Egg container loading device and method for loading egg container on egg container transport truck

Abstract

To provide an egg container loading device capable of reducing the number of loading times and dealing with various loading patterns.SOLUTION: An egg container loading device 2 comprises: a multiple spindle robot arm 21; a suction grip 212 provided in a hand 211 installed at the tip position of the multiple spindle robot arm 21; a loading operation setting part 22 that sets, in advance, at least two or more loading patterns and an operation of the multiple spindle robot arm 21; and a loading control unit 23 that controls the operations of the multiple spindle robot arm 21 and the suction grip 221 so as to grip an egg container P by the suction grip 212 corresponding to the loading patterns and transfer the egg container to at least one shelf of an egg container transport truck 3.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] The present invention relates to a device for loading egg containers onto an egg container transport vehicle and a device for loading egg containers onto an egg container transport vehicle. This relates to how to do this. [Background technology]

[0002] Egg containers (also called "egg cartons") filled with eggs are transported to retailers such as supermarkets. For example, a transport rack is used for transporting chickens manufactured by Yoshida Elsys Co., Ltd. There are roll boxes specifically for transporting egg cartons and roll racks manufactured by Sanei Seisakusho Co., Ltd. Patent Document 1 describes a transport rack for transporting egg containers containing chicken eggs. The transport rack has multiple foldable shelves, allowing for compact storage in the depth direction. It is a practical design.

[0003] Patent Document 2 describes an egg packing machine that transfers multiple egg packs collected in a temporary waiting area into a storage space. Specifically, the device for transferring eggs from one egg carton to another egg carton is disclosed. A method for holding several egg cartons and moving the held egg cartons to the storage space. a holding portion for holding the egg pack, and an operation of holding the egg pack and the storage space; and releasing the state of holding the egg carton. a control unit for controlling the operation of the holding unit, including the operation of the holding unit, and holding the egg carton at a first position within the storage space. After the holding portion is released from the first position, the holding portion is moved to the first position in the accommodation space. controls an operation of releasing the state of holding the other egg carton at a different second position. . The other egg cartons are placed at a height position different from the first position as the second position. As the second position, the other egg pack is placed on top of the first egg pack. At the position where the egg cartons are stacked, the holding state of the other egg cartons is released. The operation involves changing the orientation of the egg carton being held.

[0004] Patent Document 3 is a divisional application of Patent Document 2 mentioned above.

[0005] Patent Document 4 describes a transfer device that transfers multiple egg cartons into a box-shaped assembly container that is open upward. Specifically, the first embodiment holds three egg cartons, and the second embodiment holds two egg cartons. The egg carton is then held in place by the control unit 100. The egg carton is then held in place by the control unit 100. The device is provided with a plurality of suction parts for suction and holding the object, and the suction parts are the same as those in the first and second aspects. a main suction portion used in the first embodiment and a second suction portion used only in the first embodiment; The egg carton is provided with a sub-suction portion that is not used in the above embodiment. and a mode in which m egg cartons (m is an integer different from n) can be held. It is controlled as follows.

[0006] In the drawing of Patent Document 5, an example of packing containers P is disclosed.

[0007] Patent Document 6 discloses a box-shaped egg container that is opened upward and holds egg cartons that are intermittently fed into a temporary waiting area. The present invention discloses a system for packing egg cartons, which is equipped with a transfer device for transferring egg cartons into an assembly container. The transfer device performs transfers to form one stage in the assembly container in multiple steps. The number of egg cartons transferred in one transfer operation is set to an arbitrary number, and At least one of the several times, the arbitrary number is set to a number different from the other times. When a predetermined number of egg cartons have been collected in the temporary waiting area, a transfer operation is performed. The amount of material transferred in one operation is reduced compared to the conventional method, and the amount of material transferred in the assembly container is reduced. This makes it possible to easily accommodate variations in the arrangement of egg cartons. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Utility Model Registration No. 3209255 [Patent Document 2] International Patent Application Publication No. WO2019 / 159793, [Patent Document 3] Patent Publication No. 2021-50045 [Patent Document 4] Japanese Patent Application Publication No. 2018-193071 [Patent Document 5] Japanese Patent Application Publication No. 2015-196522 [Patent Document 6] Japanese Patent Application Publication No. 2019-43591 Summary of the Invention [Problem to be solved by the invention]

[0009] The problems that cannot be solved by the above patent documents include the following. (1) When transferring egg containers from the standby position of the conveyor to the cart, if many egg containers are grasped, If there are restrictions on loading patterns, There is a limit to the number of items that can be held and transferred at one time. In this case, the number of items to be held can be reduced, and the number of round trips can be reduced. Furthermore, in order to increase the transfer capacity, it is necessary to grasp more egg containers. However, this requires the gripping portion to be enlarged. (2) Egg containers have barcodes and expiration date labels attached to the top or inserted inside the container. The orientation of the markings, the flange (edge) of the egg container (the flange on the hinge side of the lid) The direction of the flange where the top lid and bottom container are joined varies from retailer to retailer. As a result, there are multiple patterns for stacking egg containers. We need to respond. (3) In the case of a flat pack with a flat top, a sticker is attached to the top surface. Depending on the adhesive strength of the top layer, it may peel off, and the process may be affected by suction transfer. It was necessary to be careful about the processing speed. If it was moved too quickly, the sticker on top could peel off. (4) When loading egg containers onto a cart, the egg containers are loaded according to the size of the eggs and the layout requirements of the destination retail store. The loading pattern must be changed depending on the load. This changeover is often done several times a day. Therefore, it is not uncommon for loading patterns to be switched every hour or even a few hours. There is a demand for quick replacement work.

[0010] Therefore, the present invention can reduce the number of transfers and can accommodate various loading patterns. The object of the present invention is to provide an egg container loading device that can [Means for solving the problem]

[0011] The first egg container loading device of the present invention comprises: A multi-axis robot arm; a suction gripper provided in a hand unit at a tip position of the multi-axis robot arm; At least two loading patterns and the operation of the multi-axis robot arm are preset. a loading operation setting unit; The suction gripper performs one loading operation in accordance with the loading pattern set by the loading operation setting unit. and holding one or more egg containers and placing them on at least one shelf (even if it is a folding shelf) of the egg container transport cart. The multi-axis robot arm and the suction gripper are moved so as to transfer the object to the object (which may not be the object itself). a loading control unit that controls the operation; Equipped with.

[0012] Egg container loading device An operator can select any loading pattern from at least two loading patterns. Automatically switches to match the egg containers waiting on the conveyor or on the conveyor. A pattern switching control unit may be provided. Egg container loading device Accepts inputs for instructions to switch loading patterns and / or multi-axis robot arm movements A switching input unit is provided to receive instructions from the switching input unit, and the loading pattern switching control is performed in response to the input instructions from the switching input unit. The switching control may be performed by the unit. Egg container loading device In the loading pattern preset in the loading operation setting section, the loading operation can be performed at any timing and with instructions. For a certain number of egg container transport vehicles, a certain shelf (for example, the lowest shelf only, the second lowest position) The input to place the egg containers only on the shelf (can be specified arbitrarily, such as up to the shelf) is accepted. and a subtraction instruction input unit for inputting a subtraction instruction to the subtraction instruction input unit. A control unit may control the operation of the multi-axis robot arm and the suction gripper.

[0013] The same loading capacity shall be used for multiple shelves (which may or may not be folding shelves) of the egg container transport cart. It may be a loading pattern or a different loading pattern. There may be one or more loading patterns, which stabilizes the center of gravity of the dolly. It can accommodate mixed loading requests from retailers. It can accommodate multiple types of carts. Can accommodate a variety. For example, different egg sizes, destinations, types of trolleys, different types of egg containers and different shelves on the trolleys. By presetting multiple loading patterns when loading egg containers of various sizes, Switching instructions can be given in fewer steps, or switched automatically, so loading patterns can be easily changed. This reduces the time required to set up and switch between channels.

[0014] In addition, the second egg container loading device A multi-axis robot arm; a suction gripper provided in a hand unit at a tip position of the multi-axis robot arm; At least one loading pattern and the operation of the multi-axis robot arm are preset. a loading operation setting unit; The suction gripper performs one loading operation in accordance with the loading pattern set by the loading operation setting unit. and holding one or more egg containers and placing them on at least one shelf (even if it is a folding shelf) of the egg container transport cart. The multi-axis robot arm and the suction gripper are moved so as to transfer the object to the object (which may not be the object itself). a loading control unit that controls the operation; Equipped with. If only one loading pattern is set, the same loading will be performed for a long time, so it will take half a day. It is suitable for loading on a daily basis.

[0015] The loading control unit described below controls the first egg container loading device and the second egg container loading device. Both apply. The loading control unit Any of the multiple loading steps on at least one of the multiple stacks per shelf In the step, at least three or four or more egg containers (A) are suction-held and stacked. At a predetermined first position corresponding to the loading pattern, all egg containers are released from suction and placed. (Step a), and from the placed at least three or four or more egg containers (A), The smallest number of egg containers (B) are again sucked and held at a second position different from the first position. The multi-axis robot arm moves to release the suction and place (relocate) the object (step b). The operation of the robot arm and the suction gripper may be controlled. This rearrangement is called "split rearrangement." . The "release suction and place" operation involves a vertical movement of the suction gripper without a downward movement. The bottom of the egg container being held by suction must not come into contact with the shelf or egg container below. The suction grip may be released before the object is picked up. In the "re-grasp" operation, the object is re-grasped at a different position from the previous one. It may be possible to do so. Between step a and step b (the middle stage of the division and rearrangement), another multiple egg containers are waiting. The object is picked up by suction from the standby position of the transport conveyor and placed in a position different from the first and second positions. In other words, another placing operation may be performed between step a and step b.

[0016] The loading control unit Any step among multiple loading steps in at least one of the multiple stacked levels In this case, the gap between the egg containers caused by the stacking pattern is The egg container is placed in a gap that is shorter than the length of the hand (height direction). The multi-axis robot arm and and the operation of the suction gripping unit. By filling the gaps with egg containers, the egg containers do not move during transport and the number of eggs that can be stored can be increased. Cut.

[0017] The loading control unit When stacking multiple shelves, the loading pattern of the first shelf and the loading patterns of the other shelves are different. The multi-axis robot arm and the suction gripper are controlled to operate in the same or different manners. That's fine. The loading control unit When stacking multiple shelves on a cart, the loading pattern of the first shelf and the loading pattern of the other shelves The multi-axis robot arm and the suction gripper are arranged so that the patterns are the same or different. The operation may be controlled. Egg containers of the same type or different types, with the same or different loading patterns It may be configured to be

[0018] The loading control unit When stacking multiple shelves, the next shelf may be loaded before the loading pattern of any shelf is completed. the multi-axis robot arm and the suction gripper to initiate a first loading pattern. For example, half of the loading patterns on the first stage may be placed (for example, The egg containers are then placed on top of the egg containers in the back side of the stack. The third egg container may be placed on top of the first egg container, and the fourth egg container may be placed in the same manner. The position of the remaining loading patterns that have not been placed among the loading patterns on the first stage (front side loading placing an egg container in the egg placement area, and then placing a second egg container on top of the placed egg container; Then, place the third egg container on top of the second egg container, and then the fourth egg container in the same way. That's fine. In the loading pattern of one stage, the loading pattern on the rear side and the loading pattern on the front side are the same. The loading pattern may be the same or different. In the rear loading pattern and the front loading pattern, egg containers of the same type or different types are loaded. It may also be possible to load different types of egg containers.

[0019] (Loading pattern) This defines the loading areas on the front and back sides of the cart. The loading pattern is horizontal, parallel to the length of the egg containers in the rear area of ​​the cart. The rear horizontal placement (also called "horizontal placement") and the front area, which is perpendicular to the rear horizontal placement. A pattern including a front-side vertical placement where the device is placed vertically (also called "vertical placement") so that the device faces in the vertical direction. may be. The loading pattern is vertical, parallel to the short side of the egg container, in the rear area of ​​the cart. The back side is placed vertically, and the front side is placed horizontally so that the direction is perpendicular to the back side vertical placement. The pattern may include a horizontal placement on the near side. The loading pattern may include a rear-side vertical placement and a front-side vertical placement. The loading pattern may include rear-side horizontal placement and front-side horizontal placement. The loading pattern may include a pattern in which part of the back side is vertically placed and the rest is horizontally placed. good. The loading pattern may include a pattern in which the front part is vertically loaded and the rest is horizontally loaded. good. The loading pattern included placing vertical stacks in the gaps between the left and right horizontal stacks. Conversely, a pattern including placing a horizontal placement in the gap between the left and right vertical placements may be used. That's fine.

[0020] The egg container may include, for example, a container body that can accommodate eggs having a convex shape that matches the outer shape of the eggs, and a convex A regular pack consists of a lid that fits over the egg, and a convex egg pack that fits the outer shape of the egg. The flat pack consists of a container body that can accommodate the above and a flat lid with a flat top surface. be. The multi-axis robot arm is preferably a robot arm with three or more axes. The multi-axis robot arm may be a collaborative robot. The hand unit at the tip is attached to the tip of the arm and has a fixing part that fixes the suction gripper. . The suction gripping section has, for example, a plurality of suction pads that perform negative pressure suction. The suction pad is connected to a vacuum pump (or blower) via a negative pressure pipe, and air is sucked in. Pulling causes the suction pad to generate a suction force that enables it to grip an egg container that comes into contact with it. All of the suction pads, individually or in units of multiple pads, can be set to "Suction, Suction Stop (Suction Status)" The piping, on-off valves, etc. are configured and controlled to enable the operation of "release suction (return to atmospheric pressure)". Good too.

[0021] The "lifting position" at which the suction gripping unit suction-grabs the plurality of egg containers is not particularly limited. The number of containers to be loaded, the placement position according to the loading pattern (rear side, left and right sides, under the upper folding shelf), It is set by split arrangement etc. The suction is adjusted to the center of gravity (center of area) of the area of ​​the multiple egg containers to be suction-held in a plan view. The center of gravity (center of area) of the suction gripping part may be aligned. It may be offset from the center of gravity (centre) of the area of ​​the vessel in a plan view.

[0022] Another first method for loading egg containers of the present invention includes: A loading system that presets at least two loading patterns and the operation of a multi-axis robot arm. a loading operation setting step; In accordance with the loading pattern set in the loading operation setting step, a multi-axis robot arm One or more egg containers are gripped by a suction gripping unit provided on the drum, and at least one of the egg container transport carts is A multi-axis robot arm is used to transfer items onto one shelf (which may or may not be a folding shelf). and a loading control step of controlling the operation of the suction gripper. The loading control step includes: Any of the multiple loading steps on at least one of the multiple stacks per shelf In the step, at least three or four or more egg containers (A) are suction-held and stacked. At a predetermined first position corresponding to the loading pattern, all egg containers are released from suction and placed. (Step a), and from the placed at least three or four or more egg containers (A), The smallest number of egg containers (B) are again sucked and held at a second position different from the first position. The multi-axis robot arm moves to release the suction and place (rearrange) the object (step b). and / or Any step among multiple loading steps in at least one of the multiple stacked levels In this case, the gap between the egg containers caused by the stacking pattern is The egg container is placed in a gap that is shorter than the length of the hand (height direction). The multi-axis robot arm and and the operation of the suction gripping unit. The loading control step includes: When stacking multiple shelves, the loading pattern of the first shelf and the loading patterns of the other shelves are different. Controlling the operation of the multi-axis robot arm and the suction gripper to be the same or different; When stacking multiple shelves on a cart, the loading pattern of the first shelf and the loading pattern of the other shelves The movement of the multi-axis robot arm and the suction gripper is controlled so that the patterns are the same or different. Control, or When stacking multiple shelves, the next shelf may be loaded before the loading pattern of any shelf is completed. Control the movement of the multi-axis robot arm and vacuum gripper to start the first loading pattern. You can control it. The first egg container loading method is An operator can select any loading pattern from at least two loading patterns. Automatically switches to match the egg containers waiting on the conveyor or on the conveyor. A pattern switching control step may be included. The first egg container loading method is Accepts inputs for instructions to switch loading patterns and / or multi-axis robot arm movements The loading pattern switching control step may include a switching input step of receiving a switching input signal from the switching input step. The loading pattern may be switched in response to an input instruction. The first egg container loading method is In a pre-set loading pattern, egg containers can be transported at any timing and in a specified number of containers. For the transport cart, a specific shelf (for example, only the lowest shelf, or from the bottom to the second shelf, etc.) can be selected. Input of subtraction instruction to place egg containers only on the specified A force step may be included. The loading control step is a step of controlling the multi-axis robot actuator in response to an input instruction of the reduced loading instruction input step. The operation of the arm and the suction gripper may be controlled.

[0023] Another second egg container loading method of the present invention includes: The multi-axis robot arm has a suction mechanism that corresponds to a preset loading pattern. The holding part holds one or more egg containers and places them on at least one shelf (a folding shelf) of the egg container transport cart. The multi-axis robot arm and the suction gripper are used to transfer the object to the robot. It includes a loading control process for controlling the operation. The loading control step includes: Any of the multiple loading steps on at least one of the multiple stacks per shelf In the step, at least three or four or more egg containers (A) are suction-held and stacked. At a predetermined first position corresponding to the loading pattern, all egg containers are released from suction and placed. (Step a), and from the placed at least three or four or more egg containers (A), The smallest number of egg containers (B) are again sucked and held at a second position different from the first position. The multi-axis robot arm moves to release the suction and place (rearrange) the object (step b). and / or Any step among multiple loading steps in at least one of the multiple stacked levels In this case, the gap between the egg containers caused by the stacking pattern is The egg container is placed in a gap that is shorter than the length of the hand (height direction). The multi-axis robot arm and and the operation of the suction gripping unit. The loading control step includes: When stacking multiple shelves, the loading pattern of the first shelf and the loading patterns of the other shelves are different. Controlling the operation of the multi-axis robot arm and the suction gripper to be the same or different; When stacking multiple shelves on a cart, the loading pattern of the first shelf and the loading pattern of the other shelves The movement of the multi-axis robot arm and the suction gripper is controlled so that the patterns are the same or different. Control, or When stacking multiple shelves, the next shelf may be loaded before the loading pattern of any shelf is completed. Control the movement of the multi-axis robot arm and vacuum gripper to start the first loading pattern. You can control it. The second egg container loading method is Accepts inputs for instructions to switch loading patterns and / or multi-axis robot arm movements The loading pattern switching control step may include a switching input step of receiving a switching input signal from the switching input step. The loading pattern may be switched in response to an input instruction. The second egg container loading method is In a pre-set loading pattern, egg containers can be transported at any timing and in a specified number of containers. For the transport cart, a specific shelf (for example, only the lowest shelf, or from the bottom to the second shelf, etc.) can be selected. Input of subtraction instruction to place egg containers only on the specified A force step may be included. The loading control step is a step of controlling the multi-axis robot actuator in response to an input instruction of the reduced loading instruction input step. The operation of the arm and the suction gripper may be controlled.

[0024] The information processing device at least one processor; A program for realizing the first egg container loading method or the second egg container loading method is stored. a memory stored in the memory; The processor executes the program read from the memory, and The information processing device controls the operation of the suction gripper and the suction gripper.

[0025] The method for producing an egg container storage cart containing eggs includes: The egg container containing the eggs is loaded using the first egg container loading method or the second egg container loading method. Produces trucks.

[0026] The above configuration has the following advantages. (1) It can pick up and transport more egg cartons at the same time. For example, a robot arm (for five eggs) The five egg containers waiting on the conveyor are gathered together by a suction gripper that can suck up the containers. At the standby position, the product is picked up and transported to the shelf in the pick-up direction (pick-up position) that corresponds to the stacking pattern. This reduces the constraints of suctioning egg containers and improves the transfer capacity. If it is a robot arm, a rotation mechanism will allow it to rotate during transfer to accommodate the stowage pattern. Although it is easy to do, there are limitations in the case of robot hands and scalar robots with few rotation axes. By adopting a multi-axis robot arm, transfer processing capacity can be improved. (2) For management reasons, the operator may not only simply combine the egg containers in the longitudinal direction, but also Turn the egg container in the correct direction so that the product label and barcode on the top of the container can be seen. There is a request to unify the egg containers in a fixed direction. By re-adsorbing at the adsorption position (for example, the adsorption position at the edge), the orientation of the egg carton is adjusted to the desired direction. It can be unified. (3) When suction and gripping, the gripping position is shifted (the center of the suction and gripping part in a plan view and the multiple gripping parts are shifted). The planar view center of the egg container is not aligned), rotating the hand of the multi-axis robot arm (e.g. For example, even if both the standby position of the egg container and the shelf of the cart are parallel to the longitudinal direction of the egg container, By rotating the container 150 degrees, it can be picked up and placed, allowing for a variety of stacking patterns. (4) Shift the suction position along the short side of the egg container and suction the middle between the top sticker and the egg container. This prevents the sticker from peeling off. By shifting the suction position, some of the suction pads will be attached to the area without the sticker. This allows the adhesive to adsorb the adhesive, thereby preventing peeling. [Brief explanation of the drawings]

[0027] [Figure 1A] FIG. 1 is a diagram showing the overall configuration of an automatic egg carton placing system. [Figure 1B] 10A and 10B are diagrams illustrating examples of suction and gripping positions. [Figure 1C] FIG. 1 is a diagram showing an example of a type of egg carton. [Figure 2A] 1A and 1B are plan and side views of a first stacking pattern (horizontal placement on the rear side and vertical placement on the front side). [Figure 2B] 10 is an example of a loading step of a first stowage pattern. [Figure 2C] 10 is an example of a dividing and rearranging step of a first stowage pattern. [Figure 2D] 10 is an example of a dividing and rearranging step of a first stowage pattern. [Figure 3A] 10A and 10B are plan and side views of a second stacking pattern (horizontal placement on the rear side and vertical placement on the front side). [Figure 3B] 10 is an example of a loading step of a second stowage pattern. [Figure 4A] 10A and 10B are plan and side views of a third stowage pattern (horizontal placement on the rear side and vertical placement on the front side). [Figure 4B] 10 is an example of a dividing and rearranging step of a third stowage pattern. [Figure 5A] 10A and 10B are plan and side views of a fourth stacking pattern (horizontal placement on the rear side and vertical placement on the front side). [Figure 5B] 10 is an example of a dividing and rearranging step of a fourth stowage pattern. [Figure 6A] 10A and 10B are plan and side views of a fifth stacking pattern (horizontal placement on the rear side and vertical placement on the front side). [Figure 6B] 10 is an example of a placing step of a fifth stowage pattern. [Figure 7A] 10A and 10B are plan and side views of a sixth stacking pattern (horizontal placement on the rear side and vertical placement on the front side). [Figure 7B] 10 is an example of a dividing and rearranging step of a sixth stowage pattern. [Figure 8A] 10 is a plan view showing an example of a stacking pattern (vertical stacking at the rear side and horizontal stacking at the front side). [Figure 8B] 5B. FIG. 5C is a plan view example of another stowage pattern of FIGS. 3A and 5B. [Figure 9] This is an example of a stacking pattern on a trolley shelf. DETAILED DESCRIPTION OF THE INVENTION

[0028] (Embodiment 1) Figure 1A shows the overall configuration of the egg carton automatic placement system. 1 is the conveyor, P is the egg carton W is the waiting area, 2 is the egg container loading device, and 3 is the egg container transport cart. 211 is the suction This is the gripping section. Egg cartons P are stored in the waiting area W in parallel with the longitudinal direction. The egg container loading device 2 is a device where a plurality of egg containers P are waiting to be transported from upstream by a transport conveyor 1. A plurality of egg containers P in the waiting area W are transferred and placed on the shelves of the egg container transport cart 3. 211 is a suction gripping unit. In this embodiment, five egg containers P can be suction gripped. A shows the suction grip of four egg cartons.

[0029] The egg container transport cart 3 is a commonly available egg container transport cart, for example, The roll box for transporting egg packs manufactured by Yoshida Elsys Co., Ltd. shown in the figure, and the roll box for transporting egg packs manufactured by Sanei Co., Ltd. The roll rack manufactured by the company and the transport rack described in Patent Document 1 are common to these. The structure is a bottom frame, a back frame, both side frames and multiple folding shelves (shelf boards It is sometimes referred to as ". In this embodiment, the lowest folding shelf is unfolded, and egg containers are placed on the shelf. After the number of layers is loaded, the folding shelf above it is unfolded and the egg containers are placed on that shelf. , are placed in order from bottom to top.

[0030] Figure 1B shows an example of the position of the hand unit (suction gripper). FIG. 1B(a) shows the center line of the egg pack P in the short direction, the center line in the long direction, and the hand part (suction The center of the egg carton is shown in Figure 1B(b)-(d). The figure shows the position of the center of the plane between the holder and the hand unit (suction gripper). In the upper part of Figure 1B(b), the center of the vertically aligned egg carton arrangement P1 and the The center of the hand part (suction grip part) lying in a direction perpendicular to the longitudinal direction of the , indicates that the container is shifted to the left in the short direction of the container, but not shifted in the long direction of the container. Below that, the center of the plan view of the arrangement P11 of two egg cartons arranged in parallel vertically and horizontally, and the egg Plan view of the hand (suction gripper) lying parallel to the longitudinal direction of the pack The center of the egg cartons is misaligned in both the short and long directions of the container. The center of the plan view of the position P12 and the hand lying parallel to the longitudinal direction of the egg carton The center of the suction gripping portion (adsorption gripping portion) in a plan view is misaligned in both the short-side direction and the long-side direction of the container. In the upper part of Figure 1B(c), the center of the vertically aligned egg carton arrangement P2 and the The center of the hand part (suction grip part) lying in a direction perpendicular to the longitudinal direction of the , indicates that there is no misalignment in either the short or long direction of the container. The center of the two egg cartons arranged in the arrangement P21 in plan view and the plane along the longitudinal direction of the egg cartons The center of the hand part (suction grip part) lying in the row direction in a plan view is The center of the horizontally aligned egg carton arrangement P22 is offset in both directions. Plan view of the hand (suction gripper) lying parallel to the longitudinal direction of the pack The centers are misaligned in the short direction of the container but not in the long direction. FIG. 1B(d) shows the center of the vertically aligned egg cartons in the arrangement P3 and the longitudinal direction of the egg cartons. The center of the hand (suction gripper) lying in a direction perpendicular to the container length is This shows that the part is shifted downward in the longitudinal direction, but not in the transverse direction of the container. In this embodiment, the number of egg containers is not limited to four, and one, two, three, or five egg containers can be adsorbed. The position of the hand (suction gripper) can be set in the same way for other numbers of objects. The back frame of the cart 3, both side frames, and the upper folding shelf are attached to avoid interference. The length of the protruding portion of the gripping portion 211 (the area protruding from the outer periphery of the egg containers in a plan view) direction (front / back, left / right position), rotation direction, overall movement of the multi-axis robot arm 21, hand part The operation of the (suction gripping unit) is controlled by the loading control unit 23, which will be described later.

[0031] Figure 1C shows an example of a type of egg container. Figure 1C(a) shows a 10-piece flat top pack. It has a rattan lid Pa, a convex lower container Pb, a flange Pc (peripheral side), and a sheet covering on the top surface. The product has a label r1 and an expiration date or barcode sticker r2 attached. Figure 1C(b) shows a flat top pack for 12 pieces, and Figure 1C(c) shows a regular top pack for 10 pieces. The regular pack consists of a convex bottom container and a convex lid. The number of eggs in a pack is not limited to 10 or 12 eggs, but can be flat for 6 or 8 eggs. There are also packs and regular packs available.

[0032] (Egg container loading device) The egg container loading device 2 of this embodiment includes a multi-axis robot arm 21. The arm 21 has a hand part 211 at its tip end, and the hand part 211 has a suction grip part 212 is provided. The egg container loading device 2 has at least one or more loading patterns and a multi-axis robot. The robot includes a loading operation setting unit 22 for setting the operation of the robot arm 21 in advance. The loading operation setting unit 22 receives the setting data by manual input or by communication means. The signal may be transmitted and stored in a memory.

[0033] The egg container loading device 2 can select any loading pattern from at least two or more loading patterns. The loading pattern switching control unit 24 switches between the loading pattern. The loading pattern switching control unit 24 can employ various methods for switching control. (1) For example, automatically switch to correspond to the loading work schedule in units of several hours or a day. do. (2) receiving information indicating the identification of egg containers or the change of egg containers from any upstream device; Switch accordingly. (3) Image analysis equipment installed on the conveyor or robot arm that transports egg containers (CCD sensor, CMOS sensor, line sensor, etc. and its analysis device) to detect and store the egg container The switch is made according to the result of the determination. (4) The operator inputs an instruction to switch the loading pattern. In this embodiment, the egg container loading device 2 is a loading pattern and / or a multi-axis robot. The switch input unit 241 is provided to switch the operation of the arm. The loading control unit 23 controls the multi-axis robot arm 21 and the suction The operation of the gripping portion 212 may be controlled. The switching input unit 241 receives switching instruction information by manual input or by communication means. The switching instruction information may be transmitted to the storage device and stored in the memory. Pattern identification information, the type of egg container associated with the loading pattern, The type of cart (registered size) and shipping destination information linked to the loading pattern The switching instruction information may include at least one of the following: (not shown), and the operator may input instructions based on the displayed information. For example, when you start work, the loading schedule for the day is set, and accordingly, Enter the cart, egg container type, and loading pattern determined at the first shipping destination, and then enter the You can input instructions for the round cart, egg container, and loading pan, and set them all together (switch instructions). You can also do this.

[0034] In the loading pattern preset by the loading operation setting unit, the egg container loading device 2 At any time, for a specified number of egg container transport vehicles, Only the first shelf, the second shelf, etc. can be specified. The subtraction instruction input unit 242 receives the input of the subtraction instruction. In response to the input instruction of 42, the loading control unit 23 controls the multi-axis robot arm 21 and the suction gripping unit 42. 212 may control its operation. For example, the first few vehicles can load only the lowest shelves, then load all shelves. Also, input to the subtraction loading instruction input unit 242 can be performed before or during the loading process. When loading is in progress, if an input instruction is given in the subtraction loading instruction input section 242 The next cart will be loaded with a specified number of shelves (or a preset number of shelves). An example is shown in Figure 9(d).

[0035] The egg container loading device 2 is operated by an operator through an operation input unit 25 (manual input setting, data by communication means). The stacking operation setting unit 22, the switching input unit 241, the subtraction stacking The operation input unit 25 may also function as the monitor and the input unit 242. The touch panel may also serve as a touch panel.

[0036] The egg container loading device 2 corresponds to the loading pattern set by the loading operation setting unit 22. Then, the egg container P is gripped by the suction gripping part 212 and transferred to at least one shelf of the egg container transport cart 3. The multi-axis robot arm 21 and the suction gripper 212 are controlled to load the object. It is equipped with a control unit 23.

[0037] The loading control unit 23 controls a plurality of loading steps of at least one of the plurality of stacking steps for each shelf. In any of the steps, at least three or four egg containers (A) and sucking and gripping all the egg containers at a predetermined first position corresponding to the loading pattern. (Step a) The egg containers (B) whose number is less than the number of the egg containers (A) are again sucked and held at a position different from the first position. The object is then moved to another second position where the suction is released and the object is placed (repositioned) (step b). The operation of the axis robot arm 21 and the suction gripper 212 may be controlled.

[0038] The loading control unit 23 is configured to: In any step, the gap between egg containers caused by the stacking pattern is The egg container is then pushed into a gap having a length shorter than the length of the egg container in the short direction. The multi-axis robot is used to place the container (fitting it into the gap from the bottom to the middle of the height direction). The operations of the suction arm 21 and the suction gripper 212 may be controlled.

[0039] (Loading pattern) The various loading patterns of this embodiment will now be described. Figure 2A shows the first stacking pattern for 10-pack flat packs (horizontal placement at the back and manual placement). Figure 2A(a) shows a plan view and a side view of the first shelf placed on a shelf. "1-1" is the first stage of loading, which picks up multiple egg containers P from the waiting area W. The two "1-1"s indicate that two egg containers P are placed together. It means that the product is held by suction and placed horizontally at the back. Similarly, the two "1-2"s are for one stage. In the loading of the egg, two egg containers P are picked up from the waiting area W and placed horizontally at the back side. The three "1-3" indicate the first loading stage, and the three "1-3" indicate the first loading stage, with three eggs being picked up from the waiting area W. This refers to the third step of picking up the container P and placing it vertically at the front, and the three "1-4" represent the first step. In loading, three egg containers P are picked up from the waiting area W and placed vertically at the front side. In the first stowage pattern, the first to fourth tiers are loaded in the same pattern. This can be seen in the front and side views, and the left and right side views, of Figure 2A(b), (c), and (d). FIG. 2B shows the loading steps of the first stowage pattern. Steps S1 and S2 are on the left rear side and Place two horizontally on the far right side (four in total), then place two horizontally on the near left side and the near right side in steps S3 and S4. The order is to place three vertically (total six). The order can be step S2 → S1, or step The order may be S3 → S4, or steps S1 → S3 → S2 → S4.

[0040] FIG. 2C shows an example of the division and rearrangement step of the first stowage pattern. In step S11, two are placed horizontally on the left rear side. Then, in step S12, four are placed horizontally on the right rear side. Then, the two front ones placed in step S13 are again sucked and gripped, and step S Place the two horizontally placed ones at the back left side in 11 vertically at the front left side (split and rearrange). The rearranged egg containers are underlined as "1-2". Place four of them vertically at the front. Now, make sure that the expiration date or barcode sticker r2 is facing in the right direction. As another embodiment, as shown in step S14-1, The device may be placed with the seal r2 facing the rear. Regarding the loading patterns from the first to fourth stages, the front side of Fig. 2C(b)(c)(d) This can be seen in the side view and left and right side views.

[0041] FIG. 2D shows another example of the dividing and rearranging step of the first stowage pattern. In step S101, four pieces are placed horizontally on the left rear side, and then in step S102, The two front ones are again picked up by suction and placed horizontally on the far right side (separate and rearrange). In step S103, two are placed vertically on the left front side, and in step S104, four are placed vertically on the right front side. Here, the expiration date or barcode sticker r2 is all oriented toward the front. In another embodiment, as shown in step S104-1, the direction of the bar code sticker r2 is changed to the rear. It may be placed so that the surface is on the side. Regarding the loading patterns from the first to fourth stages, the front side of Fig. 2D(b)(c)(d) This can be seen in the side view and left and right side views.

[0042] Figure 3A shows the second stacking pattern for 10-piece flat packs (horizontal placement at the back and manual placement). Figure 3A (a1) shows the top and side views of the first shelf placed on the shelf. Figure 3A(a2) is a plan view of the second, third, and fourth shelves placed on the shelf. Figure 3A(a3) The figure shows a plan view of the fifth shelf placed on the shelf. Regarding the loading patterns from the first shelf to the fifth shelf, This can be seen in the front and side views, left and right views, of Figure 3A(b), (c), and (d). Another example of a five-tiered structure can be seen in the plan view (a2) and the side view of Maekawa (b2). FIG. 3B shows the loading steps of the second stowage pattern. For the first tier, step S3 In step S31 and S32, three are placed horizontally on the far left and far right sides (six in total), and then in step S33, Place two vertically in the front, and then place three vertically in the front right at a distance (d1) in step S34. The gap between the left and right side frames should be minimized as much as possible, and a gap should be created inside the shelf. By pushing the egg carton into the container, the egg container is prevented from moving unexpectedly. In the second row, three pieces are placed horizontally on the far left and far right sides in steps S35 and S36 (six pieces in total). Next, in step S37, egg packs P "2-3" are inserted into the gap (d1) formed in the first stage. The bottom of the egg container is inserted into the gap d1. Depending on the size of the gap d1, The container flanges may be configured to contact each other at the top and bottom to stop and suppress movement, and the container periphery The surfaces may be configured to contact each other to stop movement. Next, in step S38, two egg packs are placed vertically on the left side of the egg pack P "2-3", and then in step Place three egg cartons vertically to the right of P "2-3" in S39. The third and fourth rows are the same as the second row. It is a step. In the fifth stage, in step S40, egg packs P are inserted into the gap (d1) formed in the fourth stage. In another embodiment, in step S40-1, egg pack P "5- Place three vertically ("5-2") to the right of "1".

[0043] Figure 4A shows the third stacking pattern for 12-piece flat packs (horizontal placement at the back and manual placement). 4A(a1) is a plan view of the first shelf placed on a shelf. Figure 4A(a2) is a plan view of the second, third, and fourth shelves placed on the shelf. Figure 4A(a3) The figure shows a plan view of the fifth shelf placed on the shelf. Regarding the loading patterns from the first shelf to the fifth shelf, This can be seen in the front and side views of Figure 4A(b), (c), and (d). FIG. 4B shows the splitting and rearranging step of the third stowage pattern. In step S51, two are placed horizontally on the left rear side. Then, in step S52, four are placed horizontally on the right rear side. Then, the two front ones placed in step S52 are again sucked and gripped, and step S5 Place egg carton "2-1" vertically in front of the two eggs placed horizontally at the back left in step 1 (redistribute the eggs vertically). Next, in step S54, three of them are placed vertically at the front side with a gap (d1) between them. In the second row, three are placed vertically on the far left side in step S55, and then in step S56 The front one placed in step S55 is again sucked and gripped, and the egg container placed in step S55 is Place it vertically in front of the container (rearrange it in parts). Between the left side of "2-1" and the left frame. Next, in step S57, the right frame is Then, in step S58, the two front ones placed in step S57 are The egg packs are again sucked and gripped, and the two egg packs P "2-2" are placed in the gap d2 formed in step S56. Then, in step S59, the egg carton P is placed on the right side of "2-1". Three egg containers "2-3" are placed vertically at intervals d3. At this time, egg packs P "2-2" and A recess with a distance d4 is formed between the egg container "2-3". The third and fourth steps are the same as the second step. In the fifth stage, in step S60, egg packs P are inserted into the recesses formed in the fourth stage at intervals d4. Then, in step S61, three eggs are placed vertically on the right side of the egg pack P "5-1". Place the ("5-2") on the table.

[0044] Figure 5A shows the fourth stacking pattern for 10-pack flat packs (horizontal placement at the back and manual placement). These are plan and side views of the front side (vertical placement). Fig. 5A (a1) is a plan view of the first stage placed on the shelf. Fig. 5A (a2) is a plan view of the first stage placed on the shelf. 5A(a3) is a plan view of the fifth shelf placed on a shelf. Regarding the loading patterns from the first to fifth stages, the front side of Fig. 5A(b)(c)(d) This can be seen in the front view and left and right side views. FIG. 5B shows the splitting and rearranging step of the fourth stowage pattern. In step S71, three are placed horizontally on the left rear side. Then, in step S72, five are placed horizontally on the right rear side. Next, in step S73, the two front ones placed in step S72 are picked up again. In step S71, the egg pack "1-2" is placed in front of the three eggs placed horizontally at the rear left. Then, in step S74, the right hand side is divided into two parts, one for each of which a distance (d1) is provided. Place three vertically in the front. In the second row, four are placed vertically at the left rear side in step S75, and then in step S76 The front one placed in step S75 is again sucked and gripped, and the egg container placed in step S75 is Place the container vertically at the distance (d1) from the front of the container (rearrange "2-1" by dividing it). The distance d2 from the left side of "-1" to the left frame, and the distance d3 from its right side to the right frame Next, in step S77, five pieces are placed horizontally on the far right side, and then in step S78, The two front pieces placed in step S77 are again sucked and gripped, and the gap formed in step S76 is Place two egg cartons P "2-2" vertically on d2 (split and rearrange). Next, step At S79, place three egg containers "2-3" vertically at the interval d3 to the right of egg pack P "2-1". At this time, a recess with a gap d4 is formed between the egg pack P "2-2" and the egg container "2-3". can be. In the fifth stage, in step S80, egg packs P are inserted into the recesses formed in the fourth stage at intervals d4. Place "5-1".

[0045] Figure 6A shows the fifth stacking pattern for 10 regular packs (horizontal placement at the back and front The plan and side views of the vertically mounted type are shown. 6A(a1) to (a5) are plan views of the first to fifth shelves, respectively, placed on a shelf. Regarding the loading patterns from the first to fifth stages, This can be seen in the side view, left and right view. FIG. 6B shows the loading steps of the fifth stowage pattern. In steps S81 and S82, three are placed horizontally on the far left and far right sides (six in total), and then steps S83 and S8 4, place three vertically on the left front side and three on the right front side (six in total). This order is step S82 → S Alternatively, steps S81, S83, S82, and S84 may be performed. The order 84 is also acceptable. In the second row, three pieces are placed horizontally on the far left and far right sides in steps S85 and S86 (six pieces in total). Next, in step S87, two are placed vertically on the left front side. Next, in step S88, Three egg cartons are placed vertically at the front right side with a gap of d6 between them. When stacked, the containers are stacked in a way that offsets them to accommodate the uneven shape of the containers. As a result, the components are placed with a misalignment in the left-right and front-rear directions when viewed from above. In the third row, three are placed horizontally on the far left and far right sides in steps S89 and S90 (six in total). Next, in steps S91 and S92, three are placed vertically on the left front side and three on the right front side (six in total). In the fourth row, three pieces are placed horizontally on the far left and far right sides in steps S93 and S94 (six pieces in total). Next, in step S95, five of them are placed vertically on the front side. In the fifth row, four pieces are placed horizontally in the approximate center in step S96.

[0046] Figure 7A shows the sixth stacking pattern for 10 regular packs (horizontal placement at the back and front In the case of a regular pack, the bottom of the pack is inserted into the recess on the top. Fit the protrusions together and stack them up. 7A(a1) to (a5) are plan views of the first to fifth shelves, respectively, placed on a shelf. Regarding the loading patterns from the first to fifth stages, This can be seen in the side view, left and right view. FIG. 7B shows the division and rearrangement step of the sixth stowage pattern. In the first row, in step S101, three pieces are placed horizontally on the far left side. In step S102, five are placed horizontally on the right rear side, and then in step S103, the front Two eggs are again picked up by suction and placed in front of the position where the three eggs were placed horizontally at the back left in step S101. Next, in step S104, the front side of the book "1-2" is divided and rearranged. Place four of them vertically. In the second row, three are placed horizontally on the left rear side in step S105. In step S106, five are placed horizontally on the right rear side, and then in step S107, the front Two eggs are again picked up by suction and placed in front of the three eggs placed horizontally at the back left in step S105. Next, in step S106, the block "2-2" is placed vertically (divided and rearranged). Three of them are placed vertically at the front, with a gap of d7 between them. In this embodiment, the gap d7 is set so that an egg carton can be inserted. The gap is not large enough to fit inside. The third row is the same as the first row. In the fourth row, in steps S109 and S110, three are placed horizontally on the far left and far right sides (six in total). Next, in step S111, five of the cards are placed vertically on the front side. In the fifth row, four pieces are placed horizontally in the approximate center in step S112.

[0047] FIG. 8A is a plan view of another example of a stowage pattern (vertical placement at the back and horizontal placement at the front). Unlike Figures 2A to 7A, the rear side is placed vertically and the front side is placed horizontally. do. Figure 8B is another example of the stowage pattern of Figures 3A and 5A. One vertically placed one has been added to the back center ("1-3", "2-3", "4-3", etc.). The egg containers are arranged in the same order. The stacking order is horizontal on the left and right, then vertical in the center. Alternatively, the reverse may be true.

[0048] In the above embodiment, each component of the egg container loading device 2, for example, the loading operation setting unit 22, the loading control unit 23, and the loading pattern switching control unit 24 are hardware components such as a processor and a memory. It may be realized by cooperation of hardware and a program that describes the control contents, or it may be realized by a dedicated circuit. It may be realized by a combination of roads and firmware, and may be cloud-based or on-premise. It may be realized by a server or a general-purpose computer.

[0049] (Egg container loading method) The egg container loading method is At least one or more loading patterns and multi-axis robot arm movements are predefined. a loading operation setting process for setting the loading operation; In accordance with the loading pattern set in the loading operation setting step, a multi-axis robot arm One or more egg containers are gripped by a suction gripping unit provided on the drum, and at least one of the egg container transport carts is The loading control unit controls the operation of the multi-axis robot arm and the suction gripper to transfer the object onto one shelf. The process and Including, The loading control step includes: Any of the multiple loading steps on at least one of the multiple stacks per shelf In the step, at least three or four or more egg containers (A) are suction-held and stacked. At a predetermined first position corresponding to the loading pattern, all egg containers are released from suction and placed. (Step a), and from the placed at least three or four or more egg containers (A), The smallest number of egg containers (B) are again sucked and held at a second position different from the first position. The multi-axis robot arm moves to release the suction and place (rearrange) the object (step b). and / or Any step among multiple loading steps in at least one of the multiple stacked levels In this case, the gap between the egg containers caused by the stacking pattern is The egg container is placed in a gap that is shorter than the length of the hand (height direction). The multi-axis robot arm and and the operation of the suction gripping unit. The loading control step includes: When stacking multiple shelves, the loading pattern of the first shelf and the loading patterns of the other shelves are different. Controlling the operation of the multi-axis robot arm and the suction gripper to be the same or different; When stacking multiple shelves on a cart, the loading pattern of the first shelf and the loading pattern of the other shelves The movement of the multi-axis robot arm and the suction gripper is controlled so that the patterns are the same or different. Control, or When stacking multiple shelves, the next shelf may be loaded before the loading pattern of any shelf is completed. Control the movement of the multi-axis robot arm and vacuum gripper to start the first loading pattern. You can control it. The above egg container loading method is as follows: An operator can select any loading pattern from at least two loading patterns. Automatically switches to match the egg containers waiting on the conveyor or on the conveyor. A pattern switching control step may be included. The above egg container loading method is as follows: Accepts inputs for instructions to switch loading patterns and / or multi-axis robot arm movements The loading pattern switching control step may include a switching input step of receiving a switching input signal from the switching input step. The loading pattern may be switched in response to an input instruction. The above egg container loading method is as follows: In a pre-set loading pattern, egg containers can be transported at any timing and in a specified number of containers. For the transport cart, a specific shelf (for example, only the lowest shelf, or from the bottom to the second shelf, etc.) can be selected. Input of subtraction instruction to place egg containers only on the specified A force step may be included. The loading control process is a multi-axis robot arm in response to an input instruction in the reduction loading instruction input process. The operation of the suction gripper may also be controlled.

[0050] The egg container loading program When executed by at least one processor, each step of the egg container loading method This is a program that realizes the above.

[0051] The information processing device at least one processor; a memory for storing a program for implementing the egg container loading method; The processor executes the program read from the memory, and The information processing device controls the operation of the suction gripper and the suction gripper.

[0052] The method for producing an egg container storage cart containing eggs includes: The egg container loading method is used to produce egg container storage carts filled with eggs.

[0053] (Another embodiment) From the loading patterns in Figures 2A to 7A, different loading patterns can be seen for multiple shelves on the same cart. A turn may be set. Also, different loading patterns may be set for multiple stages on the same shelf. In other words, in the case of stacking multiple shelves, the loading pattern of the first shelf may be set. The multi-axis robot arm and the loading pattern of the first and second stages may be the same or different. The operation of the suction gripping unit is controlled. The loading pattern of the first shelf and the loading pattern of the other shelves may be the same or different. The operation of the robot arm and the suction gripper is controlled. Figure 9(a) shows an example of a loading pattern that is the same for all shelves (folding shelves) of a cart. Figure 9(b) shows an example of different loading patterns for each shelf, and Figure 9(c) shows different loading patterns within a shelf. The loading pattern is selected according to the size of the cart and the size of the egg container. It can also accommodate mixed loading of multiple types of containers. Figure 9(d) shows an example of loading only onto a specific shelf, completing the loading, and shipping. ) is the lowest shelf, but it can be loaded on other shelves. We can accommodate small shipments at the request of retailers. [Explanation of symbols]

[0054] 1. Conveyor shelf opening device 2 Egg container loading device 21 Multi-axis robot arm 211 Hand Section 212 Suction gripping part 22 Loading operation setting section 23 Loading control unit 24 Loading pattern switching control unit 241 Switching input section 25 Operation input section 3 Egg container transport trolley

Claims

1. A multi-axis robot arm; a suction gripper provided in a hand unit at a tip position of the multi-axis robot arm; a loading operation setting unit that presets at least one or two or more loading patterns and operations of the multi-axis robot arm; a loading control unit that controls operations of the multi-axis robot arm and the suction gripping unit so that the suction gripping unit grips one or more egg containers and transfers them to at least one shelf of an egg container transport cart, in accordance with the loading pattern set by the loading operation setting unit; Equipped with The loading control unit In the case of stacking multiple shelves, the operation of the multi-axis robot arm and the suction gripping unit is controlled so that a loading pattern for a next shelf is started before a loading pattern for an arbitrary shelf is completed. Egg container loading device.

2. A multi-axis robot arm; a suction gripper provided in a hand unit at a tip position of the multi-axis robot arm; a loading operation setting unit that presets at least one or two or more loading patterns and operations of the multi-axis robot arm; a loading control unit that controls operations of the multi-axis robot arm and the suction gripping unit so that the suction gripping unit grips one or more egg containers and transfers them to at least one shelf of an egg container transport cart, in accordance with the loading pattern set by the loading operation setting unit; a reduction stowage instruction input unit that receives an input instructing that the egg containers be placed only on predetermined shelves of the egg container transport cart; Equipped with The loading control unit controlling the operations of the multi-axis robot arm and the suction gripper in response to the input instruction from the reduction stowage instruction input unit; Egg container loading device.

3. a loading operation setting step of setting in advance at least one or more loading patterns and operations of the multi-axis robot arm; a loading control step of controlling operations of the multi-axis robot arm and the suction gripping unit so that the suction gripping unit grips one or more egg containers and transfers them to at least one shelf of the egg container transport cart, in accordance with the loading pattern set in the loading operation setting step; Including, The loading control step includes: In the case of stacking multiple shelves, the operation of the multi-axis robot arm and the suction gripping unit is controlled so that the loading pattern for a next shelf is started before the loading pattern for any shelf is completed. Egg container loading method.

4. a loading operation setting step of setting in advance at least one or more loading patterns and operations of the multi-axis robot arm; a loading control step of controlling operations of the multi-axis robot arm and the suction gripping unit so that the suction gripping unit grips one or more egg containers and transfers them to at least one shelf of the egg container transport cart, in accordance with the loading pattern set in the loading operation setting step; a reduction stowage instruction input step of receiving an input instructing that the egg containers be placed only on predetermined shelves of the egg container transport cart; Including, The loading control step includes: controlling the operations of the multi-axis robot arm and the suction gripper in response to the input instruction at the reduction stacking instruction input step; Egg container loading method.

Images