveyed from the upstream side (in series parallel to the first side (e.g., the longitudinal direction)), and a first distributing and conveying device (73a) that feeds the egg containers (P) being conveyed by the main conveying device (71) to the first egg container conveying device (72a) (parallel to the second side (e.g., the short side) orthogonal to the first side (e.g., the longitudinal direction)). The main conveying device (71) may be configured to feed the egg container (P) to the second egg container conveying device (72b) on the upstream side of the conveying relative to the first distributing device (73a), and may include a second distributing and conveying device (73b) that feeds the egg container to the second egg container conveying device (72b). The main conveying device (71) may be configured to feed the egg container (P) to the second egg container conveying device (72b) on the upstream side of the conveying relative to the first distributing device (73a), and may include a second distributing and conveying device (73b) that feeds the egg container to the second egg container conveying device (72b). The second distributing and conveying device (73b) that feeds the egg container to the second egg container conveying device (72b). The first and second distributing and conveying devices (73a, 73b) may include a discriminating unit (75a, 75b) that discriminates the type of the egg container (P) in either one or both of them. The main conveying device (71) may be composed of one or more endless belts. The first and second distributing and conveying devices (73a, 73b) may be composed of one or more endless belts. The first and second distributing and conveying devices (73a, 73b) are provided on the upstream side thereof (a predetermined position on the main conveying device side) and include an upstream detection unit (701a) that detects the egg container, and at a predetermined timing from the detection by the upstream detection unit (701a), (in the conveying state or ​​​​​​​​or in a stopped state), is disposed above the egg container and rotates only in one direction while (by translating a predetermined distance in parallel) abuts on the side parallel to the conveyance direction of the egg container (the first side surface), and is sent to the first and second egg container conveyance devices (72a, 72b) in the conveyance direction orthogonal to the said conveyance direction. It includes at least one such feeding and discharging part (731). The shape of the feeding and discharging part (731) that abuts on the egg container may be, for example, an L shape, a shape adapted to the outer surface shape of the egg container, etc. The said feeding and discharging part (731) has at least its surface may be composed of an elastic member. The first and second sorting and conveying devices (73a, 73b) include a rotating body (732, 733) provided with the said at least one feeding and discharging part (731) ( for example, an endless belt), at least two rolls (734, 735) (for example, belt pulleys) for stretching the said rotating body, and at least one of the said rolls is composed of a driving roll (735) (the rest are composed of freely rotating idle rolls), and it may be provided with a driving device (736) (for example, a motor, etc.) for rotating the driving roll (735). The said rotating body may be one or two or more. The said rotating body and / or the feeding and discharging part are preferably composed of a non - metallic material. The said driving device (for example, a positioning motor) may control, for example, the feeding timing of the egg container, the feeding amount of the egg container, and the feeding speed ( acceleration and deceleration) according to the size and / or weight of the egg container. The first and second sorting and conveying devices (73a, 73b) or the first and second egg container conveying devices (72a , 72b) have a first container guide for guiding one side of the second side of the egg container along the conveyance direction of the egg container. The guide portion (731) (restricting function) of the ID portion and / or the second container guide portion (732) (restricting function) for guiding the other side of the second side of the egg container may be provided. Further, at least one of the container guide portions may be provided with a moving mechanism (733) that makes the interval between them variable. The moving mechanism (733) may receive information on the eggs from the control device of the system, an external device, an egg container detection means, etc., and may be capable of automatically moving, or may be configured to be movable by a means. (Fixing device) The egg container loading system (1) has a stopper or a clamp (means for restricting movement) for fixing the egg container transport cart (8) (frame, support column, folding shelf, caster, etc. constituting the cart) at an arbitrary position of the first and second loading portions so as to restrict movement in the left-right direction and / or the front-rear direction. The fixing device for the egg container transport cart may be provided. The fixing device for the egg container transport cart may be provided in a device separate from the system (1). The fixing device may have a lower front clamp and a driving device (5111) for clamping the front surface (predetermined support column or horizontal support column) at the lower position of the cart, and a lower rear clamp and a driving device (5121) for clamping the rear surface (predetermined support column or horizontal support column) at the lower position of the cart.

[0022] (Fixing device) The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. The fixing device may have a lower front clamp and a driving device for clamping the front surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions, and a lower rear clamp and a driving device for clamping the rear surface (predetermined support column or horizontal support column) at an arbitrary position between the upper position of the cart and the middle of the upper and lower positions. Provided so as to be vertically movable with respect to the carriage or the floor surface (e.g., the equipment installation surface), (in the left - right direction by moving), the rear side (predetermined support column or horizontal support column) of the left - right frames of the egg container transport carriage (8) or the left - right side surfaces (predetermined support column or horizontal support column) of the rear frame are regulated (detachably fixed) (clamped) so as to be pressed toward the center of the shelf side, and a pair of left and right first left - rear - side clamps (521) and first right - rear - side clamps (541) may be provided. The fixing device is Provided so as to be vertically movable with respect to the carriage or the floor surface, (by moving in the front - rear direction), the front side (predetermined vertical support column or horizontal support column) of the left - right frames of the above - mentioned egg container transport carriage (8) is regulated (detachably fixed) (clamped) so as to be pressed toward the back side by a pair of left and right first front clamps (531) and first right front clamps (551) may be provided. It is not limited to the above - mentioned "pair of left and right" clamps, and it may have only one of the clamps. Also, the above - mentioned "pair of left and right" may have the same height or different heights with respect to the carriage or the floor surface. It is not limited to the above - mentioned "pair of left and right" clamps, and it may have only one of the clamps. Also, the above - mentioned "pair of left and right" may have the same height or different heights with respect to the carriage or the floor surface. It may be the same or different in height with respect to the carriage or the floor surface. It may be the same or different in height with respect to the carriage or the floor surface. The fixing device is Provided so as to be vertically movable with respect to the carriage or the floor surface, (by moving in the left - right direction), in order to increase the acute - angle opening state (M2) formed by the middle fold of the folding shelf (801) (from the initial 0 degrees to, for example, expand from 10 degrees to 30 degrees, a preliminary opening state), a first preliminary opening part (first left preliminary opening part 522, first right preliminary opening part 542) that abuts against one or both of the left and right side surfaces (left side surface, right side surface) of the shelf board and is inserted into the gap of the middle fold may be provided. The fixing device is Provided so as to be vertically movable with respect to the carriage or the floor surface, (by moving in the front - rear direction or the vertical direction The fixing device is Provided so as to be vertically movable with respect to the carriage or the floor surface, (by moving in the front - rear direction or the vertical direction By doing so, it abuts against the front side (801c) of the folding shelf (801) in the state before complete shelf opening An opening stopper portion (first left opening stopper portion 533, first right opening stopper portion 553) for stopping the opening may be provided. The fixing device is provided in front of, behind, and on the sides of the egg container transport cart (8), and can move in the vertical direction It may be possible, and may be movable in an oblique direction that is inclined with respect to the front-rear direction, left-right direction, left-right direction, or front-rear direction in plan view. The fixing device may be configured to have, for example, an air, electric, or hydraulic drive device and a linear motion device that moves by the driving force thereof, and a connecting member (elastic member). The fixing device may be attached to a shelf opening device, frames of the first and second loading portions, columns, a transport device, a base of a multi-axis robot arm, etc., or may be installed separately on the floor or ceiling. The tip of the stopper or clamp may be composed of an elastic member. (Shelf opening device) The egg container loading system (1) may include a first shelf opening device (50) that automatically opens the folding shelf of the first egg container transport cart (8) (returns the folded state to the original state (shelf state)), and a second shelf opening device (60) that automatically opens the folding shelf of the second egg container transport cart (8) (returns the folded state to the original state (shelf state)).

[0023] (Shelf opening device) The egg container loading system (1) may include a first shelf opening device (50) that automatically opens the folding shelf of the first egg container transport cart (8) (returns the folded state to the original state (shelf state)), and a second shelf opening device (60) that automatically opens the folding shelf of the second egg container transport cart (8) (returns the folded state to the original state (shelf state)). As the first and second shelf opening devices, the shelf opening device described in Japanese Patent No. 6684511 may be adopted. The first shelf opening device (50) may adopt the shelf opening device described in Japanese Patent No. 6684511.

[0024] The first shelf opening device (50) (A first frame body (510) that forms a back surface (512), a front surface (511), and both side surfaces (not shown)) and On the back side of the first frame body (510), a first shelf opening unit that is movable in the vertical direction (51), and a first shelf opening unit driving part (513 , 5131) that drives the first shelf opening unit (51) up and down, and is provided so as to be movable up and down together with the first shelf opening unit (51) (it may be fixed thereto or may be configured to move in conjunction therewith). At least one first inclination forming part (first left inclination forming part 561, first right inclination forming part 562) (for example, suction means), which, at the folded state position (M1) at one end (the back side facing the front) of the placement rails (for example, a pair of rails facing each other) of the egg container transport cart (8), forms a folded shelf ( 801) in a middle - folded state (for example, a shelf folded into two with the hinge (301e) in the upward direction as the top of the middle - fold), and makes the shelf inclined backward with respect to the placement rails or in a cantilever - lifted state with the shelf rotation axis (801 d) as the starting point. The first inclination forming part (first left inclination forming part 561, first right inclination forming part 562) is provided.

[0025] The first shelf opening device (50) may include the above - mentioned fixing device. The first shelf opening device (50) is, for example, provided so as to be movable up and down together with the first shelf opening unit (51) (it may be fixed thereto or may be configured to move in conjunction therewith), and regulates (detachably fixes) (clamps) the rear side (predetermined struts or horizontal struts) of the left and right frames of the egg container transport cart (8 ) or the left and right side surfaces (predetermined struts or horizontal struts) of the rear frame so as to press them toward the center of the shelf. A pair of left and right first left rear - side surface clamps (521), first right rear - side surface clamps (541), and are provided. Provided so as to be movable up and down (fixed thereto or may be configured to be movable in conjunction therewith) together with the first shelf opening unit (51), and pressing the front side (predetermined vertical or horizontal support) of the left and right frames of the egg container transport cart (8 ) toward the back side, a pair of left and right first front clamps (531 ) that regulate (detachably fix) (clamp) thereto, a first right front clamp (551), and ) Provided so as to be movable up and down (fixed thereto or may be configured to be movable in conjunction therewith) together with the first shelf opening unit (51), and in a state before complete shelf opening a first opening stopper portion ([[]] a first left opening stopper portion 533, a first right opening stopper portion 553) that abuts against the front side (801c) of the folding shelf (801) to stop the opening Provided so as to be movable up and down (fixed thereto or may be configured to be movable in conjunction therewith) together with the first shelf opening unit (51), and for widening the acute opening state (M2) formed by the middle fold of the folding shelf (801) in an inclined state or a cantilevered state by the first inclination forming portion (first left inclination forming portion 561, first right inclination forming portion 562) (from an initial 0 degrees, for example, widening to 10 degrees to 30 degrees, a preliminary opening state), a first preliminary opening portion (first left preliminary opening portion 522, first right preliminary opening portion 542) that abuts against either one or both of the left and right sides (left side, right side) of the shelf board and is inserted into the gap of the middle fold and may be provided. The first left preliminary opening portion (522) and the first right preliminary opening portion (542) each have a first left abutting portion (522a) and a first right abutting portion (524a) that are plate-shaped or rod-shaped and inclined toward the back (rear) side with respect to the moving direction axis toward the center of the shelf so as to abut against the side surface of the folding plate. The inclination By doing so, it is possible to easily widen the folding angle of the folding shelf board.

[0026] The first shelf opening unit (51) is A first left and right arm frame (first left arm frame 52, first right arm frame 54) provided from each of its left and right sides toward the front, A first left arm tip frame (53) provided on the front side of the first left arm frame (52) toward the center side of the carriage, And a first right arm tip frame (55) provided on the front side of the first right arm frame (54) toward the center side of the carriage. It may be provided with. On the back side of the first left arm frame (52), the side in contact with the carriage faces the center side of the carriage. A first left back side clamp (521) and a first left preliminary release portion (522) on the front side of the first left back side clamp (521) are provided. On the back side of the first right arm frame (54), the side in contact with the carriage faces the back side, and the first right back side clamp (541) and the first right back side clamp (541) are provided. A first right preliminary release portion (542) is provided on the front side. On the first left arm tip frame (53), the side in contact with the carriage faces the back side, and the first left front clamp (531) and the first left front clamp (531) are provided. A first left opening stopper portion (533) is provided on the center side of the carriage. On the first right arm tip frame (55), the side in contact with the carriage faces the back side, and the first right front clamp (551) and the first right front clamp (551) are provided. A first right opening stopper portion (553) may be provided on the center side of the carriage. The first shelf opening unit (51) is The parallel interval formed by the first left arm frame (52) and the first right arm frame (54) On the first right arm tip frame (55), the side in contact with the carriage faces the back side, and the first right front clamp (551) and the first right front clamp (551) are provided. A first right opening stopper portion (553) is provided on the center side of the carriage. It may be provided.

[0027] The first shelf opening unit (51) is The parallel interval formed by the first left arm frame (52) and the first right arm frame (54) ​​At least one of them can be moved relative to the first shelf opening unit (51) so as to be scalable and may be provided with a left - right interval driving unit (524), and may be provided with left - right rear - side clamp driving units (5211, 5411) for driving the first left rear - side clamp (521) and the first right rear - side clamp (541) respectively, and may be provided with preliminary opening driving units (5221, 5421) for driving the first left preliminary opening part (522) and the first right preliminary opening part (542) respectively, and may be provided with left - right front - side clamp driving units (532, 552) for driving the first left front - side clamp (531) and the first right front - side clamp (551) respectively. and may be provided with opening stopper driving units (532, 552) for driving the first left opening stopper part (533) and the first right opening stopper part (553) respectively. The left - right front - side clamp driving units (532, 552) and the opening stopper driving units (532, 552) may be shared by the same driving unit. The first shelf opening device (50) may have a first shelf opening control unit. Information such as the type information of the carriage (8) may be received from the system (1 ), necessary information may be received from another device, or may be manually input. The first shelf opening control unit may issue a command to the first shelf opening unit driving parts (513, 5131) to control the vertical movement of the first shelf opening unit (51), may issue a command to the left - right interval driving unit (524) to control the movement of at least one of the first left arm frame (52) and the first right arm frame (54) relative to the first shelf opening unit (51),

[0028] and may issue a command to each of the left - right rear - side clamp driving units (5211, 5411) to drive the first left rear - side and may receive necessary information such as the type information of the carriage (8) from the system (1), may receive necessary information from another device, or may be manually input. The first shelf opening control unit may issue a command to the first shelf opening unit driving parts (513, 5131) to control the vertical movement of the first shelf opening unit (51), may issue a command to the left - right interval driving unit (524) to control the movement of at least one of the first left arm frame (52) and the first right arm frame (54) relative to the first shelf opening unit (51), may issue a command to the left - right interval driving unit (524) to control the operation in which at least one of the first left arm frame (52) and the first right arm frame (54) moves relative to the first shelf opening unit (51), and may issue a command to each of the left - right rear - side clamp driving units (5211, 5411) to drive the first left rear - side and may issue a command to each of the left - right rear - side clamp driving units (5211, 5411) to drive the first left rear - side Even if the clamping operations of the side clamp (521) and the first right rear side clamp (541) are controlled, well, each of the left and right front clamp drive units (532, 552) may be commanded to control the clamping operations of the first left front clamp (531) and the first right front clamp (551). well, each of the release stopper drive units (532, 552) may be commanded to control the stop operations of the first left release stopper section (533) and the first right release stopper section (553). well, Command the first inclination forming section (first left inclination forming section 561, first right inclination forming section 562) to control the adsorption and backward pulling operations so that the folding shelf (801) in the middle-folded state at the folded state position (M1) is inclined or cantilevered with respect to the mounting rail. well, , each of the preliminary release drive units (5221, 5421) may be commanded to control the operation of making the folding shelf in a preliminary release state by the first left preliminary release section (522) and the first right preliminary release section (524). well, also good.

[0029] The operation control unit (150) may be interlocked with the shelf opening operation by the first shelf opening control unit and control the first multi-axis robot arm. The operation control unit (150) may have the function of the first shelf opening control unit. well, The first multi-axis robot arm may be provided with locking means (for example, means for hooking with a hook, means for gripping with a chuck). well, The operation control unit (150) commands the first multi-axis robot arm, and the first inclination forming section (first left inclination forming section 561, first right inclination forming section 562) is in an inclined state or a cantilevered state, and the first preliminary release section (first left preliminary release section 522, first right preliminary release section 542) is in a state of being preliminarily released, and the locked portion of the folding shelf (a part of the front shelf board frame, the locked object (a part of the front shelf board frame, the locked object Lock the rod-shaped frame or the like with the locking means, After the actions of the first inclination forming portion and the first preliminary opening portion on the shelf board are released, ( Give an instruction to the first shelf opening control unit to release the adsorption of the first inclination forming portion (the first left inclination forming portion 561, the first right inclination forming portion 562) on the folding shelf, and after returning the first preliminary opening portion (the first left preliminary opening portion 522, the first right preliminary opening portion 542) to the original position, ) Give an instruction to the first multi-axis robot arm provided with the locking means, and move the folding shelf in the locked state by the locking means forward, and at a predetermined position (for example, at the position where the movement of the folding shelf is stopped by the left and right opening stopper portions or at the position where it is fully opened, ) to release the locking of the locking means. You may control each component. The second shelf opening device (60) has the same configuration as the first shelf opening device (50). The second shelf opening device (60)

[0030] The second shelf opening device (60) is a second frame body (forming the back surface, the front surface, and both side surfaces), a second shelf opening unit that is movable in the vertical direction on the back side of the second frame body, a second shelf opening unit driving unit that drives the second shelf opening unit up and down, provided so as to be movable up and down together with the second shelf opening unit (it may be fixed thereto or configured to move in conjunction therewith. ), the second preliminary opening portion (the second left preliminary opening portion, the second right preliminary opening portion) that abuts on either the left or right side surface (the left side surface, the right side surface) of the shelf board and is inserted into the gap of the middle fold to increase the acute opening state formed by the middle fold of the folding shelf in an inclined state or a cantilevered state (from the initial 0 degrees, for example, expand from 10 degrees to 30 degrees), and is provided with. Both side surfaces (the left side surface, the right side surface) are inserted into the gap of the middle fold. section (second left preliminary opening section, second right preliminary opening section),

[0031] The second shelf opening device (60) may be provided with the above-described fixing device. The second shelf opening device (60) is, for example, provided so as to be vertically movable together with the second shelf opening unit (it may be fixed thereto and may be configured to move in conjunction therewith), and is configured to regulate (detachably fix) the rear side (predetermined support column or horizontal support column) of the left and right frames of the egg container transport cart or the left and right side surfaces (predetermined support column or horizontal support column) of the rear frame so as to press them toward the center of the shelf (clamp them). The pair of left rear side clamps and right rear side clamps, provided so as to be vertically movable together with the second shelf opening unit (it may be fixed thereto and may be configured to move in conjunction therewith), and is configured to regulate (detachably fix) the front side (predetermined vertical support column or horizontal support column) of the left and right frames of the egg container transport cart so as to press them toward the rear side (clamp them). The pair of left front clamps and right front clamps, provided so as to be vertically movable together with the second shelf opening unit (it may be fixed thereto and may be configured to move in conjunction therewith), and is a second opening stopper portion (second left opening stopper portion, second right opening stopper portion) that abuts against the front side of the folding shelf in a state before complete shelf opening to stop the opening, provided so as to be vertically movable together with the second shelf opening unit (it may be fixed thereto and may be configured to move in conjunction therewith), and is a second preliminary opening portion (second left preliminary opening portion, second right preliminary opening portion) that abuts against one or both of the left and right side surfaces (left side surface, right side surface) of the shelf board and is inserted into the gap of the middle fold to increase the acute opening state formed by the middle fold of the folding shelf in an inclined state or a cantilevered state (from the initial 0 degrees, for example, expand from 10 degrees to 30 degrees). ​​​​​​​​​​​​​​​ may also be provided with. The second left reserve release part and the second right reserve release part are each plate-shaped or rod-shaped second left abutting parts and second right abutting parts that are inclined toward the back (rear) side with respect to the movement direction axis toward the center of the shelf so as to abut against the side surface of the folding plate. By being inclined, the folding angle of the folding shelf board can be easily widened. The second shelf opening unit may include second left and right arm frames (a second left arm frame and a second right arm frame) provided from the left and right sides thereof toward the front,

[0032] a second left arm tip frame provided from the front side of the second left arm frame toward the center side of the carriage, and a second right arm tip frame provided from the front side of the second right arm frame toward the center side of the carriage. On the rear side of the second left arm frame, a second left rear side clamp is provided such that the side abutting against the carriage faces the center side of the carriage, and a second left reserve release part is provided on the front side of the second left rear side clamp. On the rear side of the second right arm frame, a second right rear side clamp is provided such that the side abutting against the carriage faces the rear side, and a second right reserve release part is provided on the front side of the second right rear side clamp. On the second left arm tip frame, a second left front clamp is provided such that the side abutting against the carriage faces the rear side, and a second left release stopper part is provided on the center side of the carriage with respect to the second left front clamp. On the second right arm tip frame, a second right front clamp is provided such that the side abutting against the carriage faces the rear side, and a second right release stopper part is provided on the center side of the carriage with respect to the second right front clamp. It may also be provided with. The second shelf opening unit

[0033] ​​​​​​​​​​So that the parallel interval formed by the second left arm frame and the second right arm frame can be expanded and contracted Equipped with a left - right interval drive unit so that at least one of them can move relative to the second shelf opening unit It is also good that Left - right back - side clamp drive units that drive the second left back - side clamp and the second right back - side clamp respectively May be equipped with drive units May also be equipped with preliminary opening drive units that drive the second left preliminary opening part and the second right preliminary opening part respectively It is also good that Left - right front - side clamp drive units that drive the second left front - side clamp and the second right front - side clamp respectively May be provided Opening stopper drive units that drive the second left opening stopper part and the second right opening stopper part respectively May be provided. The left - right front - side clamp drive unit and the opening stopper drive unit may be shared by the same drive unit

[0034] The second shelf opening device (60) may have a second shelf opening control unit. Information necessary such as the type information of the carriage (8) may be received from the system (1 ), information necessary may be received from another device, or it may be manually input The second shelf opening control unit May give a command to the second shelf opening unit drive unit to control the up - and - down movement of the second shelf opening unit May give a command to the left - right interval drive unit to control the operation in which at least one of the second left arm frame and the second right arm frame moves relative to the second shelf opening unit May give a command to each of the left - right back - side clamp drive units to control the clamping operations of the second left back - side clamp and the second right back - side clamp May give a command to each of the left - right front - side clamp drive units to control the clamping operations of the second left front - side clamp and the second right front - side clamp ​​​​​​Command each of the said opening stopper driving parts to control the stopping operations of the second left opening stopper part and the second right opening stopper part. It may be possible to control the stopping operations of the second left opening stopper part and the second right opening stopper part. Command the said second inclination forming part to adsorb and pull backward the folding shelf in the middle-folded state at the folded state position (M1) so that it is in an inclined state or a cantilevered state with respect to the mounting rail. It may be possible to control the operation of adsorbing and pulling backward so that it is in an inclined state or a cantilevered state with respect to the mounting rail. It may be possible to control the operation. Command each of the said preliminary opening driving parts to control the operation of putting the folding shelf in the second left preliminary opening part and the second right preliminary opening part into a preliminary opening state. It may be possible to control the operation of putting the folding shelf in a preliminary opening state.

[0035] The said operation control part (150) may control the second multi-axis robot arm in conjunction with the shelf opening operation by the second shelf opening control part. The said operation control part (150) may have the function of the second shelf opening control part. The said operation control part (150) may control the second multi-axis robot arm in conjunction with the shelf opening operation by the second shelf opening control part. The said operation control part (150) may have the function of the second shelf opening control part. It may be provided with the function of the second shelf opening control part. The second multi-axis robot arm may be provided with locking means (for example, means for hooking with a hook, means for gripping with a chuck) (at the tip arm or the hand part). It may be provided with locking means (for example, means for hooking with a hook, means for gripping with a chuck) (at the tip arm or the hand part). [[ID=2」6]]The said operation control part (150) commands the second multi-axis robot arm to lock the locked part (a part of the front-side shelf board frame, the object to be locked, a rod-shaped frame, etc.) of the folding shelf that is in an inclined state or a cantilevered state by the said second inclination forming part and is in a preliminarily opened state by the said second preliminary opening part (the second left preliminary opening part, the second right preliminary opening part) with the said locking means. After the actions on the shelf board of the said second inclination forming part and the said second preliminary opening part are released, ([ Command the second shelf opening control part to release the adsorption of the said second inclination forming part to the folding shelf, and after returning the said second preliminary opening part (the second left preliminary opening part, the second right preliminary opening part) to the original position, after the actions on the shelf board of the said second inclination forming part and the said second preliminary opening part are released, ([ Command the second shelf opening control part to release the adsorption of the said second inclination forming part to the folding shelf, and after returning the said second preliminary opening part (the second left preliminary opening part, the second right preliminary opening part) to the original position, ) Command the second multi-axis robot arm provided with the said locking means to unlock the object locked by the said locking means. Move the folding shelf in the folded state forward, and at a predetermined position (at the position where the movement of the folding shelf is stopped by the left and right open stopper portions or at the fully open position), control each component so as to release the locking of the locking means. It may be stopped or at the position where it is fully opened, and the locking of the locking means may be released. Each component may be controlled.

[0036] The first and second shelf opening devices (50, 60) may have one or more stop position detection portions for detecting a part constituting the transported egg container transport cart (8). When the stop position detection portion detects the egg container transport cart (8), the first and second shelf opening control portions may issue a command to the fixing device (stopper or clamp) to stop the egg container transport cart (8). It may be driven. The first and second shelf opening devices (50, 60) may have one or more unit vertical position detection portions for detecting predetermined vertical positions of the first and second shelf opening units (51). When the unit vertical position detection portion detects the vertical positions of the first and second shelf opening units (51), the first and second shelf opening control portions may issue a command to the first and second shelf opening unit drive portions (513,

[0037] 5131) to start or stop the drive. The first and second shelf opening units (51) may have one or more folding shelf detection portions for detecting a folding shelf in a middle-folded state at the folded state position (M1). When the folding shelf detection portion detects the folding shelf, the first and second shelf opening control portions may issue a command to the first and second shelf opening unit drive portions (513, 5131) to start or stop the drive. The first and second shelf opening devices (50, 60) determine whether the folding shelf is in an open state, and a shelf opening detection portion (S3) for detecting the height direction position of the open folding shelf. The first and second shelf opening units (51) may have one or more folding shelf detection portions for detecting a folding shelf in a middle-folded state at the folded state position (M1). When the folding shelf detection portion detects the folding shelf, the first and second shelf opening control portions may issue a command to the first and second shelf opening unit drive portions (513, 5131) to start or stop the drive. The first and second shelf opening devices (50, 60) determine whether the folding shelf is in an open state, and a shelf opening detection portion (S3) for detecting the height direction position of the open folding shelf.

[0038] The first and second shelf opening devices (50, 60) determine whether the folding shelf is in an open state or not, and a shelf opening detection portion (S3) for detecting the height direction position of the open folding shelf. It may have one or more. After the predetermined deployment operation (opening), the first and second shelf opening control units may be configured to output an alarm when the shelf opening detection unit fails to detect the folded shelf (position) in the opened state.

[0039] The first and second shelf opening control units are the first and second multi-axis robot arms. When stacking egg containers on the folded shelf and / or the egg container (for example, when stacking the topmost egg container), the first and second inclined forming parts (561, 562) are commanded to make the folded shelf in the middle-folded state at the folded state position (M1) inclined or cantilevered (the state where the folded shelf is inclined backward) with respect to the placement rail. For example, when stacking the topmost egg container, by making the folded shelf inclined backward, a space can be secured between the folded shelf and the egg containers below it, and the operation interference of the first and second multi-axis robot arms (21a, 21b) and the hand parts (211a, 211b) can be reduced. For example, when stacking the topmost egg container, by making the folded shelf inclined backward, a space can be secured between the folded shelf and the egg containers below it, and the operation interference of the first and second multi-axis robot arms (21a, 21b) and the hand parts (211a, 211b) can be reduced.

[0040] According to the above configuration, the following operational effects are achieved. (1) An egg container loading system equipped with a cart transfer device that can handle various carts (roll-inners) can be provided. (2) An egg container loading system equipped with a cart fixing structure that can suppress the failure of shelf opening (deployment) can be provided. (3) A stuffed egg container loading system corresponding to various types of egg containers can be provided. (4) An egg container loading system with a layout considering the work area, cart waiting area, shipping area, and the flow lines of carts and workers can be provided.

Brief Description of the Drawings

[0041]

Figure 1A

Figure 1B

Figure 1C

Figure 1D

Figure 2A

Figure 2B

Figure 2C

Figure 2D

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0042] (Egg container transport cart) The cart 8 is a commonly circulated chicken egg container transport cart. In this embodiment, when the cart is loaded into the loading devices 30 and 40, the bottom folding shelf is deployed, and the egg container P is placed on that shelf. After loading a predetermined number of levels, the upper folding shelf is deployed, and the egg container is placed on that shelf. In this way, the egg containers are sequentially placed from bottom to top. The carts 8 vary in width, depth, and the height between upper and lower shelves (height) depending on the manufacturer, and the hinge positions and structures of the folding frames also differ. However, the present invention is a system that can accommodate carts of various sizes. When being loaded into the loading devices 30 and 40, the bottom folding shelf is deployed, and the egg container P is placed on that shelf. After loading a predetermined number of levels, the upper folding shelf is deployed, and the egg container is placed on that shelf. In this way, the egg containers are sequentially placed from bottom to top. When being loaded into the loading devices 30 and 40, the bottom folding shelf is deployed, and the egg container P is placed on that shelf. After loading a predetermined number of levels, the upper folding shelf is deployed, and the egg container is placed on that shelf. In this way, the egg containers are sequentially placed from bottom to top. The cart 8 varies in width, depth, and the height between upper and lower shelves (height) depending on the manufacturer, and the hinge positions and structures of the folding frames also differ. However, the present invention is a system that can accommodate carts of various sizes. However, the present invention is a system that can accommodate carts of various sizes.

[0043] The dolly 8 shown in FIG. 1D and FIG. 3 has a bottom frame 831 and a bottom frame 832 that is L-shaped in side view. The back frame 834 is fixed to the frame 831, and the back frame 83 is foldable. 4 and a left frame 832 and a right frame 833 connected by hinges (not shown). . The front of the cart is open so that egg containers can be loaded. The bottom frame 831 has four freely rotating casters (wheels) at each corner. are.

[0044] The left frame 832 is provided with a first side plate 811, a second side plate 812, and a 812, the third side plate 813, and the fourth side plate 814 are arranged in the width direction of the frame (from the back perpendicular to the vertical direction). It is installed in the direction from the entrance to the front. The first side plate 811, the second side plate 812, the third side plate 813, and the fourth side plate 814 are The first loading rail 811 extends from the bottom of the carriage 8 at a right angle (approximately a right angle) toward the center of the carriage 8. 1, a second loading rail 8121, a third loading rail 8131, and a fourth loading rail 8141 are provided. The first side plate 811, the second side plate 812, the third side plate 813, and the fourth side plate 814 are The right frame 833 facing the left frame 831 is also provided with similar opposing side plates and mounting rails.

[0045] The folding shelf 801 is attached to the rear end of the pair of opposing mounting rails (on the back frame 834 side). One end of the folding shelf 801 is pivotally supported (801d) and rotatably connected, and the folding shelf 801 is The rear shelf 801a and the front shelf 801b can be folded in half by the hinge (801e) in the The front end 801c and the rear end (not shown) of the folding shelf 801 are arranged diagonally upward. This allows the movement of the egg container P in the rear and front directions to be restricted. It has a function of a locked part of a locking part of a multi-axis robot arm as will be described later. The front tip 801c has the function.

[0046] (Egg container) The egg container is, for example, a top surface flat pack, a regular pack, etc., and the number of eggs it can hold is also 6 , 10, 12, etc., but there is no particular limitation. Unless otherwise specified, the egg container is filled with predetermined eggs.

[0047] (Egg container loading system) Figs. 1A to 1C show the overall configuration of the egg container loading system 1. The system 1 of the present embodiment is a loading station in which two loading parts, namely, a cart loading part and a multi-axis robot arm loading part, are arranged. However, in the present invention, only one cart loading part, a multi-axis robot arm, etc. may be arranged, or three or more may be arranged. The system 1 includes a main transfer device 71 that transfers the egg container P conveyed from the upstream side in series in the longitudinal direction. The present invention is not limited to this configuration, and there may be a plurality of main transfer devices 71.

[0048] The system 1 sends the egg container P conveyed by the main transfer device 71 to the first egg container transfer device 72a. The system 1 includes a first sorting transfer device 73a. In the main transfer device 71, further, on the upstream side of the transfer from the first sorting transfer device 73a, a second egg container transfer device 72b is provided so as to send the egg container P to the second egg container transfer device 72b. The system 1 includes a second sorting transfer device 73b. The first and second sorting transfer devices 73a and 73b both include discrimination parts 75a and 75b for discriminating the types of the egg container P. Details of the first and second sorting transfer devices 73a and 73b will be described later. transfer devices 73a and 73b will be described later. transfer devices 73a and 73b are provided with discrimination parts 75a and 75b for discriminating the types of the egg container P on both of them. Details of the first and second sorting transfer devices 73a and 73b will be described later. The discrimination units 75a and 75b are, for example, a barcode reader that reads a barcode provided on the egg container P, an image analysis unit that captures an image and analyzes the image to identify the egg container, such as a sensor identification unit that discriminates between flat packs or regular packs by means of a photoelectric sensor, etc., and may be configured. When loading two different types of egg containers, the sorting and conveying device performs discrimination and sorting. The discrimination units 75a and 75b have a counter for counting the number of containers, and are configured to count the total number conveyed, the number for each type, the number to be sorted, and the number to be passed through, respectively. When loading the same egg container, the sorting quantities on the upstream side and the downstream side may be controlled corresponding to the loading processing status by the robot arm. The discrimination units 75a and 75b may be configured by, for example, a sensor identification unit that discriminates between flat packs or regular packs by means of a photoelectric sensor, etc. When loading two different types of egg containers, the sorting and conveying device performs discrimination and sorting. When loading two different types of egg containers, the sorting and conveying device performs discrimination and sorting. The discrimination units 75a and 75b have a counter for counting the number of containers, and are configured to count the total number conveyed, the number for each type, the number to be sorted, and the number to be passed through, respectively. When loading the same egg container, the sorting quantities on the upstream side and the downstream side may be controlled corresponding to the loading processing status by the robot arm. The discrimination units 75a and 75b have a counter for counting the number of containers, and are configured to count the total number conveyed, the number for each type, the number to be sorted, and the number to be passed through, respectively. When loading the same egg container, the sorting quantities on the upstream side and the downstream side may be controlled corresponding to the loading processing status by the robot arm. The discrimination units 75a and 75b have a counter for counting the number of containers, and are configured to count the total number conveyed, the number for each type, the number to be sorted, and the number to be passed through, respectively. When loading the same egg container, the sorting quantities on the upstream side and the downstream side may be controlled corresponding to the loading processing status by the robot arm. The discrimination units 75a and 75b have a counter for counting the number of containers, and are configured to count the total number conveyed, the number for each type, the number to be sorted, and the number to be passed through, respectively. When loading the same egg container, the sorting quantities on the upstream side and the downstream side may be controlled corresponding to the loading processing status by the robot arm. The discrimination units 75a and 75b have a counter for counting the number of containers, and are configured to count the total number conveyed, the number for each type, the number to be sorted, and the number to be passed through, respectively. When loading the same egg container, the sorting quantities on the upstream side and the downstream side may be controlled corresponding to the loading processing status by the robot arm.

[0049] The egg container loading system 1 has a general operation control unit 150 that issues control commands for the conveyance and standby control of the egg container, the mutual cooperation and control commands with the discrimination units 75a and 75b, the loading operation of the cart 8, the egg container loading operation (container conveyance and multi-axis robot arm operation, adsorption gripping and release operation), and the unloading operation of the cart 8. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for 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. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for 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. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for 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. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for 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. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for 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. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for 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. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for 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. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for 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.

[0050] (L-shaped layout) This will be described with reference to FIG. 1A. The first egg container conveying device 72a conveys one egg container or two or more arranged in parallel (parallel in the longitudinal direction). It has a first waiting area W1 where egg containers P are arranged in parallel. A stopping part is provided so that it can stop at a predetermined stop position. As an example of the conveying device, the device of Patent No. 6765151 may be adopted. The first multi-axis robot arm 21a has a first suction gripping part 212a provided at the first hand part 211a at its tip position. The first multi-axis robot arm 21a grips the egg container P in the first waiting area W1 by the first suction gripping part 212a and transfers the gripped egg container P onto each folding shelf of the cart H8 and on the egg container. The loading control of the multi-axis robot arm will be described later. The first cart extrusion device 34 conveys the first egg container transport cart H8 in a straight first loading line L1 from the first cart loading part 30, which is distal to face the first multi-axis robot arm 21a, to the first loading part 38 (loading position), which is proximal to the first multi-axis robot arm 21a, with the lowermost shelf board in the deployed state. At the loading position, the loading of the multi-axis robot arm is executed. The first cart unloading device 36 conveys the cart H8a from the first loading part 38 along the first unloading line L11 in a direction that intersects the first loading line L1 at 90° (any direction that substantially intersects at 90° is acceptable) to the cart unloading part 39 (unloading area). In this embodiment, the first waiting area W1 of the first egg container conveying device 72a, the first multi-axis robot arm 21a, and the first loading part 38 are arranged in an L shape with the main body axis AR of the first multi-axis robot arm 21a as the starting point (first L-shaped layout).

[0051] The second multi-axis robot arm 21b has a second suction gripping part 212b provided at the second hand part 211b at its tip position. The second multi-axis robot arm 21b ​​​​​​​​​​​​​​​The part 212b grips the egg container P in the second standby area W2, and transfers the gripped egg container P onto each folding shelf of the cart 8 and onto the egg container. The second cart pushing device 44 transports the second egg container transport cart 8 from the second cart loading section 40, which is distal to face the second multi-axis robot arm 21b, to the second loading section 48 (loading position), which is proximal to the second multi-axis robot arm 21b, along the straight second loading lane L2 with the lowermost shelf board deployed. The second cart unloading device 46 transports the cart 8b from the second loading section 48 to the cart unloading section 39 (unloading area) along the second unloading lane L21, which intersects the second loading lane L2 at 90 ° (any direction that intersects substantially at 90° is acceptable). In this embodiment, the second unloading lane L21 is in a direction exactly opposite to the first unloading lane L11, and the unloading area is shared. In this embodiment, the second standby area W2 of the second egg container transport device 72b, the second multi-axis robot arm 21b, and the second loading section 48 are arranged in an L shape with the main body axis AR of the second multi-axis robot arm 21b as the starting point (second L-shaped layout). And, as shown in FIG. 1A, the first L-shaped layout and the second L-shaped layout are arranged in a mirror symmetry.

[0052] The first loading lane L1, the first loading section 38, and the first multi-axis robot arm 21a are arranged linearly (linear layout). The second loading lane L2, the second loading section 48, and the second multi-axis robot arm 21b are arranged linearly (linear layout). The route from loading to unloading can be configured to be the shortest. The first and second loading lanes L1 and L2 are further provided with a linear or L-shaped loading route L0 on the entrance side. The loading route L0 can be manual or automated. ​ Automatic conveyance by a conveying device may also be used.

[0053] The carriage delivery device 391 sends out the loaded carriage 8a and / or carriage 8b along the delivery line L3 arranged in parallel with the first and second loading lines L1, L2 from the carriage unloading section 39. Push out. Swing doors 392a, 392b are provided at the exits of the carriage unloading section 39. When the carriage 8 is pushed out by the carriage delivery device 391 and sent into the delivery line L3, the swing doors 392a, 392b also open when they hit the front frame of the carriage 8. It has such a structure. The delivery line L3 is arranged between the first and second loading lines L1, L2. The delivery line L 3 may be further provided with an L-shaped unloading route L31 at the same distal position as the inlets of the first and second loading sections. The conveying route L31 may be manual or automatic conveyance by a conveying device . The closer the first and second loading sections 30, 40 and the delivery line L3 are to the proximal side, the more the workability can be improved. For example, by making the movement path of the carriage 8 in a U-shape and making the loading and unloading adjacent to each other, the workability can be improved. Further, by combining the U-shaped flow lines into a mountain-shaped flow line (sharing the delivery route), the dedicated space and cost can be suppressed while improving the processing capacity is possible.

[0054] The layout of another embodiment will be described below. (Translation Symmetric Arrangement) This will be described with reference to FIG. 1B. The difference from FIG. 1A is that the carriage unloading section, the carriage unloading device and the delivery line are not shared but provided separately. The second unloading line L21 is in the direction from left to right, and in that direction, there are the second carriage unloading section 39b, ​​​​​​A second vehicle delivery device 391b is provided. The second delivery line L3b is parallel to the second loading line L2 and in the opposite direction (i.e., parallel to the first delivery line L3a) and in the same direction. [The first loading line L1, the first loading section 38, the first multi-axis robot arm 21a, the first waiting area W1, the first unloading line L11, the first vehicle unloading section 39a, the first vehicle delivery device 391a, the first delivery line L3a] and, [the second loading line L2, the second loading section 48, the second multi-axis robot arm 21b, the second waiting area W2, the second unloading line L21, the second vehicle unloading section 39b, the second vehicle delivery device 391b, the second delivery line L3b] have a layout configuration with translational symmetry .

[0055] (T-shaped layout) This will be described with reference to FIG. 1C. The egg container loading system 1 includes a first egg container conveying device 72a having a first waiting area W1 with one egg container or two or more egg containers P arranged in parallel (arranged in parallel in the longitudinal direction), a first suction gripping portion 212a that grips the egg container P in the first waiting area W1, and a first multi-axis robot arm 21a that transfers the gripped egg container P to each folding shelf of the cart 8, a first vehicle pushing device 340 that conveys the cart 8 with the lowermost shelf board in the deployed state from the first vehicle loading device 300 to the first loading section 38 (loading position) proximal to the first multi-axis robot arm 21a along the linear first loading line L10 from left to right, and a first vehicle unloading device (not shown) that conveys the cart 8a from the first loading section 38 to the vehicle unloading section 39 along the first unloading line L11 in the same direction as the first loading line L10. The first loading line L10, the first loading section 38, the first unloading line L11, and the first multi-axis robot arm 21a and the first vehicle pushing device 340 that conveys the cart 8 with the lowermost shelf board in the deployed state from the first vehicle loading device 300 to the first loading section 38 (loading position) proximal to the first multi-axis robot arm 21a along the linear first loading line L10 from left to right, and a first vehicle unloading device (not shown) that conveys the cart 8a from the first loading section 38 to the vehicle unloading section 39 along the first unloading line L11 in the same direction as the first loading line L10. ) are provided. The first loading line L10, the first loading section 38, the first unloading line L11, and the first multi-axis robot The egg container loading system 1 has a second egg container conveying device 72b having a second standby area W2 with one egg container or two or more egg containers P arranged in parallel (arranged in parallel in the longitudinal direction), and a second suction gripping portion 212b for gripping the egg container P in the second standby area W2. The second multi-axis robot arm 21b transfers the gripped egg container P to each folding shelf of the cart 8. With the lowermost shelf board in the unfolded state, the cart 8 is moved from the second cart loading device 400 to the second loading portion 48 (loading position) which is proximal to the second multi-axis robot arm 21b, in a direction 180 degrees different from the first loading line L10 (a direction where they collide with each other), and is conveyed along the second loading line L20 which is linear from right to left. The second cart loading device 440 conveys the cart 8b from the second loading portion 48 to the cart unloading portion 39 along the second unloading line L21 which is in the same direction as the second loading line L20. The system 1 further includes a cart unloading device 391 for sending out the loaded cart 8a and / or cart 8b from the cart unloading portion 39 along the sending line L30 which intersects the first and second loading lines L10 and L20 at 90 degrees. (Another straight line, T-shaped layout) Referring to FIG. 4, the first standby area W1 of the first egg container conveying device 72a is arranged between the first multi-axis robot arm 21a and the first loading portion 38. The conveying direction of the first egg container conveying device 72a is from left to right. The egg container loading system 1 has a second egg container conveying device 72b having a second standby area W2 with one egg container or two or more egg containers P arranged in parallel (arranged in parallel in the longitudinal direction), and a second suction gripping portion 212b for gripping the egg container P in the second standby area W2. The second multi-axis robot arm 21b transfers the gripped egg container P to each folding shelf of the cart 8. With the lowermost shelf board in the unfolded state, the cart 8 is moved from the second cart loading device 400 to the second loading portion 48 (loading position) which is proximal to the second multi-axis robot arm 21b, in a direction 180 degrees different from the first loading line L10 (a direction where they collide with each other), and is conveyed along the second loading line L20 which is linear from right to left. The second cart loading device 440 conveys the cart 8b from the second loading portion 48 to the cart unloading portion 39 along the second unloading line L21 which is in the same direction as the second loading line L20. The system 1 further includes a cart unloading device 391 for sending out the loaded cart 8a and / or cart 8b from the cart unloading portion 39 along the sending line L30 which intersects the first and second loading lines L10 and L20 at 90 degrees. (Another straight line, T-shaped layout) Referring to FIG. 4, the first standby area W1 of the first egg container conveying device 72a is arranged between the first multi-axis robot arm 21a and the first loading portion 38. The conveying direction of the first egg container conveying device 72a is from left to right. The system 1 further includes a cart unloading device 391 for sending out the loaded cart 8a and / or cart 8b from the cart unloading portion 39 along the sending line L30 which intersects the first and second loading lines L10 and L20 at 90 degrees. The second loading line L20, the second loading portion 48, the second unloading line L21, and the second multi-axis robot arm 21b are arranged in a T-shape (second T-shaped layout). The second loading line L20, the second loading portion 48, the second unloading line L21, and the second multi-axis robot arm 21b are arranged in a T-shape (second T-shaped layout). The system 1 further includes a cart unloading device 391 for sending out the loaded cart 8a and / or cart 8b from the cart unloading portion 39 along the sending line L30 which intersects the first and second loading lines L10 and L20 at 90 degrees. The second loading line L20, the second loading portion 48, the second unloading line L21, and the second multi-axis robot arm 21b are arranged in a T-shape (second T-shaped layout). The system 1 further includes a cart unloading device 391 for sending out the loaded cart 8a and / or cart 8b from the cart unloading portion 39 along the sending line L30 which intersects the first and second loading lines L10 and L20 at 90 degrees.

[0056] (Another straight line, T-shaped layout) Referring to FIG. 4, the first standby area W1 of the first egg container conveying device 72a is arranged between the first multi-axis robot arm 21a and the first loading portion 38. The conveying direction of the first egg container conveying device 72a is from left to right. The first standby area W1 of the first egg container conveying device 72a is arranged between the first multi-axis robot arm 21a and the first loading portion 38. The conveying direction of the first egg container conveying device 72a is from left to right. However, it is not limited to this, and it may be in the reverse direction. Thus, the first multi-axis robot arm 21a, the first standby area W1, the first loading section 38, and the first cart loading device 30 are arranged linearly therein. Further, the first multi-axis robot arm 21a, the first standby area W1, the first loading section 38, the first cart loading device 30, and the cart unloading section 39 are arranged in a T-shape starting from the first loading section 38 ( T-shaped layout). Similarly, the second standby area W2 of the second egg container transfer device 72b is arranged between the second multi-axis robot arm 2 1b and the second loading section 48. The transfer direction of the second egg container transfer device 72b is from right to left, but it is not limited to this, and it may be in the reverse direction. Thus, the second multi-axis robot arm 21b, the second standby area W2, the second loading section 48, and the second cart loading device 40 are arranged linearly therein. Further, the second multi-axis robot arm 21b, the second standby area W2, the second loading section 48 , the second cart loading device 40, and the cart unloading section 39 are arranged in a T-shape starting from the second loading section 48 (T-shaped layout).

[0057] (Cart Loading Device) The cart state detection unit will be described with reference to FIG. 1A. The first cart loading device 30 includes a first cart state detection unit 346 for detecting the open state of the lowermost folding shelf of the cart 8 being loaded and the orientation (front-rear direction) of the cart. The cart state detection unit 346 is installed at the entrance of the loading route of the first cart loading device 30. The second cart loading device 40 includes a second cart state detection unit 446 for detecting the open state of the lowermost folding shelf of the cart 8 being loaded and the orientation (front-rear direction) of the cart. The cart state detection unit 446 is installed at the entrance of the loading route of the second cart loading device 40. The detection results of the first and second cart state detectors 346 and 446 are sent to the operation control unit 150. When the operation control unit 150 detects an abnormality indicating that the opening state of the lowermost folding shelf and the orientation of the cart are abnormal, it may issue a command to the warning notification means (such as a light output device for lighting and blinking, a monitor display, a warning sound emitting speaker, warning transmission to a mobile terminal, etc.). When the operation control unit 150 detects an abnormality, it may control to limit the pushing operation of the cart 8 by the first and second cart pushing devices 34 and 44. When the operation control unit 150 detects a normal result indicating that the opening state of the lowermost folding shelf and the orientation of the cart are normal, it may control to enable the pushing operation of the cart 8 by the first and second cart pushing devices 34 and 44. The first and second cart state detectors 346 and 446 are composed of, for example, a pair of light emitting and receiving optical sensors, a reflection type optical sensor, a distance measuring sensor, imaging means, and an image analysis device, etc.

[0058] (Cart Pushing Device) The cart pushing device will be described with reference to FIG. 3. The first cart pushing device 34 has, for example, a first pushing portion 341 having a contact surface that contacts the lower frame of the cart 8, a moving path 342 (which may be a rail or a groove) along which the first pushing portion 341 moves, and a driving portion (not shown, a linear motion device) that moves the first pushing portion 341 along the moving path 342. When the contact surface is in the front with respect to the conveying direction, when the first pushing portion 341 is pushed from behind, it tilts forward and downward against the spring means (not shown), and when this pushing state disappears, it rises from the tilted state by the spring means and returns to the original position. Thus, when the cart 8 is loaded into the first cart loading portion 30 from behind, the first pushing portion 341 The carriage 8 can be smoothly loaded without any interference. The second carriage extrusion device 44 has a similar configuration.

[0059] (Frame guide) Referring to FIGS. 1A and 3(c), the left and right frame guides will be described. When the system 1 conveys the carriage 8 with its front (front side) forward and its back (rear side) backward, along the first loading line L1, it includes a first left guiding part 3 1 that guides the left frame 832 of the carriage 8, and a first right guiding part 33 that guides the right frame 833. The first left guiding part 31 is provided with a first moving mechanism 32 that makes the distance between the two guiding parts variable. When the system 1 conveys the carriage 8 with its front (front side) forward and its back (rear side) backward, along the second loading line L2, it includes a second left guiding part that guides the left frame 832 of the carriage 8 and a second right guiding part that guides the right frame 833. The second left guiding part 41 is provided with a second moving mechanism 42 that makes the distance between the two guiding parts variable. The first and second moving mechanisms 32 and 42 are, for example, position change mechanisms using electric or air-driven cylinders.

[0060] Referring to FIGS. 1C and 3(c), the front and rear frame guides will be described. When the system 1 conveys the carriage 8 laterally from left to right, it includes a first front frame guiding part 310 that abuts against and guides the left and right front frames 8 3, 84 of the carriage 8, and a first rear frame guiding part 330 that abuts against and guides the left and right rear frames 8 34 of the carriage 8. The first front frame guiding part 3 10 is provided with a moving mechanism 320 that makes the distance between the two guiding parts variable. When the system 1 conveys the carriage 8 laterally from right to left, it includes a second front frame guiding part 410 that abuts against and guides the left and right front frames 8 3, 84 of the carriage 8, and the left and right rear frames 8 It is provided with a second rear frame guiding part 430 that abuts against and guides 34. The second front frame guiding part 4 10 is provided with a moving mechanism 420 that makes the interval between both guiding parts variable. Also, the front frame guide and / or the rear frame guide may be installed to feed from the first loading part 38 to the cart unloading part 39 in a direction along the first unloading line L11 along. Okay.

[0061] (Caster guide) Referring to Fig. 3(b), the guides for the left and right front casters and the left and right rear casters will be described. When the system 1 conveys the cart 8 in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel in any direction on its left and right side surfaces, the first front caster guiding part 343a that guides the left and right front casters and the first rear caster guiding part 343b that guides the left and right rear casters are provided. A moving mechanism that makes the front and rear caster intervals variable may be further provided also. Also, when conveying the cart in its front and rear directions, guides for the left front and rear casters and the right front and rear casters may be provided. Okay. Also, the caster guiding part may be a single frame in which a groove of a recess is formed, or may be composed of a pair of guide frames that sandwich the caster from both sides Okay. The caster guiding part may be a single frame in which a groove of a recess is formed, or may be composed of a pair of guide frames that sandwich the caster from both sides Okay.

[0062] (Cart unloading part) Referring to Fig. 1A, the retention state detection part will be described. The cart unloading part 39 is provided with a retention state detection part 392 for detecting whether there is a cart 8 staying inside the cart unloading part 39. The detection result of the retention state detection part 392 is sent to the operation control part 150, and the operation control part 150, in the case of a detection result that there is a cart 8, when It may issue a command to a warning notification means (such as a light output device that lights and blinks, a monitor display, a warning sound transmitting speaker, sending a warning to a mobile terminal, etc.). When the detection result indicates that the carriage 8 is present, the operation control unit 150 may control to limit the feeding operation of the carriage 8 by the first and second carriage unloading devices 36 and 46. When the detection result indicates that the carriage 8 is not present, the operation control unit 150 may control to enable the feeding operation of the carriage 8 by the first and second carriage unloading devices 36 and 46. When the detection result indicates that the carriage 8 is present, the operation control unit 150 may control the carriage sending device 391 to send it out to the sending line L3. The retention state detection unit 392 may be composed of, for example, a pair of light emitting and receiving optical sensors, a reflection type optical sensor, a distance measuring sensor, imaging means, and an image analysis device, etc.

[0063] (Carriage sending device and unloading device) The carriage sending device 391, the first and second carriage unloading devices 36 and 46 are composed of, for example, a linear motion device (cylinder) driven by air, hydraulic pressure, or electric drive, and are controlled by the operation control unit 150.

[0064] (Shelf opening device) Explanation will be made with reference to FIGS. 1D, 2A to 2D. The first shelf opening device 50 includes a first frame body 510 forming a back surface 512, a front surface 511, and both side surfaces (not shown), a first shelf opening unit 51 that is movable in the vertical direction on the back side of the first frame body 510, a first shelf opening unit drive unit 513 that drives the first shelf opening unit 51 up and down, and a drive belt 5131 (which may be a toothed belt or a chain). Since the second shelf opening device 60 has the same configuration as the first shelf opening device, the description thereof will be omitted.

[0065] The first shelf opening unit 51 is provided with a first one extending forward from each of its left and right sides left arm frame 52, a first right arm frame 54, and a first left arm tip frame 53 provided toward the center on the front side of the first left arm frame 52 and a first right arm tip frame 55 provided toward the center on the front side of the first right arm frame 54. It includes a first left arm frame 52, a first right arm frame 54, a first left arm tip frame 53 provided toward the center on the front side of the first left arm frame 52, and a first right arm tip frame 55 provided toward the center on the front side of the first right arm frame 54. On the back side of the first left arm frame 52, a first left back side clamp 521 and a first left spare opening portion 522 are provided on the front side of the first left back side clamp 521. On the back side of the first right arm frame 54, a first right back side clamp 541 and a first right spare opening portion 542 are provided on the front side of the first right back side clamp 541. On the first left arm tip frame 53, a first left front clamp 531 is provided facing the back side. On the first right arm tip frame 55, a first right front clamp 551 is provided facing the back side. On the first left arm tip frame 53, a first left front clamp 531 is provided facing the back side, and on the first right arm tip frame 55, a first right front clamp 551 is provided facing the back side. On the first left arm tip frame 53, a first left front clamp 531 is provided facing the back side, and on the first right arm tip frame 55, a first right front clamp 551 is provided facing the back side. On the first left arm tip frame 53, a first left front clamp 531 is provided facing the back side, and on the first right arm tip frame 55, a first right front clamp 551 is provided facing the back side. The first shelf opening unit 51 is provided with a drive unit 524 such that at least one of the first left arm frame 52 and the first right arm frame 54 can move relative to the first shelf opening unit 51 so as to expand and contract the parallel interval formed therebetween. In this embodiment, the first left arm frame 52 is configured to move. In this embodiment, the first left arm frame 52 is configured to move. In this embodiment, the first left arm frame 52 is configured to move. A pair of left and right first left back side clamps 521 and first right back side clamps 541 are provided so as to be vertically movable together with the first shelf opening unit 51. They press and regulate the left support 81 and the right support 82 on the rear side of the left and right side frames of the cart 8 toward the center of the shelf. A pair of left and right first left back side clamps 521 and first right back side clamps 541 are provided so as to be vertically movable together with the first shelf opening unit 51. They press and regulate the left support 81 and the right support 82 on the rear side of the left and right side frames of the cart 8 toward the center of the shelf. A pair of left and right first left back side clamps 521 and first right back side clamps 541 are provided so as to be vertically movable together with the first shelf opening unit 51. They press and regulate the left support 81 and the right support 82 on the rear side of the left and right side frames of the cart 8 toward the center of the shelf. A pair of left and right first left front clamps 531 and first right front clamps 551 are provided so as to be vertically movable together with the first shelf opening unit 51. The first left front clamp 531 presses and regulates the left front support 83 and the right front support 84 of the front frame of the cart 8 toward the back side. A pair of left and right first left front clamps 531 and first right front clamps 551 are provided so as to be vertically movable together with the first shelf opening unit 51. The first left front clamp 531 presses and regulates the left front support 83 and the right front support 84 of the front frame of the cart 8 toward the back side. A pair of left and right first left front clamps 531 and first right front clamps 551 are provided so as to be vertically movable together with the first shelf opening unit 51. The first left front clamp 531 presses and regulates the left front support 83 and the right front support 84 of the front frame of the cart 8 toward the back side. The pair of left and right first left inclined surface forming parts 561 and first right inclined surface forming parts 562 are the first shelf opening unit 51 is provided so as to be movable up and down together. The first left inclined surface forming part 561 and the first right inclined surface forming part 56 2 are composed of, for example, suction pads, suction pipes, vacuum pumps, etc. It is provided with an air drive part 5611 (which may be an electric drive part) for moving in the front-rear direction . The pair of left and right first left preliminary opening parts 522 and first right preliminary opening parts 542 are the first shelf opening unit 51 is provided so as to be movable up and down together. The first left inclined surface forming part 561 and the first right inclined surface forming part 56 2 are used to increase the opening state (M2) of the acute angle formed by the middle fold of the folding shelf (801) in an inclined state or a cantilevered state, for example, from the initial 0 degrees to, for example, 10 degrees to 30 degrees (preliminary opening state). For this purpose, they abut on both the left and right side surfaces (left side surface, right side surface) of the shelf board and perform an operation of being inserted into the gap of the middle fold . .

[0066] The left-right interval drive part 524, each clamp, and the preliminary opening part are provided with an air-driven linear actuator or an electric driven linear actuator.

[0067] The first shelf opening device 50 has a first shelf opening control part (not shown). It may receive necessary information such as the type information of the cart 8 from the system 1, or it may receive necessary information from another device, or it may be manually input. The first shelf opening control part issues commands to the first shelf opening unit drive parts 513 and 5131 to control the up and down movement of the first shelf opening unit 51. Further, the first shelf opening control part issues a command to the left-right interval drive part 52 4 to adjust the interval between the first left arm frame 52 and the first right arm frame 54. Further, the first shelf opening control part issues commands to the first left and first right rear clamps drive parts 5211 and 5411 to ​Controls the clamping operations of the left rear side clamp 521 and the first right rear side clamp 541. Also, the first shelf opening control unit issues commands to the first left and first right front clamp drive units 532 and 552, and controls the clamping operations of the first left front clamp 531 and the first right front clamp 551, as well as the stopper operations of the first left release stopper unit (533) and the first right release stopper unit (553). The first shelf opening control unit issues commands to the first left inclined surface forming unit 561 and the first right inclined surface forming unit 562, and controls the suction and backward pulling operations to make the folding shelf 301 in the middle-folded state at the folded state position (M1) inclined or cantilevered with respect to the mounting rail. Also, the first shelf opening control unit issues commands to the first left and first right preliminary release drive units 5221 and 5421, and controls the operations of the first left preliminary release unit 522 and the first right preliminary release unit 542 to put the folding shelf in the preliminary release state. (Shelf opening operation) The motion control unit 150 is interlocked with the shelf opening operation by the first shelf opening control unit and controls the first multi-axis robot arm.

[0068] (Shelf opening operation) First, as shown in Fig. 2A(b), the cart 8 is placed at the loading position. Next, as shown in Fig. 2A(c), commands are issued to the respective drive units to clamp each support column with the left rear side clamp 521 and the first right rear side clamp 541, and commands are issued to the drive units 532 and 552 to clamp each support column with the first left front clamp 531 and the first right front clamp 551. First, as shown in Fig. 2A(b), the cart 8 is placed at the loading position. Next, as shown in Fig. 2A(c), commands are issued to the respective drive units to clamp each support column with the left rear side clamp 521 and the first right rear side clamp 541, and commands are issued to the drive units 532 and 552 to clamp each support column with the first left front clamp 531 and the first right front clamp 551. 521 and the first right rear side clamp 541, and commands are issued to the drive units 532 and 552 to clamp each support column with the first left front clamp 531 and the first right front clamp 551. Next, as shown in Figs. 2B(d) and (e), commands are issued to the first left inclined surface forming unit 561 and the first right inclined surface forming unit 562 to suck the folding shelf 801 in the middle-folded state at the folded state position (M1) and pull it backward so that it is inclined or cantilevered with respect to the mounting rail. Next, as shown in Figs. 2B(d) and (e), commands are issued to the first left inclined surface forming unit 561 and the first right inclined surface forming unit 562 to suck the folding shelf 801 in the middle-folded state at the folded state position (M1) and pull it backward so that it is inclined or cantilevered with respect to the mounting rail. Next, as shown in Figs. 2B(d) and (e), commands are issued to the first left inclined surface forming unit 561 and the first right inclined Next, as shown in FIG. 2B(f), for the folding shelf 80 in an inclined state or a cantilevered state 1, the acute opening state (M2) formed by the middle fold is enlarged (put into a preliminary opening state) so that the first left contact portion 522a and the first right contact portion 542a are brought into contact with both the left and right side surfaces (left side surface, right side surface) of the shelf board and inserted into the gap of the middle fold. Next, as shown in FIG. 2C(g), the first multi-axis robot arm 21a is commanded to lock the locked portion (front shelf board frame 801c) of the folding shelf 801 in the preliminarily opened state with the locking means 213a. The first multi-axis robot arm 21a is provided with the locking means 2 13a (for example, means for hooking with a hook) at the hand portion 211a. Next, as shown in FIGS. 2C(h) and (i), the adsorption of the first left inclination forming portion 561 and the first right inclination forming portion 562 to the folding shelf is released, and the first left preliminary opening portion 522 and the first right preliminary opening portion 542 are returned to their original positions, and then the first multi-axis robot arm 21a is commanded to open (deploy) the folding plate forward while it is hooked in the hooked state. Next, as shown in FIG. 2D(j), before the folding shelf 301 is completely opened (deployed), the locked portion (front shelf board frame 801c) abuts against the first left and first right opening stopper portions 533 and 553 to remove the locking means 213a from the frame 801c. By intentionally removing it before complete deployment, the locking of the locking portion can be prevented from unexpectedly coming off and causing the falling onto the mounting rail or the generation of a collision sound due to the fall. Next, as shown in FIG. 2D(k), the first left rear side clamp 521, the first right rear side clamp 541, the first left front clamp 531, the first right front clamp 551, the first left opening stopper portion 533, and the first right opening stopper portion 553 are released and returned to their original positions. The clamps and stoppers By returning the "pa" part to its original position, the folding shelf board is also fully opened (deployed).

[0069] (Sorting and conveying device) Referring to FIG. 5, the first sorting and conveying device 73a will be described. Note that the second sorting and conveying device 73 b also has the same configuration. The first sorting and conveying device 73a feeds the egg container P being conveyed by the main conveying device 71 in a direction parallel to the short side direction (second side) orthogonal to the longitudinal direction ( first side) to the first egg container conveying device 72a. The upstream detection unit 701a is provided at a predetermined position on the first sorting and conveying device 73a and on the main conveying device 7 1 on the upstream side to detect the egg container. The upstream detection unit 701a is, for example, a pair of light sensors for light emission and light reception, a reflective light sensor, a distance measuring sensor, an imaging means, and an image analysis device, etc. It may be configured. The first sorting and conveying device 73a is a endless belt rotating body 732, 733 provided with four contact and delivery parts 731 at equal intervals respectively, and a pair of rolls 73 4, 735 for stretching the rotating bodies 732, 733, and one of the rolls is composed of a driving roll 735, and the rest are passive rolls that rotate freely. It is provided with a driving device 736 for rotating the driving roll 735. The driving device 73 6 is composed of, for example, a positioning motor, and according to the size and / or weight of the egg container, it controls the delivery timing of the egg container, the delivery amount of the egg container P, and the delivery speed (acceleration and deceleration). The driving device 736 rotates in one direction in the direction of the arrow. The driving device 736 rotates by the delivery amount at a predetermined timing from the detection by the upstream detection unit 701a, that is, when the egg container P reaches the delivery position W5. As a result, the contact and delivery part 731 abuts on the side surface of the egg container in the longitudinal direction (first side side) which is parallel to the conveying direction of the conveyed egg container, and the main conveying device 71. 71. 71. 71. 71. The transfer member 739 transfers the eggs from the first sorting and conveying device 71a to the first egg container conveying device 72a. It is provided between 73a and the main transport device 71, but its presence is not essential. The first egg container transport device 72a transports the egg containers P in one of the short sides of the egg containers P along the transport direction of the egg containers P. a first container guide portion 731 for guiding the egg container P in the short-side direction, and a second container guide portion 732 for guiding the egg container P in the other short-side direction. The moving mechanism 733 moves the second container guide portion 732. The moving mechanism 733 changes the distance between the first and second container guide portions 731 and 732. The information on the size and weight of the egg container is sent from the system's general control unit 150 or an upstream device. The moving mechanism 733 can be, for example, air, electric, or hydraulic. The drive may be a linear motion device.

[0070] (Loading control device) The egg container loading system 1 includes a loading control device 2 that is capable of multiple loading patterns. It may also be provided. The egg container loading system 1 includes first and second multi-axis robot arms 21a and 21b. A loading control device 2 may be provided to control the loading of egg containers onto the transport cart 8. The loading control device 2 is configured to control at least one loading pattern and the multi-axis robot a loading operation setting unit 22 for setting the operation of the arm 21 in advance; In accordance with the loading pattern set in 2, the multi-axis robot arm 21 is positioned at the tip end thereof. The egg container is transported by holding one or more egg containers with a suction gripping part 212 provided on a hand part 211. The items are transferred to at least one shelf (which may or may not be a folding shelf) of the transport cart 8. and a loading control unit that controls the operation of the multi-axis robot arm 21 and the suction gripper 212. Gobe 23 and Automatically switch from at least two or more loading patterns to any loading pattern (either selected by the operator or corresponding to the egg containers waiting on the conveyor), and a loading pattern switching control unit 24 may be provided. A touch panel type operator operation input means 25 may be provided. The loading control unit 23 is In at least one step of a plurality of steps of stacking for each shelf, among at least three or four or more egg containers (A) are adsorbed and gripped, and at a predetermined first position corresponding to the loading pattern, the adsorption of all the egg containers is released and placed (step a), and a number of egg containers (B) less than at least three or four or more of the placed egg containers (A) are adsorbed and gripped again, and moved to another second position different from the first position and the adsorption is released and placed (rearranged) (step b), and the operation of the multi-axis robot arm and the adsorption gripping part may be controlled. This rearrangement is called "split rearrangement". The operation of "releasing adsorption and placing" may not include a lowering operation as the movement of the adsorption gripping part in the height direction. The bottom of the egg container being adsorbed and gripped may release the adsorption before contacting a shelf or an egg container below it. In the operation of "adsorbing and gripping again", it may be re-adsorbed and gripped at a position different from the previously adsorbed position. Between step a and step b (during the split rearrangement), a plurality of other egg containers may be adsorbed and gripped from a waiting position (waiting position of the conveyor) and placed at a position different from the first and second positions. That is, another placing operation may be performed between step a and step b. The operation of "releasing adsorption and placing" may not include a lowering operation as the movement of the adsorption gripping part in the height direction. The bottom of the egg container being adsorbed and gripped may release the adsorption before contacting a shelf or an egg container below it. The bottom of the adsorbed and gripped egg container may release the adsorption before contacting a shelf or an egg container below it. In the operation of "adsorbing and gripping again", it may be re-adsorbed and gripped at a position different from the previously adsorbed position. Between step a and step b (during the split rearrangement), a plurality of other egg containers may be adsorbed and gripped from a waiting position (waiting position of the conveyor) and placed at a position different from the first and second positions. That is, another placing operation may be performed between step a and step b.

[0071] ​​​​​The loading control unit 23 Among the multiple stacking steps of the multi-stage stacking, any one of the multiple loading steps In this case, it is the gap between egg containers caused by the stacking pattern, and the short The length of the hand direction is shorter than the length of the gap, and the egg container is placed so as to be pushed into the gap (in the height Direction, fit it into the gap from the bottom of the container to the middle height), and the multi-axis robot arm 2 1 and the operation of the adsorption gripping part 212 may be controlled. By filling the gap with the egg container, the movement of the egg container during transfer can be eliminated, and the storage quantity can be increased Can.

[0072] The loading control unit 23 In the multi-stage stacking for each shelf, the first-stage stacking pattern and the stacking patterns of other stages are The same or different, and the operations of the multi-axis robot arm 21 and the adsorption gripping part 212 May be controlled. The loading control unit 23 In the multi-stage stacking for each of the multiple shelves of the trolley, the stacking pattern of the first shelf and the stacking The patterns of other shelves are the same or different, and the operations of the multi-axis robot arm 21 and the adsorption gripping Part 212 may be controlled. It may be the same type of egg container or different types of egg containers, with the same or different loading patterns It may be made to be.

[0073] The loading control unit 23 In the multi-stage stacking for each shelf, before the stacking pattern of any stage is completed, the next stage The stacking pattern of the target is started, and the operations of the multi-axis robot arm and the adsorption gripping part May be controlled. For example, half of the first-stage stacking pattern is placed (for example, Inner placement area), the egg container of the next second stage is placed on the placed egg container, and further two stages Place the third - stage egg container on top of the egg container of the eye, and similarly, the fourth - stage egg container may be placed in the same way. Among the loading patterns of the first stage, place the egg container at the position of the remaining unloaded loading pattern (the front - side loading area), place the second - stage egg container on top of the placed egg container, furthermore, place the third - stage egg container on top of the second - stage egg container, and similarly, the fourth - stage egg container may be placed in the same way as well. Among the loading patterns of one stage, the inner - side loading pattern and the front - side loading pattern may be the same or different loading patterns. In the inner - side loading pattern and the front - side loading pattern, the same type of egg container or different types of egg containers may be used.

[0074] (Loading pattern) Define the front - side and inner - side placement areas of the trolley. The loading pattern includes an inner - side horizontal placement (also referred to as "horizontal placement") in the inner - side area of the trolley, where the egg container is placed horizontally parallel to the longitudinal direction of the egg container, and a front - side vertical placement (also referred to as "vertical placement") in the front area, where the egg container is placed vertically in a direction perpendicular to the inner - side horizontal placement. It may be a pattern that includes an inner - side horizontal placement (also called "lying horizontally") in the inner - side area of the trolley, where the egg container is placed horizontally parallel to the longitudinal direction of the egg container, and a front - side vertical placement (also called "standing vertically") in the front area, where the egg container is placed vertically in a direction perpendicular to the inner - side horizontal placement. It may be a pattern that includes an inner - side vertical placement in the inner - side area of the trolley, where the egg container is placed vertically parallel to the short - hand direction of the egg container, and a front - side horizontal placement in the front area, where the egg container is placed horizontally in a direction perpendicular to the inner - side vertical placement. It may be a pattern that includes an inner - side vertical placement in the inner - side area of the trolley, where the egg container is placed vertically parallel to the short - hand direction of the egg container, and a front - side horizontal placement in the front area, where the egg container is placed horizontally in a direction perpendicular to the inner - side vertical placement. The loading pattern may be a pattern that includes an inner - side vertical placement and a front - side vertical placement. The loading pattern may be a pattern that includes an inner - side horizontal placement and a front - side horizontal placement. The loading pattern may be a pattern that includes a part of the inner - side being vertically placed and the rest being horizontally placed. The loading pattern may be a pattern that includes an inner - side vertical placement and a front - side vertical placement. The loading pattern may be a pattern that includes an inner - side horizontal placement and a front - side horizontal placement. The loading pattern may be a pattern that includes a part of the inner - side being vertically placed and the rest being horizontally placed. It may be well. The loading pattern may be a pattern in which a part at the front is placed vertically and the rest is placed horizontally. It may be good.

[0075] (Multi-axis robot arm) The hand part 211 at the tip is attached to the tip of the arm and has a fixing part for fixing the suction gripping part 212. It has a fixing part. The suction gripping part 212 has, for example, a plurality of suction pads that perform negative pressure suction. The suction pads are connected via a vacuum pump (or blower) and a negative pressure pipe, and by sucking air, a suction force capable of gripping the egg container in contact with the suction pads is generated. All of the plurality of suction pads, individually or in units of a plurality, are configured and controlled such that operations of "suction, suction stop (adsorbed state), suction release (return to atmospheric pressure)" are possible. It may also be good. It may also be good.

Explanation of reference numerals

[0076] 1 Egg container loading system 2 Egg container loading device 21a First multi-axis robot arm 211a First hand part 212a First suction gripping part 30 First cart loading device 32 First moving mechanism 34 First cart pushing device 36 First cart unloading device 38 First loading part 39 Cart unloading part 50 First shelf opening device 52 First left arm frame 53 First left arm tip frame 54 First right arm frame 55 First right arm tip frame 510 First frame body 521 First left back side clamp 541 First right back side clamp 531 First left front clamp 533 First left open stopper part 551 First right front clamp 553 First right open stopper part 561 First left inclined forming part (suction unit) 562 First right inclined forming part (suction unit) 522 First left preliminary open part 542 First right preliminary open part 72a First egg container conveying device 60 Second shelf opening device 8 Egg container transport trolley L1 First loading line P Egg container W1 First waiting area

Claims

1. A trolley loading device for transporting an egg container trolley to the loading position of the egg container, when transporting the egg container trolley with the front in front and the back in the back, along the first loading line in the front-rear direction, a left guiding part for guiding the left frame of the egg container trolley, and / or a right guiding part for guiding the right frame, and / or a left caster guiding part for guiding the left front and rear casters, and / or a right caster guiding part for guiding the right front and rear casters, when transporting in any direction on the left and right sides of the egg container trolley, a front frame guiding part that abuts against and guides the left and right front frames of the egg container trolley, and / or a rear frame guiding part that abuts against and guides the left and right rear frames, and / or a front caster guiding part for guiding the left and right front casters, and / or a rear caster guiding part for guiding the left and right rear casters, The trolley loading device for the egg container trolley, comprising.

2. At least one of the left guiding part and / or the right guiding part is provided with a moving mechanism that makes the distance between the two variable, The trolley loading device for the egg container trolley according to Claim 1.

3. Comprising at least one trolley state detection part for detecting the open state of any folding shelf and / or the orientation of the trolley of the egg container trolley to be loaded, The trolley loading device for the egg container trolley according to Claim 1 or 2.

4. [[ID= ​ ​ ​ ​ ​ ​ The cart loading device of the egg container transport cart according to any one of claims 1 to 3, The fixing device of the egg container transport cart according to claim 4, An egg container loading system comprising one or more of the distribution and conveyance devices according to claim 5, A first egg container conveyance device having a first standby area for one egg container or two or more juxtaposed egg containers, A first multi-axis robot arm having a first adsorption gripping part for gripping the egg container in the first standby area and transferring the gripped egg container to at least one shelf of the first egg container transport cart, A first cart loading device for transporting the first egg container transport cart toward the first multi-axis robot arm side, A first cart extrusion device provided in the first cart loading device, the first cart extrusion device for transporting the first egg container transport cart along a first loading line toward a first loading part that is proximal to the first multi-axis robot arm, A first cart unloading device for transporting the first egg container transport cart from the first loading part to a cart unloading part along a first unloading line different from the first loading line, The first standby area, the first multi-axis robot arm, and the first loading part are arranged in an L shape starting from the main body axis of the first multi-axis robot arm, Or, The first standby area is arranged between the first multi-axis robot arm and the first loading part, and the first multi-axis robot arm, the first standby area, and the first loading part are arranged in a straight line, An egg container loading system.

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