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

Abstract

To provide a shelf opening device which can automatically open a folded shelf (returns a folded state to an initial state (shelf state)).SOLUTION: A shelf opening device 1 includes: a shelf opening unit 14 vertically movable on a back face side of a frame body; a shelf opening unit driving part 13; an inclination formation part 15 provided on the shelf opening unit 14; a first preliminary opening part 17 which is inserted to a gap of an inward-folded part so that an open state of an acute angle formed in the inward-folded part of the folded shelf in an inclined state or a cantilever state in the inclination formation part 15 becomes larger; a second preliminary opening part 27 inserted to a position in contact with a bottom surface (front shelf plate part 322f) on a front side while sandwiching a hinge of the folded shelf; and an extrusion part 16 which extrudes the folded shelf forward, and mounts the folded shelf on a mounting rail.SELECTED DRAWING: Figure 2C

Description

[Technical field]

[0001] The present invention relates to a shelf opening device for an egg container transport cart and an automatic egg carton loading system. [Background technology]

[0002] Transport racks are used to transport packs filled with eggs to retail businesses such as supermarkets. Examples include a transport roll box made by Yoshida Elsys Co., Ltd. specifically for egg packs, and a raw egg trolley (roll rack) made by San-ei Seisakusho Co., Ltd. Patent Document 1 also describes a transport rack for transporting cases that contain eggs. The transport rack has multiple foldable shelves and is designed to be stored compactly in the depth direction.

[0003] The transport rack in Patent Document 1 has a back frame and side frames connected via hinges, and by folding all of the shelves in the middle and toward the back frame, the side frames can be folded toward the back frame to make it compact. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Utility Model Registration No. 3209255 Summary of the Invention [Problem to be solved by the invention]

[0005] The task of loading egg cartons onto the transport rack was carried out after the folded shelves of the transport rack were returned to their original position (opened). However, if all the shelves are returned to their original positions, the shelf directly above gets in the way as loading progresses, and the necessary spacing is required for loading work, which can reduce the pack loading rate. In order to increase this loading rate, the shelf directly above can be left folded up instead of returned to its original position, but if the work is done manually, there is a risk that the work of returning the shelf directly above will be forgotten. It is also possible to automatically load egg cartons onto a transport rack using a robot arm, but if the multiple shelves are not folded and are returned to their original position, the shelf directly above will be an obstacle to the robot arm's working space. As with the above, loading work can be done in a folded state without returning the shelf directly above to its original position, but returning the shelf to its original position manually requires a temporary interruption of work, which reduces work efficiency. As far as the inventors know, there is no device that automatically returns the shelves of a transport rack to their original position.

[0006] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a shelf opening device that can automatically open a folding shelf (return the folded state to the original state (shelf state)). Also, a shelf opening device is provided that can automatically open a folding shelf in conjunction with the operation of a robot arm for placing packs. In addition, an automatic egg pack loading system is provided that has a feeder that automatically introduces an egg container transport cart into a shelf opening device and removes it from the shelf opening device after the packs are loaded, and the shelf opening device (and a robot arm). [Means for solving the problem]

[0007] The shelf opening device of the present invention is A frame body forming the back, front and both sides; A shelf opening unit (14) movable in the vertical direction on the rear side of the frame body; a shelf opening unit drive section (13, 131) for driving the shelf opening unit (14) up and down; a tilt forming section (15, 151) (e.g., suction means) provided in the shelf opening unit (14), which tilts a folding shelf (e.g., a shelf folded in two with a hinge at the top of the fold upward) in a folded state position (P1) at one end (the rear side facing the front side) of a loading rail (e.g., a pair of rails facing each other) of the egg container transport cart, or tilts the folding shelf in a tilted or one-sided lifted state with respect to the loading rail; a first preliminary opening portion (17) that is inserted into the gap of the folding shelf in order to widen the acute angle formed by the folding shelf in the folding shelf in the inclined state or in the one-sided lifted state by the inclination forming portion (15, 151) (widening the angle from the initial 0 degrees to, for example, 10 degrees to 30 degrees); a second preliminary opening portion (27) that is inserted into the folding shelf at a position in contact with the bottom surface (front shelf portion) on the front side (forward of the hinge position) of the folding shelf across the hinge or in the vicinity of the bottom surface (for example, below the bottom surface and with a gap of 2 cm or less from the bottom surface) when the first preliminary opening portion (17) is in a large open state; a push-out section (16) that holds the folding shelf in an open state by folding in the middle at the first and second preliminary opening sections (17, 27) and, after releasing the tilting action by the tilt forming section (15, 151) (after suction release), pushes the folding shelf forward and places the folding shelf on the placement rail; Equipped with.

[0008] The shelf opening device may include at least one corrective clamp (28) provided on the shelf opening unit (14), which abuts against or grips at least one side frame of the egg container transport cart and corrects the pair of side frames to a predetermined positional relationship with respect to the rear frame of the egg container transport cart (a positional relationship in which the pair of side frames are perpendicular to the rear frame). A corrective clamp drive unit 282 (for example, an air cylinder, an electric cylinder, etc.) for driving the corrective clamp (28) may be provided. The correction clamp 28 may be configured to extend from the outside of the side frame of the egg container transport cart toward the side frame. The correction clamp 28 may have a horizontally long rectangular abutment portion. The abutment portion may be made of an elastic material in part or in whole.

[0009] The second preliminary opening section (27) may include a rod-shaped pin (271) provided on the shelf opening unit (14), and a pin driving section (e.g., an air cylinder, an electric cylinder, etc.) that drives the pin (271) so as to insert the pin (271) into a position contacting the bottom surface (front shelf portion) on the front side (forward of the hinge position) of the folding shelf, or in the vicinity of contacting the bottom surface (e.g., below the bottom surface and with a gap from the bottom surface within 2 cm). The second preliminary opening portion (27) may be provided above or below the corrective clamp (28). The second pre-opening portion (27) and / or the corrective clamp (28) may be provided forward of the first pre-opening portion (17).

[0010] The shelf opening device has a control unit, The control unit is Instruct the shelf opening unit drive unit (13, 131) to control the vertical movement of the shelf opening unit (14); A command is given to the inclination forming unit (15, 151) to control the folding shelf, which is in a folded-down state at the folded-down state position (P1), to be inclined or lifted on one side with respect to the placement rail, A command is given to the first preliminary opening section (17) to insert a rod-shaped object into the gap at the center bend, thereby controlling the opening state of the acute angle formed by the center bend of the folding shelf in the inclined or one-sided lifted state to be larger; A command is given to the second preliminary opening section (27), and when the first preliminary opening section (17) has opened the folding shelf at a large acute angle, the second preliminary opening section (27) is inserted into the folding shelf at a position in contact with the bottom surface (front shelf portion) on the front side (foreward of the hinge position) of the folding shelf, or in the vicinity of the position in contact with the bottom surface (for example, below the bottom surface and with a gap of 2 cm or less from the bottom surface), thereby controlling the folding shelf to maintain the acute angle of opening. The push-out section (16) may be instructed to push the folding shelf forward and place (open or unfold) the folding shelf on the placement rail. The control unit may control the inclination forming unit to release the inclined or cantilevered state, then instruct the first preliminary opening unit (17) to release the state inserted into the bent gap (returning the rod-shaped unit to its original position), and then instruct the second preliminary opening unit (27) to release the acute angle open state (returning the rod-shaped unit to its original position), so that the front end of the folding shelf is placed on the loading rail with the acute angle open large.

[0011] The control unit is When the egg packs (EP) are stacked on the folding shelf and / or the egg packs (EP) by the egg pack transferring means (robot arm) (for example, when stacking the topmost egg packs (EP)), a command may be given to the inclination forming unit (15, 151) to control the folding shelf, which is in a folded state at the folded state position (P1), to be inclined or lifted on one side relative to the loading rail (a state in which the folding shelf is tilted backwards). For example, when stacking the topmost egg cartons (EP), the folding shelf can be tilted backwards, creating space between the folding shelf and the egg cartons below it, reducing operational interference between the robot arm and the suction hand section.

[0012] The control unit may instruct the corrective clamp drive unit to control the corrective clamp (28) to abut or grip at least one side frame of the egg container transport cart, thereby placing the pair of side frames in a predetermined positional relationship with respect to the rear frame of the egg container transport cart (a positional relationship in which the pair of side frames are perpendicular to the rear frame).

[0013] There may be one or more push-out portions 16. The tip 161 of the push-out portion 16 may have an elastic member. The first preliminary opening section (17) may have a first support (171) extending forward from the shelf opening unit (14) and a second support (172) that rotates in accordance with the rotation of the first support (171) in the column axis direction. The second support (172) may be rod-shaped and have an elastic member provided around it. The tip of the second support (172) faces vertically downward and toward the folded-down state (hinge direction) of the folding shelf that is inclined or lifted on one side by the suction portion (15, 151), and the tip of the second support (172) rotates 90 degrees around the rotation axis and is inserted into the folded-down state folding shelf, widening the acute angle of the folded-down state.

[0014] The shelf opening device may have a stopper or clamp that abuts against or grips a frame or a part of the egg container transport cart to suppress movement of the egg container transport cart. The stopper may be provided on the rear frame, side frame, front frame and / or shelf opening unit of the shelf opening device. The tip of the stopper or clamp may be made of an elastic material. The shelf opening device may have a drive unit (e.g., an air cylinder, an electric cylinder, etc.) that drives the stopper or clamp. The shelf opening device may have one or more stop position detection units (S2) that detect a part constituting the egg container transport cart being transported. When the stop position detection unit detects the egg container transport cart, the control unit may instruct the stopper or clamp to drive the egg container transport cart to stop.

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

[0016] The shelf opening device may have one or more shelf open detection units (S3) that detect whether the folding shelf is in an open state and the height direction position of the folding shelf in an open state. The control unit may be configured to output an alarm when the shelf open detection unit (S3) does not detect (the position of) the folding shelf in an open state after the push-out unit is activated.

[0017] Another invention of the shelf opening device is A frame body forming the back, front and both sides; A shelf opening unit (14) movable in the vertical direction on the rear side of the frame body; a shelf opening unit drive section (13, 131) for driving the shelf opening unit (14) up and down; a tilt forming section (15, 151) (e.g., suction means) provided in the shelf opening unit (14), which tilts a folding shelf (e.g., a shelf folded in two with a hinge at the top of the fold upward) in a folded state position (P1) at one end (the rear side facing the front side) of a loading rail (e.g., a pair of rails facing each other) of the egg container transport cart, or tilts the folding shelf in a tilted or one-sided lifted state with respect to the loading rail; and an opening control section (not shown) for opening the folding shelf, which is inclined or one-sidedly raised by the inclination forming section (15, 151), from a folded state toward the front by means of an adsorption means or a locking means. The opening control unit is a command is given to the conveying means equipped with the suction means to make the suction means suction the flat surface of the folding shelf in the inclined state or in the one-sided lifted state at the inclination forming section (15, 151); The action of the inclination forming portion (15, 151) on the folding shelf is stopped, The transport means equipped with the suction means may be instructed to control each element (incline forming section, suction means, transport means) so as to move the folding shelf, which is being adsorbed by the suction means, forward and place it on the loading rail. The adsorption means is configured with a means capable of negative pressure adsorption or magnetic adsorption, for example. The opening control unit is A command is given to the transport means equipped with the locking means to lock the lockable portion (part of the frame on the front side, the object to be locked, the rod-shaped frame, etc.) of the folding shelf in the inclined state or in the one-sided lifted state at the inclination forming portion (15, 151) with the locking means (for example, by hooking it with a hook or grabbing it with a chuck), The action of the inclination forming portion (15, 151) on the folding shelf is stopped, The transport means having the locking means may be instructed to control each element (incline forming portion, locking means, transport means) so as to move the folding shelf, which is locked by the locking means, forward and place it on the loading rail. The shelf opening device may be equipped with a transport means having a suction means and / or a transport means having a locking means, and may be configured to issue a command to the transport means of another system for use. The shelf opening device may be equipped with a robot arm and its hand for placing egg packs (EP) on the folding shelves of an egg container transport cart, and the robot arm and its hand may also serve as the transfer means. By inclining or partially lifting the folding shelf at the inclination forming section before the operation of the suction means or locking means, a wide operating range for the suction means or locking means can be ensured, and contact with the egg cartons can be reduced. By fixing the folding shelf in a fixed position using the inclination forming portion, deviation from the initial position due to deformation of the folding shelf (such as the folding shelf leaning forward toward the moving means) is eliminated, allowing for more stable adhesion or engagement.

[0018] Another invention of the automatic egg carton placement system is: The system includes a feeder (2) that automatically introduces an egg container transport cart (3) into the shelf opening device (1) and removes it from the shelf opening device (1) after the egg packs (EP) are placed on it, the shelf opening device (1), and a robot arm. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an automatic egg pack placement system. [Figure 2A] 4 is an example of the configuration and operation of a shelf opening device. [Figure 2B] 4 is an example of the configuration and operation of a shelf opening device. [Figure 2C] 4 is an example of the configuration and operation of a shelf opening device. [Figure 2D] 4 is an example of the configuration and operation of a shelf opening device. [Figure 2E] 4 is an example of the configuration and operation of a shelf opening device. [Figure 2F] 4 shows an example of the configuration of a shelf opening unit of the first embodiment. [Figure 2G] 13 is a diagram showing an example of the configuration of a shelf opening unit according to the second embodiment. [Figure 3A] 1 is an example of an operation flow of an automatic egg pack placement system. [Figure 3B] 13 is an example of an operation flow of the shelf opening device. [Figure 4A] 13 is a diagram showing an example of the configuration and operation of a shelf opening device according to a third embodiment. [Figure 4B] 13 is a diagram showing an example of the configuration and operation of a shelf opening device according to a third embodiment. [Figure 4C] 13 is a diagram showing an example of the configuration and operation of a shelf opening device according to a third embodiment. [Figure 5A]13 is an example of the configuration and operation of a shelf opening device of embodiment 4. [Figure 5B] 13 is an example of the configuration and operation of a shelf opening device of embodiment 4. [Figure 5C] 13 is a diagram showing an example of the configuration and operation of a shelf opening device according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] (Embodiment 1) The egg pack automatic placing system according to the first embodiment will be described. FIG. 1 shows the overall configuration of the egg carton automatic placement system. The feeding device 2 automatically transports the egg container transport cart 3 with the second, third, and fourth folding shelves 322, 323, and 324 in a folded state and the bottom first folding shelf 321 open, and introduces it to the shelf opening device 1, and after a predetermined number of egg packs EP are loaded, removes it from the shelf opening device 1. The feeding device 2 has a transport means (not shown) such as a rail-type conveyor that carries and moves the cart, and a standby detection unit S1 that detects a standby position set up before sending it to the shelf opening device 1. When the egg container transport cart 3 reaches a position detected by the standby detection unit S1, the transport means stops and the egg container transport cart 3 is stopped at the standby position. If there is no egg container transport cart 3 at the shelf opening device 1, an egg container transport cart 3 waiting at the standby position (or without waiting) is sent in. When a predetermined number of egg packs EP are loaded onto the egg container transport cart 3 in the shelf opening device 1, the egg container transport cart 3 is discharged from the shelf opening device 1 downstream in the conveying direction. After loading a predetermined number of egg packs EP onto first folding shelf 321 with a robot arm (not shown), shelf opening device 1 automatically opens second folding shelf 322. Next, after loading a predetermined number of egg packs EP onto second folding shelf 322 with a robot arm (not shown), shelf opening device 1 automatically opens third folding shelf 323. The same applies to the automatic opening of fourth folding shelf 324. Details will be described later. The robot arm (not shown) is equipped with a suction unit at the tip of the arm. The suction unit (not shown) suctions and holds the upper surfaces of multiple egg packs EP transported by a belt conveyer (not shown), and transports and stacks them on the first, second, third, and fourth folding shelves of the egg container transport cart 3.

[0021] (Egg container transport cart) Next, we will explain the egg container transport cart 3. Commonly available egg container transport carts include, for example, the egg pack-specific transport roll box manufactured by Yoshida Elsys Co., Ltd. shown in the prior art, the raw egg cart (roll rack) manufactured by San-ei Seisakusho Co., Ltd., and the transport rack described in Patent Document 1. These all have a common configuration that includes a bottom frame, a back frame, both side frames, and a folding shelf (sometimes called a shelf board) that folds in the middle. 2A has a bottom frame 33, a back frame 34 fixed to the bottom frame 33 in an L-shape when viewed from the side, and a first side frame 31 and a second side frame (not shown) connected to the back frame 33 by hinges (not shown) so as to be foldable. The bottom frame 33 is provided with freely rotating wheels at each of its four corners.

[0022] The first side frame 31 has a first side panel 311, a second side panel 312, a third side panel 313, and a fourth side panel 314 arranged in that order from the bottom up at a predetermined interval in the width direction of the frame (the direction from the back to the front, perpendicular to the vertical direction). The first side plate 311, the second side plate 312, the third side plate 313, and the fourth side plate 314 are provided with a first loading rail 3111, a second loading rail 3121, a third loading rail 3131, and a fourth loading rail 3141 extending at a right angle (approximately a right angle) from their respective bottom sides toward the inside of the egg container transport cart 3. Similar opposing side plates and loading rails are provided on second side frames (not shown) facing the first side plate 311, the second side plate 312, the third side plate 313, and the fourth side plate 314, respectively.

[0023] One end of the folding shelf is pivotally connected to the rear end (on the rear frame 34 side) of a pair of opposing mounting rails, and the folding shelf is configured to be foldable at a hinge in its center (for example, the fourth hinge 3241 of the fourth folding shelf 324). 2A, first folding shelf 321 is in an open state on first placement rail 3111, and a predetermined number of egg packs EP have already been stacked. Second folding shelf 322, third folding shelf 323, and fourth folding shelf 324 are each in a folded state and placed in folded state position P1. The front and rear ends of each folding shelf are extended diagonally upwards, which limits the movement of the egg cartons EP in the rear and front directions. They can also function as guides for the forward and backward directions when inserting the second support of the first preliminary opening section, which will be described later.

[0024] (Shelf opening device) The shelf opening device 1 comprises a frame main body 10 which forms a rear portion 12, a front portion 11 and both side surfaces (not shown), a shelf opening unit 14 which is movable in the vertical direction on the rear portion 12 side of the frame main body 10, a shelf opening unit drive unit 13 and a drive belt 131 (which may be a toothed belt or a chain) which drive the shelf opening unit 14 up and down, a suction drive unit 15 provided on the shelf opening unit 14 and a suction pad 151 provided at the tip of the suction drive unit 15. The shelf opening unit 14 includes a main body frame 141 and a front frame 142 provided forward from the main body frame 141. The main body frame 141 is provided with a suction drive unit 15 and a first preliminary opening unit 17. Also, a clamp drive unit 128 that drives a rear fixing clamp 127 is provided.

[0025] The suction pad 151 driven forward by the suction drive unit 15 abuts against and sucks the folding shelf in a folded state at the folded state position P1, and by pulling it backward, makes it inclined or one-sidedly lifted with respect to the mounting rail. In FIG. 2A, the shelf opening unit drive unit 13 is stopped at a position opposite the second folding shelf 322 (the stop position may be detected by a sensor not shown), the suction drive unit 15 extends diagonally downward and forward, the suction pad 151 adheres to the second folding shelf 322 (rear shelf portion 322r) (suction may be achieved by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) diagonally upward to the rear, thereby causing the shelf to be inclined or half-lifted relative to the second loading rail 3121.

[0026] The first preliminary opening portion 17 is inserted into the gap at the center bend in order to increase the acute angle of opening formed by the center bend of the folding shelf when the shelf is in an inclined or one-sided lifted state (widening the angle from the initial 0 degrees to, for example, 10 degrees to 30 degrees). 2B and 2C, the first preliminary opening section 17 has a first support 171 extending forward from the shelf opening unit 14, and a second support 172 that rotates in accordance with the rotation of the first support 171 in the column axis direction. The second support 172 is rod-shaped, and an elastic member may be provided around it. The tip of the second support 172 faces vertically downward at the origin position. In the preliminary opening operation, at least a part or tip of the second support 172 rotates 90 degrees in accordance with the rotation of the first support 171 toward the folded state (the direction of the second hinge 3221) of the second folding shelf 322 that is in a tilted state or in a one-sided lifted state due to the movement of the suction pad 151, and is inserted into the folded second folding shelf 322, and the acute angle of the folded state is greatly expanded. At this time, the position of the front end 3222 of the second folding shelf 322 moves from the back to the front, and is not in contact with the second placement rail 3121 and is in a floating state. An inclined surface 173 is provided on the side surface of the second support pillar 172 (the surface that contacts the bottom surface of the front shelf portion 322f of the second folding shelf 322). The acute opening angle of the bent shelf can be set according to the setting of the inclination angle of this inclined surface.

[0027] The second preliminary opening section 27 is provided with a rod-shaped pin 271 and a pin drive section 272 for advancing the pin 271 from the origin position or returning (retracting) the pin 271 to the origin position, on a front frame 142 provided forward from the main frame 141 of the shelf opening unit 14 (see Figure 2F). 2B and 2C(a), the pin 271 advances and is inserted into a position in contact with the front bottom surface (front shelf portion 322f) of the second folding shelf 322 across the second hinge 3221.

[0028] In the state transition diagram (b) of FIG. 2C, first, the suction pad 151 comes off the second folding shelf 322 (rear shelf portion 322r). In this embodiment, suction is stopped and the suction pad 151 returns to the origin position. The suction pad 151 returned to the origin position is shown by a dashed line. Next, the first support column 171 rotates in the reverse direction, returning the second support column 172 to the origin position. The first support column 171 and the second support column 172 returned to their origin positions are shown by a dashed line. As shown in the state transition diagram (c), the front bottom surface (front shelf portion 322f) of the second folding shelf 322 slides while being supported along the pin 271, and the front end 3222 falls from the floating state and comes into contact with the second placement rail 3121. Then, the pin 271 is retracted and returned to the original position.

[0029] 2D , after releasing the tilting action of suction pad 151 (after suction release) on second folding shelf 322, which has been largely opened at first and second preliminary opening sections 17, 27, push-out section 16 pushes second folding shelf 322 forward from the shelf opening unit 14 side, and places second folding shelf 322 flat on second placement rail 3121. At this time, it is preferable that front end 3222 of second folding shelf 322 slides while contacting second placement rail 3121. In FIG. 2E, the second folding shelf 322 is shown laid flat on the second mounting rail 3121. There may be one or more extruding parts 16. The extruding parts 16 have a tip 161 having an elastic member. The extruding parts 16 are constituted by, for example, an air cylinder, an electric cylinder, or the like.

[0030] The shelf opening device 1 has one or more shelf open detection units S3 (at least one) that detect whether or not the folding shelf is in an open state and detects the height direction position of the folding shelf in an open state. 2E, shelf open detection unit S3 extends forward from the upper end of rear portion 12 to detect the presence of a folding shelf below and the distance thereto. Shelf open detection unit S3 is configured not to detect when the folding shelf is in a folded-back state, folded toward the rear side, but to detect when it is opened flat.

[0031] The shelf opening device 1 has a control unit (not shown) that controls the stopping and discharge of the egg container transport cart 3 that is sent in, the preliminary opening operation, and the opening operation. The control unit commands the shelf opening unit drive unit 13 to control the vertical movement of the shelf opening unit 14. The control unit also commands the suction drive unit 15 to control the folding shelf, which is in a folded state at the folded state position P1, to be inclined or lifted on one side with respect to the placement rail. The control unit also commands the first preliminary opening unit 17 to insert (the rod-shaped second support 172) into the gap at the folded state, thereby increasing the acute angle formed by the folded state of the folding shelf, which is in a folded state or lifted on one side. The control unit also instructs the pin drive unit 272 to insert the pin 271 into a position that contacts the front bottom surface (front shelf portion) across the hinge of the folding shelf when the center-folding opening is increased by the second support 172, thereby controlling the acute angle opening state to be maintained. The control unit also issues a command to the pushing unit 16, controlling it to push the folding shelf forward from the rear side and place the folding shelf on the placement rail. The control unit may output an alarm if the shelf open detection unit S3 does not detect (the position of) the folding shelf in an open state after the push-out unit 16 is operated.

[0032] The shelf opening device 1 preferably has a stopper or clamp that abuts against or grips the frame of the egg container transport cart 3 to restrict the movement of the egg container transport cart 3 . 1, a pair of clamps 121 (also referred to as first stoppers) are provided on both side surfaces, and in Fig. 2A, a second stopper 122 is provided on the front surface 11, and a third stopper (not shown) is provided on the rear surface 12. The pair of clamps 121, the second stopper 122, and the third stopper (not shown) have tips made of elastic members and come into contact with the frame of the egg container transport cart 3. The driving units that drive the pair of clamps 121, the second stopper 122, and the third stopper (not shown) are, for example, air cylinders, electric cylinders, etc. 1, the shelf opening device 1 or the feeding device 2 has one or more stop position detection units S2 that detect parts of the egg container transport cart 3 being transported. When the stop position detection unit S2 detects the egg container transport cart 3, a control unit (not shown) commands a pair of clamps 121, a second stopper 122, and a third stopper (not shown) to protrude each element and bring them into contact with the frame of the egg container transport cart 3, thereby fixing the movement.

[0033] The pair of clamps 121 fixes the relative movement between the shelf opening unit 14 and the egg container transport cart 3. The pair of clamps 121 may be provided on the shelf opening unit 14, or on both side surfaces of the frame body 10.

[0034] The shelf opening unit 14 is provided with movable pack guides 181 for preventing the egg packs EP from falling over when placed by the robot arm at the rear of the topmost level of each folding shelf. The movable pack guides 181 are driven by air cylinders or electric cylinders, and contribute to improving the stability of stacking the egg packs.

[0035] It is preferable that the shelf opening device 1 has one or more detection units that detect a predetermined position of the shelf opening unit 14. When the detection units detect the up or down position of the shelf opening unit 14, the control unit commands the shelf opening unit driving unit 13 to start or stop driving. In another embodiment, the shelf opening unit 14 may have one or more folding shelf detection units that detect a folding shelf that is in a folded state at the folded state position P1. When the folding shelf detection unit detects a folding shelf, the control unit may command the shelf opening unit driving unit 13 to start or stop driving.

[0036] (Operation flow) FIG. 3A shows the sequence of operations. First, the conveyor operation of the feeding device 2 is started (#1). The egg container transport cart 3 (also called the cart 3) is sent into the shelf opening device 1 and detected by the sensor S2 (#2). Next, the stopper (not shown) is driven (#3). The conveyor is stopped, and the cart 3 is stopped by the stopper (not shown) (#4). Next, the shelf opening unit 14 above is lowered to a predetermined position (#5). A pair of rear fixing clamps 127 (see FIG. 2F) are attached from the side to the rear frame of the cart 3 to fix the relative movement between the shelf opening unit 14 and the cart 3 (#6). Next, the egg cartons EP are stacked on the first folding shelf by the robot arm (#7). Once a predetermined number of egg cartons have been stacked on the first folding shelf, the shelf opening operation is performed (#8). This operation will be described later. When the folding shelves are opened, the shelf height is detected by the shelf open detection unit S3 to determine whether there is an abnormality in the shelf height (#9). If there is no abnormality, it is checked whether there are any remaining folding shelves (#10). If there are any remaining folding shelves, stacking continues. Once stacking has been completed on all the folding shelves (if there are no remaining shelves), the operation proceeds to removing the cart 3 (#11). The clamps and stoppers are released (#12). The conveyor is driven and the cart 3 is removed (#13). It is checked whether there is another cart 3 waiting (#13). If there is a cart 3 waiting, it is sent to the shelf opening device 1 and the above operations are repeated, and if there is no cart 3, the process ends.

[0037] FIG. 3B shows the shelf opening operation. First, suction pad 151 advances toward the folding shelf (#801) and adsorbs the folding shelf on the rear side (#802). Suction pad 151 retreats to the intermediate position (#803). This makes it easier for first preliminary opening section 17 to perform its operation. The operation of the first preliminary opening section 17 (rotational advance of the second support 172) and the operation of the second preliminary opening section 27 (advancement of the pin 271) are executed (#804). The open state of the center bend is increased. The suction of the suction pad 151 is released (#805). The first preliminary opening section 17 (second support 172) returns to its origin, and then the second preliminary opening section 27 (pin 271) returns to its origin (#806). Next, the push-out section 16 advances to a predetermined position (#807), and then retreats (#808). The rear fixing clamp 127 is returned (#809), and the shelf height is confirmed by the shelf open detection section S3 (#810). If the shelf height is normal, loading of the second tier is carried out (#811), and the shelf opening unit 14 is moved to the position of the third folding shelf tier (#812). Similar to the second tier, loading of the third and fourth tiers is carried out, and when the fourth tier is completed, the shelf opening unit 14 is moved to the origin. If the shelf height is abnormal, loading is stopped (#820), and a decision is made as to whether the folding shelves should be opened manually (#821). If it is decided that the folding shelves should be opened manually, the person makes the correction by adjusting the folding position of the shelves or manually opening them (#822), clears the abnormality, and resumes operation (#823). If it is determined that the shelf will not be opened manually, the system operates to remove the shelf from device 1 (#824).

[0038] (Embodiment 2) An egg carton automatic placing system according to embodiment 2 will be described. In addition to the configuration of embodiment 1, the shelf opening device of embodiment 2 further includes a correction clamp 28 for correcting the side frame of the cart 3. Although only one of the correction clamps 28 is shown in Fig. 2G, in this embodiment, the other correction clamp is provided at an opposing position, forming a pair of correction clamps.

[0039] The pair of correction clamps 28 come into contact with the pair of left and right side frames of the egg container transport cart 3 from both sides, and correct the positional relationship so that the pair of left and right side frames are perpendicular to the rear frame of the egg container transport cart 3. This makes it possible to prevent the left and right side frames from widening further forward. The pair of corrective clamps 28 are provided with a horizontally long rectangular abutment portion 281 on a frame 142 provided forward from the main frame 141 of the shelf opening unit 14, and a corrective clamp drive portion 282 that advances the abutment portion 281 from the origin position or returns (retreats) the abutment portion 281 to the origin position. The correction clamp 28 has a configuration in which abutment portion 281 advances from the outside of the side frame of the egg container transport cart 3 toward the side frame. The surface layer of the abutment portion 281 is made of an elastic material, and corrects distortion of the side frame by coming into contact with the side frame. The corrective clamp 28 is provided above the second pre-opening portion 27. The second pre-opening portion 27 and the corrective clamp 28 are provided forward of the first pre-opening portion 17. The control unit commands the corrective clamp drive unit 282 to control the pair of abutment portions 281 of the corrective clamp 28 to abut against a pair of side frames of the egg container transport cart 3, thereby controlling the positional relationship of the pair of side frames to the rear frame of the egg container transport cart 3 so that they are perpendicular (including a substantially perpendicular relationship) to the rear frame.

[0040] (Operation flow) The operations different from the first embodiment will be described. First, the conveyor operation of the feeding device 2 is started (#1). The egg container transport cart 3 (also called the cart 3) is sent into the shelf opening device 1 and detected by the sensor S2 (#2). Next, the stopper (not shown) is driven (#3). The conveyor is stopped, and the cart 3 is stopped by the stopper (not shown) (#4). Next, the shelf opening unit 14 above is lowered to a predetermined position (#5). A pair of rear fixing clamps 127 (see FIG. 2F) are attached to the sides of the rear frame of the cart 3 to fix the shelf opening unit 14 and the cart 3 against relative movement (#6). Next, the egg cartons EP are stacked on the first folding shelf by the robot arm (#7). When a predetermined number of egg cartons have been stacked on the first folding shelf, the shelf is opened (#8).

[0041] Next, the shelf opening operation will be described. The differences from the embodiment will be described. First, the contact portions 281 of the pair of correction clamps 28 are brought into contact with the side frames of the dolly 3 to correct distortion of the left and right side frames. Next, the suction pad 151 advances toward the folding shelf (#801) and adsorbs the folding shelf on the rear side (#802). The suction pad 151 retreats to the intermediate position (#803). This makes it easier for the first preliminary opening portion 17 to perform its operation. The operation of the first preliminary opening section 17 (rotational advance of the second support 172) and the operation of the second preliminary opening section 27 (advancement of the pin 271) are executed (#804). The open state of the center bend is increased. The suction of the suction pad 151 is released (#805). The first preliminary opening section 17 (second support 172) returns to the origin, and then the second preliminary opening section 27 (pin 271) returns to the origin (#806). Next, the pushing section 16 advances to a predetermined position (#807), and then the corrective clamp 28 (contact section 281) returns to the origin, and the pushing section 16 retreats at a timing partially overlapping with this return to the origin, or before or after this (#808). The rear fixing clamp 127 is returned (#809), and the shelf height is confirmed by the shelf open detection section S3 (#810).

[0042] (Embodiment 3) We will now explain the egg pack automatic placing system according to embodiment 3. The shelf opening device of embodiment 3 is the same device as shelf opening device 1 of embodiment 2, but may or may not include push-out section 16, first preliminary opening section 17, and second preliminary opening section 27. Robot arm 50 has a suction means 51 on the hand at the tip thereof. Robot arm 50 is an egg pack transfer means for suctioning the top surfaces of egg packs with suction means 51 and stacking the egg packs on the folding shelves and the egg packs themselves.

[0043] In response to a command from the opening control unit (not shown), the suction pad 151 is driven forward by the suction drive unit 15, which abuts against and sucks the folding shelf that is in a folded-over state in the folded position, and by pulling it backward, causes it to be inclined or lifted on one side relative to the loading rail. In FIG. 4A, the suction drive unit 15 extends diagonally downward and forward, the suction pad 151 adheres to the second folding shelf 322 (rear shelf portion) (suction may be performed by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) diagonally upward to the rear, thereby causing the shelf to be inclined or lifted on one side relative to the second loading rail 3121. Next, the opening control unit instructs the robot arm 50 equipped with the suction means 51 to cause the suction means 51 to suction the flat portion (front shelf portion 322f) of the second folding shelf 322, which is in an inclined or partially lifted state by the suction drive unit 15 and the suction pad 151. Next, the opening control section stops the suction pad 151 from suction-fixing the second folding shelf 322. The suction pad 151 returns to the original position. Next, as shown in Fig. 4B, the opening control unit commands the robot arm 50 equipped with the suction means 51 to move the second folding shelf 322, which is being sucked by the suction means 51, forward. Next, as shown in Fig. 4C, the second folding shelf 322 is placed on the placement rail 3121. Next, the robot arm 50 removes the suction means 51 from the second folding shelf 322, and loads egg packs onto the second folding shelf 322 with the suction means 51.

[0044] (Embodiment 4) We will now explain the egg pack automatic placing system according to embodiment 4. The shelf opening device of embodiment 4 is a device similar to shelf opening device 1 of embodiment 2, but may or may not include push-out section 16, first preliminary opening section 17, and second preliminary opening section 27. Robot arm 50 has suction means 51 and hook 54 on the hand at the tip of the robot arm. Robot arm 50 is an egg pack transfer means for suctioning the top surfaces of egg packs EP with suction means 51 and stacking the egg packs on the folding shelves and the egg packs themselves.

[0045] In response to a command from the opening control unit (not shown), the suction pad 151 is driven forward by the suction drive unit 15, which abuts against and sucks the folding shelf that is in a folded-over state in the folded position, and by pulling it backward, causes it to be inclined or lifted on one side relative to the loading rail. In FIG. 5A, the suction drive unit 15 extends diagonally downward and forward, the suction pad 151 adheres to the second folding shelf 322 (rear shelf portion) (suction may be performed by a vacuum pump not shown), and the suction drive unit 15 retreats (returns) diagonally upward to the rear, thereby causing the shelf to be inclined or lifted on one side relative to the second loading rail 3121. Next, the opening control unit instructs the robot arm 50 equipped with the hook 54 to hook the rod-shaped frame 3224 at the tip of the front shelf portion 322f of the second folding shelf 322, which is in an inclined or one-sided lifted state by the suction drive unit 15 and the suction pad 151, onto the hook 54. Next, the opening control section stops the suction pad 151 from suction-fixing the second folding shelf 322. The suction pad 151 returns to the original position. Next, as shown in Fig. 5B, a command is given to robot arm 50 to move second folding shelf 322, which is hung by hook 54, forward, and as shown in Fig. 5C, second folding shelf 322 is placed on placement rail 3121. Next, robot arm 50 removes hook 54 from second folding shelf 322, and loads egg packs EP onto second folding shelf 322 by suction means 51.

[0046] In another embodiment, instead of the hook 54, the robot arm 50 may be provided with a gripping means in its hand, and this gripping means may be configured to grip the rod-shaped frame 3224 at the tip of the front shelf portion 322f.

[0047] In the above embodiments 1, 2, 3, and 4, the control unit and / or the open control unit may be realized in cooperation with hardware such as a processor and memory and a program that describes the control content, or may be realized as a combination of a dedicated circuit and firmware, or may be realized as a cloud-based or on-premise server or a general-purpose computer. The control unit and / or the opening control unit may control a series of movements of the feeding device, the shelf opening device, and the robot arm, or separate controllers may control each of them and communicate necessary data and commands to each other. The robot arm may be a multi-axis robot, a SCARA robot, or a collaborative robot. When a predetermined number of egg packs are stacked on the first folding shelf, the second folding shelf is automatically opened by the shelf opening device 1. When the robot arm loads a predetermined number of egg packs on the second folding shelf, the third folding shelf is automatically opened by the shelf opening device 1. When the robot arm loads a predetermined number of egg packs on the third folding shelf, the fourth folding shelf is automatically opened by the shelf opening device 1. A series of movements is controlled in this manner. In the above embodiment, the inclination forming section (15, 151) is composed of the suction drive section 15 and the suction pad 151, but it may be one or more of these. Also, the inclination forming section is not limited to this configuration, and for example, it may be inclined by a means for clamping the side surface of the folding shelf. [Explanation of symbols]

[0048] 1 Shelf opening device 10 Frame body 11 Front part 12 Back part 121 Clamp (pair of side clamps) 122 Second stopper (second clamp) 127 Rear fixing clamp (pair of clamps) 13 Drive unit 131 Drive belt (or toothed belt) 14 Shelf Opening Unit 15 Suction drive unit 151 Suction Pad 16 Extrusion section 161 Extrusion tip elastic part 17 First preliminary opening section 27 Second preliminary opening section 28 Corrective Clamp 2. Feeding device 3. Egg container transport cart 31 First side frame (pair of side frames) 311 First side plate 312 Second side plate 313 Third side plate 314 Fourth side plate 3111 First loading rail 3112 Second loading rail 3113 Third loading rail 3114 Fourth loading rail 321 First Folding Shelf 322 Second Folding Shelf 3224 Rod Frame 323 Third Folding Shelf 324 Fourth Folding Shelf 50 Robot Arm 51 Adsorption means 54 Hook S1 First sensor S2 Second sensor S3 Third sensor EP Egg Pack

Claims

1. The frame body, a shelf opening unit movable in the up and down direction on the rear side of the frame body; A shelf opening unit drive unit that drives the shelf opening unit up and down; a tilt forming unit provided in the shelf opening unit, which tilts or lifts up a folding shelf that is in a folded state at a folding position at one end of a loading rail of the egg container transport cart, relative to the loading rail; A first preliminary opening portion is inserted into a gap of the folding shelf in order to enlarge an acute angle formed by the folding shelf in the inclined state or the one-sided lifting state at the inclination forming portion; A second preliminary opening portion is inserted into a position in contact with a bottom surface of the front side across the hinge of the folding shelf or in the vicinity of the position in contact with the bottom surface when the opening of the center fold is large in the first preliminary opening portion; a push-out section which maintains the open, center-folded state at the first and second preliminary opening sections, releases the tilting action by the tilt forming section, and then pushes the folding shelf forward to place the folding shelf on the placement rail.

2. At least one straightening clamp provided on the shelf opening unit, 2. The shelf opening device according to claim 1, further comprising a correction clamp that abuts against or grips at least one side frame of the egg container transport cart to correct the pair of side frames to a predetermined positional relationship with respect to the rear frame of the egg container transport cart.

3. 3. The shelf opening device according to claim 1, wherein the first preliminary opening section has a first support pillar extending forward from the shelf opening unit, and a second support pillar that rotates in accordance with rotation of the first support pillar in the column axis direction.

4. The shelf opening device according to any one of claims 1 to 3, wherein the second preliminary opening section includes a rod-shaped pin provided on the shelf opening unit, and a pin driving section that drives the pin so as to insert the pin into a position in contact with a bottom surface on the front side or in the vicinity of the bottom surface across a hinge of the folding shelf.

5. A frame body forming the back, front and both sides; a shelf opening unit movable in the up and down direction on the rear side of the frame body; A shelf opening unit drive unit that drives the shelf opening unit up and down; a tilt forming unit provided in the shelf opening unit, which tilts or lifts up a folding shelf that is in a folded state at a folding position at one end of a loading rail of the egg container transport cart, relative to the loading rail; and an opening control section for opening the folding shelf, which is inclined or one-sidedly raised by the inclination forming section, from its folded state toward the front by an adsorption means or a locking means.

6. The opening control unit is a command is given to the conveying means having the suction means to cause the suction means to suction the flat surface of the folding shelf that is in the inclined state or in the one-sided lifted state at the inclination forming section; The action of the inclination forming portion on the folding shelf is stopped, 6. The shelf opening device according to claim 5, further comprising a control for controlling each element such that a transfer means having said suction means is instructed to move said folding shelf, which is being sucked by said suction means, forward and place it on a placement rail.

7. The opening control unit is a transfer means provided with the locking means is instructed to lock the locked portion of the folding shelf in the inclined state or in the one-sided lifted state by the inclination forming portion with the locking means; The action of the inclination forming portion on the folding shelf is stopped, 6. The shelf opening device according to claim 5, further comprising: a control unit for controlling each element such that a transport unit having said locking means is instructed to move said folding shelf locked by said locking means forward and place it on a placement rail.

8. a feeder that automatically introduces the egg container transport cart into the shelf opening device and removes the egg container transport cart from the shelf opening device after loading the egg packs; A shelf opening device according to any one of claims 1 to 7, An automatic egg carton placement system having a robotic arm.

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