Egg container loading system

Abstract

To provide an egg container loading system that has a layout that takes into account a work area, a waiting area for carts, a shipping area, and traffic lines of carts and workers.SOLUTION: The system 1 includes: a first egg container transfer device 72a having a first waiting area W1 with egg containers; a first multi-axis robotic arm 21a having a first suction grasping unit 212a that grasps the egg containers in the first waiting area W1 and transfers the grasped egg containers to at least one shelf of the first egg container transport cart; a first cart extrusion device 34 that transfers the cart 8, along a first loading line L1, from a first loading device 30 which is opposite the first multi-axis robot arm 21a to a first loading section 38 which is proximal to the first multi-axis robotic arm 21a; and a first cart unloading device 36 that transfers the cart 8a from the first loading section 38 along the first unloading line L11 to a cart unloading section 39.SELECTED DRAWING: Figure 1A

Description

[Technical field]

[0001] The present invention relates to a system for loading egg containers onto an egg container transport cart. [Background technology]

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

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

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

[0005] Patent Document 4 discloses an egg pack transfer device that sends egg packs on a conveying section to an assembly location for boxing. The transfer device includes a shaft that moves back and forth between the conveying section and the assembly location, a main arm that is integral with the shaft and moves the egg packs from the conveying section to the assembly location, and a retraction means that uses the movement of the shaft to retract the main arm to a position where it does not interfere with the egg packs. The assembly location is provided with a regulating member to prevent the egg packs from floating up. Patent Document 5 discloses a transfer section that includes a pressing member 7 that pushes out the peripheral wall of the egg pack and sends it to the assembly location, and a pressing member 8 that presses down the top surface of the egg pack. The assembly location is provided with a width regulating member to regulate the displacement of the egg packs when they are pressed and moved. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Utility Model Registration No. 3209255 [Patent Document 2] Patent No. 6684511 [Patent Document 3] Patent No. 6807091 [Patent Document 4] JP 2018-030631 A [Patent Document 5] JP 2016-124601 A Summary of the Invention [Problem to be solved by the invention]

[0007] Problems that cannot be solved by the above-mentioned patent documents include the following. (1) In Patent Document 2, when the top shelf is placed horizontally instead of vertically, there is a possibility that the bottom of the shelf in the folded state at the back of the shelf will come into contact (interfere) with the hand portion of the robot arm. (2) In addition to the one-way movement of carts as disclosed in Patent Document 2, a layout is required that takes into consideration the work area, cart waiting area, shipping area, and the movement lines of carts and workers. (3) There are cases where multiple types of egg containers are sent from the upstream side by a conveyor. In such cases, workers have had to load them manually. There is a demand for a system that can load egg containers of multiple types on the device side, even when such containers are transported. (4) There are various types of carts (roll inners), and they differ in height, width, depth, position of protrusions and beams (frames), etc. Therefore, it is difficult to transport various types of carts with a single cart transport device. (5) When deploying shelves using a robot arm as in Patent Document 3, the shelves are first attached to the shelves and then deployed, but there is a concern that the attachment may fail or the attachment may come off during deployment due to distortion or deformation of the roll inner. Due to the weight capacity of the robot arm and limitations on the operable space inside the cart (roll inner), it is difficult to add a large mechanical structure to the hand of the robot arm in addition to the attachment mechanism. (6) In Patent Documents 4 and 5, egg packs transported parallel to the longitudinal direction of the egg packs are pushed out from the side of the egg packs and collected at a collection location, but the regulating member must be changed depending on the longitudinal length of the egg packs, making the switching operation cumbersome. When a cylinder is used as the pressing means (Patent Document 5), the next egg pack cannot be transported to the pushing position while the device is returning to the origin. In Patent Document 4, even if the next egg pack is placed, the pushing section retreats upward to avoid interference and returns to the origin, but the next push cannot be performed during the time it takes to return to the origin.

[0008] Therefore, a first object of the present invention is to provide a cart carrying-in device that can accommodate various carts (roll inners) and an egg container loading system equipped with the same. A second object is to provide a cart fixing device capable of suppressing failures in opening (deploying) shelves, and an egg container loading system equipped with the same. A third object is to provide a loading control device compatible with various types of egg containers and an egg container loading system equipped with the same. A fourth object is to provide an egg container loading system whose layout takes into consideration the work area, cart waiting area, shipping area, and the movement lines of carts and workers. A fifth object is to provide a sorting and conveying device that sorts egg containers conveyed from the upstream side from the main conveying device to a loading standby area of ​​the egg container conveying device, and an egg container loading system equipped with the sorting and conveying device. [Means for solving the problem]

[0009] In the present invention, the egg container is pre-filled with a selected amount of eggs. The egg container loading system (1) of the present invention comprises: a first egg container transport device (72a) having a first waiting area (W1) in which one egg container or two or more egg containers (P) arranged in parallel (parallel to the longitudinal direction); a first multi-axis robot arm (21 a) having a first suction gripping part (212 a) which grips an egg container in the first waiting area (W1), and which transfers the gripped egg container to at least one shelf (which may or may not be a folding shelf) of a first egg container transport cart (8, (hereinafter, sometimes simply referred to as a "cart")); a first cart carry-in device (30) which transports the first egg container transport cart (8) (with the lowest shelf plate deployed) toward the first multi-axis robot arm (21 a) (to a loading position of egg containers); a first carriage push-out device (34) provided in the first carriage carry-in device (30), which transports the first egg container transport carriage (8) along a (linear) first carry-in line (L1) toward a first loading section (38) (loading position) that is proximal to the first multi-axis robot arm (21 a); and a first cart unloading device (36) which transports the first egg container transport cart (8a) from the first loading section (38) along a first unloading line (L11) (a direction intersecting with the first carry-in line (L1) at 90° (any direction may be such that the direction intersects with the first carry-in line (L1) at substantially 90°)) to a cart unloading section (39). The first waiting area (W1) of the first egg container transport device (72a), the first multi-axis robot arm (21a), and the first loading unit (38) may be arranged in an L-shape with the main axis (AR) of the first multi-axis robot arm (21a) as a starting point (L-shaped layout). Furthermore, the first waiting area (W1), the first multi-axis robot arm (21a), the first loading unit (38), and the first cart carry-in device (30) may be arranged in an L-shape with the main axis (AR) of the first multi-axis robot arm (21a) as a starting point. The first waiting area (W1) of the first egg container transport device (72a) may be disposed between the first multi-axis robot arm (21a) and the first loading unit (38), and the first multi-axis robot arm (21a), the first waiting area (W1), and the first loading unit (38) may be disposed linearly. Furthermore, the first multi-axis robot arm (21a), the first waiting area (W1), the first loading unit (38), and the first cart carry-in device (30) may be disposed linearly. Moreover, the first multi-axis robot arm (21a), the first waiting area (W1), the first loading unit (38), the first cart carry-in device (30), and the cart carry-out unit (39) may be disposed in a T-shape with the first loading unit (38) as a starting point (T-shaped layout). The moving distance of the hand unit (211) and the suction gripping unit (212) can be shortened, thereby shortening the loading processing time.

[0010] The egg container loading system (1) further comprises: a second egg container transport device (72b) having a second waiting area (W2) in which one egg container or two or more egg containers (P) arranged in parallel (parallel to the longitudinal direction); a second multi-axis robot arm (21 b) having a second suction gripping part (212 b) which grips the egg container (P) in the second waiting area (W2) and transfers the gripped egg container (P) to at least one shelf (which may or may not be a folding shelf) of a second egg container transport cart (8); a second carriage carry-in device (40) which transports the second egg container transport carriage (8) toward the second multi-axis robot arm (21 b) (to a loading position of egg containers) (with the lowest shelf plate deployed); a second carriage push-out device (44) provided in the second carriage carry-in device (40), which transports the second egg container transport carriage (8) along a (linear) second carry-in line (L2) toward a second loading section (48) (loading position) that is proximal to the second multi-axis robot arm (21 b); and a second cart carrying-out device (46) which transports the second egg container transport cart (8b) from the second loading section (48) along a second carrying-out line (L21) (which is a direction intersecting with the second carrying-in line (L2) at 90° (which may be a direction intersecting with the second carrying-in line (L2) at substantially 90°)) to the cart carrying-out section (39). The second waiting area (W2) of the second egg container transport device (72b), the second multi-axis robot arm (21b), and the second loading unit (48) may be arranged in an L-shape with the main axis (AR) of the second multi-axis robot arm (21b) as a starting point (L-shaped layout). Furthermore, the second waiting area (W2), the second multi-axis robot arm (21b), the second loading unit (48), and the second cart carry-in unit (40) may be arranged in an L-shape with the main axis (AR) of the second multi-axis robot arm (21b) as a starting point. The second waiting area (W2) of the second egg container transport device (72b) may be disposed between the second multi-axis robot arm (21b) and the second loading unit (48), and the second multi-axis robot arm (21b), the second waiting area (W2), and the second loading unit (48) may be disposed linearly. Furthermore, the second multi-axis robot arm (21b), the second waiting area (W2), the second loading unit (48), and the second cart carry-in device (40) may be disposed linearly. Alternatively, the second multi-axis robot arm (21b), the second waiting area (W2), the second loading unit (48), the second cart carry-in device (40), and the cart carry-out unit (39) may be disposed in a T-shape with the second loading unit (48) as a starting point (T-shaped layout). The moving distance of the hand portion (211b) and the suction gripping portion (212) can be shortened, thereby shortening the loading processing time.

[0011] The egg container loading system (1) comprises: The container transport cart may further include a container delivery device (391) for delivering the loaded first egg container transport cart (8a) and / or the loaded second egg container transport cart (8b) from the container delivery section (39) along a delivery line (L3) arranged parallel to the first and second delivery lines (L1, L2). Preferably, an output line (L3) is arranged between the first and second input lines (L1, L2). The closer the first and second loading sections (30, 40) and the end of the delivery line (L3) are to each other, the more efficient the work can be. For example, by making the path of the trolley (8) U-shaped and placing the loading and unloading next to each other, the work can be improved, and by combining the U-shaped movement line with a mountain-shaped movement line (shaping the unloading in a common area), the processing capacity can be improved while reducing the dedicated space and costs.

[0012] The carriage discharge section (39) and the output line (L3) may be combined into one unit, or in another embodiment, the carriage discharge section and the output line may be provided separately. For example, the device may include a third cart carrying-out device that carries the first egg container transport cart (8a) from the first loading section (38) to a cart carrying-out section along a third carrying-out line in a direction intersecting with the first carrying-in line (L1) by 90° (as long as the direction intersects with the first carrying-in line (L1) by substantially 90°) and away from the second loading section (48), and / or a fourth cart carrying-out device that carries the second egg container transport cart (8b) from the second loading section (48) to a cart carrying-out section along a fourth carrying-out line in a direction intersecting with the second carrying-in line (L2) by 90° (as long as the direction intersects with the second carrying-in line (L2) by substantially 90°) and away from the first loading section (38).

[0013] the first carry-in line (L1), the first loading section (38), the first multi-axis robot arm (21a), the first waiting area (W1), and the first carry-out line (L11); The second loading line (L2), the second loading section (48), the second multi-axis robot arm (21b), the second waiting area (W2), and the second unloading line (L21) may be configured in a layout that has translational symmetry or mirror symmetry with respect to a line passing through the cart unloading section (39) (the unloading line (L3) that is a line parallel to the first and second loading lines).

[0014] (Another layout) The egg container loading system (1) of the present invention comprises: a first egg container transport device (72a) having a first waiting area (W1) in which one egg container or two or more egg containers (P) arranged in parallel (parallel to the longitudinal direction); a first multi-axis robot arm (21a) having a first suction gripping part (212a) (provided on a first hand part (211a) at a tip position of the first suction gripping part) that grips an egg container in the first waiting area (W1), and that transfers the gripped egg container to at least one shelf (which may or may not be a folding shelf) of a first egg container transport cart (8); a first carriage carry-in device (300) configured to transport the first egg container transport carriage (8) toward the first multi-axis robot arm (21 a) (with the lowest shelf plate deployed); a first carriage push-out device (340) provided in the first carriage carry-in device (300), which transports the first egg container transport carriage (8) along a first carry-in line (L10) in a lateral direction (linear) from one side to the other side toward a first loading section (38) (loading position) that is proximal to the first multi-axis robot arm (21 a); a first cart carrying-out device which transports the first egg container transport cart (8a) from the first loading section (38) to a cart carrying-out section (39) along a first carrying-out line (L11) which is in the same direction as the first carrying-in line (L10), The first carrying-in line (L10), the first loading unit (38), the first carrying-out line (L11), and the first multi-axis robot arm (21a) are arranged in a T-shape (T-shaped layout). A first waiting area (W1) of the first egg container transport device (72a) may be arranged between the first multi-axis robot arm (21a) and the first loading unit (38), and the first multi-axis robot arm (21a), the first waiting area (W1), and the first loading unit (38) may be arranged in a straight line. The egg container loading system (1) further comprises: a second egg container transport device (72b) having a second waiting area (W2) in which one egg container or two or more egg containers (P) arranged in parallel (parallel to the longitudinal direction); a second multi-axis robot arm (21 b) having a second suction gripping part (212 b) (provided on a second hand part (211 b) at a tip position thereof) which grips an egg container (P) in the second waiting area (W2), and which transfers the gripped egg container (P) to at least one shelf (which may or may not be a folding shelf) of a second egg container transport cart (8); a second carriage carry-in device (400) for transporting the second egg container transport carriage (8) toward the second multi-axis robot arm (21 b) (with the lowest shelf plate deployed); a second carriage push-out device (440) provided in the second carriage carry-in device (400), which transports the second egg container transport carriage (8) toward a second loading section (48) (loading position) located proximal to the second multi-axis robot arm (21 b) along a second carry-in line (L20) that is 180 degrees different from the first carry-in line (L10) and is a lateral (straight) second carry-in line (L20) from one side to the other side of the first line (L10); a second cart carrying-out device (46) which transports the second egg container transport cart (8b) from the second loading section (48) to the cart carrying-out section (39) along a second carrying-out line (L21) which is in the same direction as the second carrying-in line (L20), The second carrying-in line (L20), the second loading unit (48), the second carrying-out line (L21), and the second multi-axis robot arm (21b) are arranged in a T-shape (T-shaped layout). A second waiting area (W2) of the second egg container transport device (72b) is arranged between the second multi-axis robot arm (21b) and the second loading unit (48), and the second multi-axis robot arm (21b), the second waiting area (W2), and the second loading unit (48) may be arranged in a straight line.

[0015] (Cart loading device) The first and second cart carrying-in devices (30, 40) are At least one cart state detection unit (346, 446) may be provided for detecting the open state of any folding shelf of the cart (8) being brought in and / or the orientation of the cart (forward / backward direction). The cart state detection unit (346, 446) may be installed at the entrance of the carry-in route of the first and second cart carry-in devices (30, 40), or may be installed at a position where it can be detected before or after it is installed in the first and second cart push-out devices (34, 44). It can distinguish between an open state and a folded state of the folding shelf, and can simultaneously detect the orientation of the cart based on the position of the folding plate in the folded state. The trolley state detection units may be installed from either the left or right side of the trolley or from both sides of the trolley toward the center of the trolley so as to detect the folded position of the multiple stages of folding plates, and may detect whether each stage of folding plates is in an open (unfolded) state or a folded state. The trolley state detection unit may be installed from the ceiling toward the floor, and the distance to the surface of the folding plate in the open (unfolded) state may be measured to detect whether the bottom folding plate is in the open state.

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

[0017] (Frame Guide) The first carriage loading device (30) or the egg container loading system (1) comprises: When the first egg container transport cart (8) is transported with its front side facing forward and its rear side facing backward, The first egg container transport cart (8) may be provided with a first left guide part (31) (regulating function) for guiding the left frame thereof and / or a first right guide part (33) (regulating function) for guiding the right frame thereof along the first carrying-in line (L1) (front-rear direction), and at least one of the guide parts may be provided with a moving mechanism (32) for varying the distance therebetween. The second carriage loading device (40) or the egg container loading system (1) is When the second egg container transport cart (8) is transported with its front side facing forward and its rear side facing backward, Along the second loading line (L2), the second egg container transport cart (8) may be provided with a second left guide part (43) (regulating function) for guiding the left frame and / or a second right guide part (41) (regulating function) for guiding the right frame, and at least one of the guide parts may be provided with a moving mechanism (42) for varying the distance between them. The first carriage loading device (300) or egg container loading system (1) comprises: When the first egg container transport cart (8) is transported in the direction of either the left or right side thereof, The first egg container transport cart (8) may include a first front frame guide portion (310) (regulating function) that abuts against and guides the left and right front frames, and / or a first rear frame guide portion (330) (regulating function) that abuts against and guides the left and right rear frames. Furthermore, at least one of the guide portions may include a moving mechanism that changes the distance between them. The second carriage loading device (400) or the egg container loading system (1) comprises: When the second egg container transport cart (8) is transported in the direction of either the left or right side, The second egg container transport cart (8) may be provided with a second front frame guide portion (regulating function) that contacts and guides the left and right front frames, and / or a second rear frame guide portion (regulating function) that contacts and guides the left and right rear frames. Furthermore, at least one of the guide portions may be provided with a movement mechanism that changes the distance between them. Any of the above guide sections may be provided at any location in the first and second loading sections, the trolley discharge section, and the delivery line. The above-mentioned moving mechanism may be configured to receive information about the carriage from a system control device, an external device, a carriage size detection means, etc., and to move automatically or by a means. The automatic moving mechanism may be configured, for example, by a linear motion device driven by air, electricity, or hydraulic pressure.

[0018] (Caster guide) The first carriage loading device or egg container loading system (1) comprises: When the first egg container transport cart (8) has a rectangular (rectangular, square) caster arrangement on the left, right, front and rear sides, and is transported with the front side facing forward and the rear side facing backward, Along the first loading line (L1), it may be provided with a first left caster guide portion (regulating function) that guides the left front and rear casters, and / or a first right caster guide portion (regulating function) that guides the right front and rear casters. The second carriage loading device or egg container loading system (1) comprises: When the second egg container transport cart (8) has a rectangular (rectangular, square) caster arrangement on the left, right, front and rear sides, and is transported with the front side facing forward and the rear side facing backward, Along the second loading line (L2), a second left caster guide section (regulating function) that guides the left front and rear casters, and / or a second right caster guide section (regulating function) that guides the right front and rear casters may be provided. The first and second cart loading devices or egg container loading systems (1) include: When the first egg container transport cart (8), in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel, is transported in the direction of either the left or right side of the first egg container transport cart (8), It may be provided with a first front caster guide portion (343a) (regulating function) that guides the left and right front casters, and / or a first rear caster guide portion (343b) (regulating function) that guides the left and right rear casters. The first and second cart loading devices or egg container loading systems (1) include: When the first egg container transport cart (8), in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel, is transported in the direction of either the left or right side of the first egg container transport cart (8), It may be provided with a second front caster guide portion (regulating function) that guides the left and right front casters, and / or a second rear caster guide portion (regulating function) that guides the left and right rear casters. Any of the caster guide sections may be provided at any location in the first and second loading sections, the trolley discharge section, and the delivery line. At least one of the caster guide portions may be provided with a movement mechanism that changes the distance between the caster guide portions. The above-mentioned moving mechanism may be configured to receive information about the carriage from a system control device, an external device, a carriage size detection means, etc., and to move automatically or by a means. The automatic moving mechanism may be configured, for example, by a linear motion device driven by air, electricity, or hydraulic pressure.

[0019] The egg container loading system (1) comprises: The first egg container transport cart (8a) may be provided with a first rear guide part (regulating function) for guiding a rear frame thereof and / or a first front guide part (regulating function) for guiding a (lower part of) a front frame thereof from the first loading part (38) along the first unloading line (L11). Furthermore, at least one of the guide parts may be provided with a moving mechanism for varying the distance therebetween. The first front guide portion may also function as a stopping portion that stops the first egg container transport cart (8) transported along the first carry-in line (L1). The first rear guide part may be configured to be movable downward when the first egg container transport cart (8) is carried in along the first carry-in line (L1). The egg container loading system (1) comprises: The second egg container transport cart (8) may be provided with a second rear guide part (regulating function) for guiding the rear frame thereof from the second loading part (48) along the second unloading line (L21) and / or a second front guide part (regulating function) for guiding the front frame (lower part thereof). Furthermore, at least one of the guide parts may be provided with a moving mechanism for varying the distance between them. The second front guide portion may also function as a stopping portion that stops the second egg container transport cart (8) transported along the second carry-in line (L2). The second rear guide part may be configured to be movable downward when the second egg container transport cart (8) is carried in along the second carry-in line (L2). The above-mentioned moving mechanism may be configured to receive information about the carriage from a system control device, an external device, a carriage size detection means, etc., and to move automatically or by a means. The automatic moving mechanism may be configured, for example, by a linear motion device driven by air, electricity, or hydraulic pressure.

[0020] (Sorting and conveying device) The sorting and conveying device is an upstream detection unit that detects an egg container being transported by the transport device; and at least one contact sending unit that is disposed above the egg container and rotates in only one direction at a predetermined timing from detection by the upstream detection unit to contact the side of the egg container parallel to the conveying direction while sending the egg container from the conveying device to another conveying device in a conveying direction perpendicular to the conveying device. The sorting and conveying device is A rotating body (e.g., an endless belt) on which the at least one contact delivery portion is provided; At least two rolls (e.g., belt pulleys) that tension the rotating body; At least one of the rolls may be a drive roll (the rest being passive rolls that rotate freely), and the roll may include a drive device (eg, a motor) that rotates the drive roll. The drive (eg, positioning motor) may control the timing, amount and / or speed (acceleration / deceleration) of egg container delivery, for example depending on the size of the egg container and / or its weight.

[0021] The egg container loading system (1) comprises: a main conveying device (71) that conveys egg containers conveyed from the upstream side (in series parallel to a first side (e.g., a longitudinal direction)); The main conveying device (71) may be provided with a first sorting and conveying device (73a) that sends the egg container (P) being conveyed by the main conveying device (71) (parallel to a second side (e.g., short side) perpendicular to the first side (e.g., long side)) to the first egg container conveying device (72a). The main conveying device (71) may be configured to send egg containers (P) to the second egg container conveying device (72b) upstream of the first sorting device (73a) in the conveying direction, and may be provided with a second sorting and conveying device (73b) that sends the egg containers (P) to the second egg container conveying device (72b). Either or both of the first and second sorting and conveying devices (73a, 73b) may include a discrimination unit (75a, 75b) that discriminates the type of the egg container (P). The main conveyor (71) may be comprised of one or more endless belts. The first and second sorting and conveying devices (73a, 73b) may be constituted by one or more endless belts. The first and second sorting and conveying devices (73a, 73b) are an upstream detector (701a) that is provided upstream of the egg container (at a predetermined position on the main conveying device side) and detects the egg container; and at least one contact sending unit (731) which is arranged above the egg container (in a transporting state or a stopped state) at a predetermined timing after detection by the upstream detection unit (701a) and which rotates in only one direction (by moving in parallel a predetermined distance) to contact the side of the egg container parallel to the transport direction (first edge side) and send it out to the first and second egg container transport devices (72a, 72b) in a transport direction perpendicular to the transport direction. The shape of the contact-sending part (731) that comes into contact with the egg container may be, for example, L-shaped, a shape that matches the outer shape of the egg container, etc. At least the surface of the contact-sending part (731) may be made of an elastic material. The first and second sorting and conveying devices (73a, 73b) are a rotating body (732, 733) (e.g., an endless belt) on which the at least one contact delivery portion (731) is provided; At least two rolls (734, 735) (e.g., belt pulleys) that tension the rotating body; At least one of the rolls may comprise a drive roll (735) (the remainder being passive rolls that rotate freely), and may include a drive device (736) (e.g., a motor) that rotates the drive roll (735). The number of the rotors may be one, two or more. The rotor and / or the contact-sending portion are preferably made of a non-metallic material. The drive (eg, positioning motor) may control the timing, amount and / or speed (acceleration / deceleration) of egg container delivery, for example depending on the size of the egg container and / or its weight. The first and second sorting and conveying devices (73a, 73b) or the first and second egg container conveying devices (72a, 72b) may be equipped with a first container guide unit (731) (regulating function) that guides one side of the second side of the egg container along the conveying direction of the egg container, and / or a second container guide unit (732) (regulating function) that guides the other side of the second side of the egg container, and further, at least one of the container guide units may be equipped with a moving mechanism (733) that changes the distance between them. The moving mechanism (733) may be configured to receive information on the egg size from the system control device, an external device, egg container detection means, etc., and to move automatically or by a means.

[0022] (Fixing device) The egg container loading system (1) comprises: A fixing device for the egg container transport cart having a stopper or clamp (means for restricting movement) for fixing the egg container transport cart (8) (frame, support, folding shelf, casters, etc. constituting the cart) so as to restrict movement in the left-right direction and / or the front-back direction at any position of the first and second loading sections may be provided. The fixing device for the egg container transport cart may be provided in a device separate from the system (1). The fixing device may have a lower front clamp and drive device (5111) that clamps the front of the lower position of the trolley (a specified support or side support), and a lower rear clamp and drive device (5121) that clamps the rear of the lower position of the trolley (a specified support or side support). The fixing device may have a lower front clamp and drive device that clamps the front (a specified support or side support) at the upper position of the trolley or any position halfway between the upper and lower parts, and a lower rear clamp and drive device that clamps the rear (a specified support or side support) at the upper position of the trolley or any position halfway between the upper and lower parts. The fixing device is The egg container transport cart (8) may be provided with a pair of left and right first rear side surface clamps (521) and a first right rear side surface clamp (541) that are movable up and down relative to the cart or a floor surface (e.g., an apparatus installation surface) and that (by moving in the left and right direction) regulate (removably fix) (clamp) the rear sides (predetermined support columns or horizontal supports) of the left and right frames or the left and right side sides (predetermined support columns or horizontal supports) of the back frame of the egg container transport cart (8) so as to press them toward the center of the shelf. The fixing device is The egg container transport cart (8) may include a pair of left and right clamps, a first left front clamp (531) and a first right front clamp (551), which are movable up and down relative to the cart or the floor surface and which (by moving in the forward and backward directions) regulate (removably fix) (clamp) the front sides (predetermined vertical or horizontal supports) of the left and right frames of the egg container transport cart (8) so as to press them toward the rear side. The present invention is not limited to the above-mentioned "pair of left and right" clamps, and only one of the clamps may be provided. Also, the above-mentioned "pair of left and right" may be at the same height or different heights relative to the dolly or floor surface. The fixing device is The shelf may be provided with a first preliminary opening portion (first left preliminary opening portion 522, first right preliminary opening portion 542) that is movable up and down relative to the cart or floor surface and that comes into contact with either or both of the left and right sides (left side, right side) of the shelf board and is inserted into the gap at the center bend in order to increase the acute angle (M2) of the open state formed by the center bend of the folding shelf (801) (by moving in the left and right directions) (widening the acute angle (M2) from the initial 0 degrees to, for example, 10 degrees to 30 degrees, a preliminary open state). The fixing device is The shelf may be provided with an opening stopper portion (first left opening stopper portion 533, first right opening stopper portion 553) that is movable up and down relative to the cart or floor surface and abuts against the front side (801c) of the folding shelf (801) before the shelf is completely opened (by moving in the forward / backward or vertical direction) to stop the opening. The fixing devices are provided at the front, rear, or side of the egg container transport cart (8) and may be movable in the up and down direction, or may be movable in the front-back direction, left-right direction, left-right direction, or an oblique direction inclined relative to the front-back direction in a plan view. The fixing device is configured to include, for example, an air, electric, or hydraulic drive device, a linear motion device that is moved by the drive force, and a contact member (elastic member). The fixing device may be attached to the shelf opening device, the frame of the first and second loading sections, a support, a transport device, the base of a multi-axis robot arm, etc., or may be installed separately on the floor or ceiling. The stopper or clamp may have a tip made of an elastic material.

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

[0024] The first shelf opening device (50) is a first frame body (510) (forming a back surface (512), a front surface (511), and both side surfaces (not shown)); a first shelf opening unit (51) movable in the vertical direction on the rear side of the first frame body (510); a first shelf opening unit drive section (513, 5131) for driving the first shelf opening unit (51) up and down; The unit is provided with at least one first inclination forming part (first left inclination forming part 561, first right inclination forming part 562) (e.g., suction means) that is arranged to be movable up and down together with the first shelf opening unit (51) (it may be fixed thereto or configured to be movable in conjunction with it), and that turns the folding shelf (801) in a folded state state at the folded state position (M1) at one end (the rear side facing the front) of the loading rail (e.g., a pair of rails facing each other) of the egg container transport cart (8) (e.g., a shelf folded in two with the hinge (301e) as the apex of the fold) into a backward inclined state or into a one-sided lift state with the shelf rotation axis (801d) as the starting point.

[0025] The first shelf opening device (50) may be provided with the locking device described above. The first shelf opening device (50) may, for example, a pair of left and right first rear side clamps (521) and a first right rear side clamp (541) that are provided so as to be vertically movable together with the first shelf opening unit (51) (they may be fixed thereto or configured to be movable in conjunction with it), and that regulate (removably fix) (clamp) the rear sides (predetermined supports or horizontal supports) of the left and right frames of the egg container transport cart (8) or the left and right side sides (predetermined supports or horizontal supports) of the back frame so as to press them toward the center of the shelf; a pair of left and right clamps, a first left front clamp (531) and a first right front clamp (551), which are provided so as to be vertically movable together with the first shelf opening unit (51) (they may be fixed thereto or configured so as to be movable in conjunction with it), and which regulate (removably fix) (clamp) the front sides (predetermined vertical or horizontal supports) of the left and right frames of the egg container transport cart (8) so as to press them toward the rear side; a first opening stopper portion (first left opening stopper portion 533, first right opening stopper portion 553) that is provided so as to be vertically movable together with the first shelf opening unit (51) (it may be fixed thereto or configured so as to be movable in conjunction therewith) and that abuts against the front side (801c) of the folding shelf (801) before the shelf is completely opened to stop the opening; a first preliminary opening portion (first left preliminary opening portion 522, first right preliminary opening portion 542) that is provided so as to be movable up and down together with the first shelf opening unit (51) (it may be fixed thereto or configured to be movable in conjunction therewith), and that is inserted into the gap at the center bend by contacting either the left or right side or both sides (left side, right side) of the shelf board in order to enlarge the acute angle (M2) formed by the center bend of the folding shelf (801) that is in an inclined state or in a one-sided lifted state by the first inclination forming portion (first left inclination forming portion 561, first right inclination forming portion 562) (widening the initial angle from 0 degrees to, for example, 10 degrees to 30 degrees, a preliminary open state); The device may include: The first left preliminary opening portion (522) and the first right preliminary opening portion (542) respectively have a plate-like or rod-like first left abutment portion (522a) and a first right abutment portion (524a) that are inclined toward the rear (rear) side with respect to the axis of movement toward the center of the shelf so as to abut against the side surface of the folding shelf. The inclination makes it easier to widen the folding angle of the folding shelf.

[0026] The first shelf opening unit (51) is First left and right arm frames (first left arm frame 52, first right arm frame 54) are provided forward from the left and right sides of the arm frame, respectively; a first left arm tip frame (53) provided on the front side of the first left arm frame (52) toward the center of the carriage; The device may further include a first right arm tip frame (55) provided on the front side of the first right arm frame (54) toward the center of the carriage. A first left rear side surface clamp (521) and a first left preliminary opening portion (522) are provided on the rear side of the first left arm frame (52) such that the side that contacts the carriage faces the center of the carriage, and the first left rear side surface clamp (521) and a first left preliminary opening portion (522) are provided on the front side of the first left rear side surface clamp (521). A first right rear side surface clamp (541) and a first right preliminary opening portion (542) are provided on a front side of the first right rear side surface clamp (541) on a rear side of the first right arm frame (54) such that a side that contacts the carriage faces the rear side, A first left front clamp (531) and a first left open stopper portion (533) are provided on the first left arm tip frame (53) such that a side that contacts the cart faces the rear side, and the first left front clamp (531) is provided closer to the center of the cart than the first left front clamp (531), The first right arm end frame (55) may be provided with a first right front clamp (551) and a first right open stopper portion (553) closer to the center of the trolley than the first right front clamp (551) so that the side that contacts the trolley faces the back side.

[0027] The first shelf opening unit (51) is A left-right spacing drive unit (524) may be provided so that at least one of the first left arm frame (52) and the first right arm frame (54) can move relative to the first shelf opening unit (51) so as to expand or contract the parallel spacing formed by the first left arm frame (52) and the first right arm frame (54); The apparatus may further include left and right rear clamp driving units (5211, 5411) for driving the first left rear side clamp (521) and the first right rear side clamp (541), respectively. A preliminary opening drive unit (5221, 5421) may be provided to drive each of the first left preliminary opening unit (522) and the first right preliminary opening unit (542), The apparatus may include left and right front clamp drive units (532, 552) for driving the first left front clamp (531) and the first right front clamp (551), respectively. The apparatus may include an open stopper driving unit (532, 552) for driving each of the first left open stopper unit (533) and the first right open stopper unit (553). The left and right front clamp driving units (532, 552) and the open stopper driving unit (532, 552) may be the same driving unit.

[0028] The first shelf opening device (50) may have a first shelf opening control unit. Necessary information such as information on the type of the cart (8) may be received from the system (1), or the necessary information may be received from another device, or may be manually input. The first shelf opening control unit is A command may be given to the first shelf opening unit drive unit (513, 5131) to control the vertical movement of the first shelf opening unit (51), a left / right interval drive unit (524) may be instructed to control an operation of moving at least one of the first left arm frame (52) and the first right arm frame (54) relative to the first shelf opening unit (51); A command may be sent to each of the left and right rear clamp driving units (5211, 5411) to control the clamping operation of the first left rear side clamp (521) and the first right rear side clamp (541), A command may be sent to each of the left and right front clamp drive units (532, 552) to control the clamping operations of the first left front clamp (531) and the first right front clamp (551), A command may be sent to each of the opening stopper drive units (532, 552) to control the stopping operation of the first left opening stopper unit (533) and the first right opening stopper unit (553), The first inclination forming unit (first left inclination forming unit 561, first right inclination forming unit 562) may be instructed to control an operation of adsorbing and pulling backward the folding shelf (801) in a folded state position (M1) so as to make the folding shelf (801) in a folded state position (M1) in an inclined state or in a one-sided lifted state with respect to the placement rail, An instruction may be given to each of the preliminary opening drive units (5221, 5421) to control the operation of putting the folding shelves in the preliminary opening state at the first left preliminary opening unit (522) and the first right preliminary opening unit (524).

[0029] The operation control unit (150) may control a first multi-axis robot arm in conjunction with a shelf opening operation by a first shelf opening control unit. The operation control unit (150) may have a function of a first shelf opening control unit. The first multi-axis robotic arm may be provided with a locking means (eg, a hooking means, a chuck means). The operation control section (150) issues a command to the first multi-axis robot arm to lock, with the locking means, a locked portion (a part of the shelf board frame on the front side, a locked object, a rod-shaped frame, etc.) of the folding shelf that is in an inclined state or in a one-sided lifting state at the first inclination forming section (first left inclination forming section 561, first right inclination forming section 562) and in a pre-opened state at the first preliminary opening section (first left preliminary opening section 522, first right preliminary opening section 542), After the action of the first inclination forming portion and the first preliminary opening portion on the shelf board is released, (after a command is issued to the first shelf opening control portion to release the suction of the first inclination forming portion (first left inclination forming portion 561, first right inclination forming portion 562) on the folding shelf and to return the first preliminary opening portion (first left preliminary opening portion 522, first right preliminary opening portion 542) to the original position, Each component may be controlled so that a first multi-axis robot arm equipped with the locking means is instructed to move the folding shelf, which is locked by the locking means, forward and release the locking means at a predetermined position (for example, at a position where the movement of the folding shelf is stopped by the left and right opening stopper portions or at a position where it is completely opened).

[0030] The second shelf opening device (60) has the same configuration as the first shelf opening device (50). The second shelf opening device (60) is a second frame body (forming a rear, a front and both sides); A second shelf opening unit movable in the vertical direction on the rear side of the second frame body; A second shelf opening unit drive unit that drives the second shelf opening unit up and down; The second shelf opening unit is provided with a second preliminary opening portion (second left preliminary opening portion, second right preliminary opening portion) that is arranged to be movable up and down together with the second shelf opening unit (it may be fixed to it or configured to be movable in conjunction with it), and that is abutted against either the left or right side surface (left side surface, right side surface) or both of the left and right side surfaces of the shelf board and 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 that is in an inclined state or in a one-sided lifted state by the second inclination forming portion (widening the angle from the initial 0 degrees to, for example, 10 degrees to 30 degrees).

[0031] The second shelf opening device (60) may be provided with the above-mentioned fixing device. The second shelf opening device (60) may, for example, a pair of left and right rear side clamps, which are provided so as to be vertically movable together with the second shelf opening unit (they may be fixed thereto or configured to be movable in conjunction with it), and which regulate (removably fix) (clamp) the rear sides (predetermined supports or horizontal supports) of the left and right frames of the egg container transport cart or the left and right side sides (predetermined supports or horizontal supports) of the back frame so as to press them toward the center of the shelf; A pair of left and right front clamps, a left front clamp and a right front clamp, which are provided so as to be movable up and down together with the second shelf opening unit (they may be fixed thereto or configured to be movable in conjunction with it), and which regulate (removably fix) (clamp) the front sides (predetermined vertical or horizontal supports) of the left and right frames of the egg container transport cart so as to press them toward the rear sides; a second opening stopper portion (a second left opening stopper portion, a second right opening stopper portion) that is provided so as to be movable up and down together with the second shelf opening unit (it may be fixed thereto or configured so as to be movable in conjunction with it), and that abuts against the front side of the folding shelf in a state before the shelf is completely opened to stop the opening; a second preliminary opening section (second left preliminary opening section, second right preliminary opening section) that is provided so as to be movable up and down together with the second shelf opening unit (it may be fixed thereto or configured to be movable in conjunction with it), and that is abutted against either or both of the left and right side surfaces (left side surface, right side surface) of the shelf board and inserted into the gap at the center bend in order to widen the acute angle of opening formed by the center bend of the folding shelf that is in an inclined state or in a one-sided lifted state by the second inclination forming section (widening the angle from the initial 0 degrees to, for example, 10 degrees to 30 degrees); The device may include: The second left preliminary opening section and the second right preliminary opening section each have a plate-like or rod-like second left abutment section and a second right abutment section that are inclined toward the rear (rear) side with respect to the axis of movement toward the center of the shelf so as to abut against the side surface of the folding shelf. The inclination makes it easier to widen the folding angle of the folding shelf.

[0032] The second shelf opening unit is second left and right arm frames (second left arm frame, second right arm frame) provided forward from each of the left and right sides; A second left arm tip frame provided on the front side of the second left arm frame toward the center of the carriage; The robot may further include a second right arm tip frame provided on the front side of the second right arm frame toward the center of the carriage. A second left preliminary opening portion is provided on the rear side of the second left arm frame, the second left rear side surface clamp and the second left rear side surface clamp being located in front of the second left rear side surface clamp such that the side that contacts the carriage faces the center of the carriage, A second right preliminary opening portion is provided on the rear side of the second right arm frame, on the front side of the second right rear side clamp and the second right rear side clamp, so that the side that contacts the cart faces the rear side, A second left open stopper portion is provided on the second left arm tip frame, the second left front clamp and the second left front clamp being closer to the center of the cart than the second left front clamp, so that the side that contacts the cart faces the back side, A second right open stopper portion may be provided on the second right arm end frame, closer to the center of the trolley than the second right front clamp and the second right front clamp, so that the side that contacts the trolley faces the rear side.

[0033] The second shelf opening unit is A left-right spacing drive unit may be provided so that at least one of the second left arm frame and the second right arm frame can move relative to the second shelf opening unit so as to expand and contract the parallel spacing formed by the second left arm frame and the second right arm frame, The apparatus may further include left and right rear clamp drive units for driving the second left rear side surface clamp and the second right rear side surface clamp, A preliminary opening drive unit may be provided to drive each of the second left preliminary opening unit and the second right preliminary opening unit, The apparatus may further include left and right front clamp drive units for driving the second left front clamp and the second right front clamp, respectively; The apparatus may further include an open stopper drive unit for driving each of the second left open stopper unit and the second right open stopper unit. The left and right front clamp drive units and the open stopper drive unit may be a single drive unit.

[0034] The second shelf opening device (60) may have a second shelf opening control unit. Necessary information such as information on the type of the cart (8) may be received from the system (1), or the necessary information may be received from another device, or may be manually input. The second shelf opening control unit is A command may be given to the second shelf opening unit drive unit to control the vertical movement of the second shelf opening unit, A command may be given to the left and right interval drive unit to control an operation of at least one of the second left arm frame and the second right arm frame moving relative to the second shelf opening unit, A command may be sent to each of the left and right rear clamp drive units to control the clamping operations of the second left rear side clamp and the second right rear side clamp, A command may be sent to each of the left and right front clamp drive units to control the clamping operations of the second left front clamp and the second right front clamp, A command may be issued to each of the open stopper drive units to control the stopping operation of the second left open stopper unit and the second right open stopper unit, The second inclination forming unit may be instructed to control an operation of adsorbing and pulling the folding shelf, which is in a folded state at the folded state position (M1), backward so as to make the folding shelf in an inclined state or in a one-sided lifting state with respect to the placement rail, An instruction may be given to each of the preliminary opening drive units to control the operation of placing the folding shelves in the preliminary opening state in the second left preliminary opening unit and the second right preliminary opening unit.

[0035] The operation control unit (150) may control a second multi-axis robot arm in conjunction with a shelf opening operation by a second shelf opening control unit. The operation control unit (150) may have a function of a second shelf opening control unit. The second multi-axis robot arm may be provided with a locking means (for example, a hooking means or a chuck means) (on the distal arm or hand portion). The operation control section (150) issues a command to the second multi-axis robot arm to lock, with the locking means, a locked portion (a part of the front shelf board frame, a locked object, a rod-shaped frame, etc.) of the folding shelf that is in an inclined state or a one-sided lifted state at the second inclination forming section and in a pre-opened state at the second pre-opening section (second left pre-opening section, second right pre-opening section), After the action of the second inclination forming section and the second preliminary opening section on the shelf board is released, (after a command is given to the second shelf opening control section to release the suction of the second inclination forming section on the folding shelf and to return the second preliminary opening section (second left preliminary opening section, second right preliminary opening section) to its original position, Each component may be controlled so that a command is given to a second multi-axis robot arm equipped with the locking means to move the folding shelf, which is locked by the locking means, forward and release the locking means at a predetermined position (at a position where the movement of the folding shelf is stopped by the left and right opening stopper portions or at a position where it is completely opened).

[0036] The first and second shelf opening devices (50, 60) may have one or more stop position detection units that detect a part constituting the egg container transport cart (8) being transported. When the stop position detection unit detects the egg container transport cart (8), the first and second shelf opening control units may instruct a fixing device (a stopper or a clamp) to be driven to stop the egg container transport cart (8).

[0037] The first and second shelf opening devices (50, 60) may have one or more unit up-down position detection units that detect predetermined up-down positions of the first and second shelf opening units (51). When the unit up-down position detection units detect the up-down positions of the first and second shelf opening units (51), the first and second shelf opening control units may instruct the first and second shelf opening unit driving units (513, 5131) to start or stop driving. The first and second shelf opening units (51) 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 (M1). When the folding shelf detection unit detects the folding shelf, the first and second shelf opening control units may instruct the first and second shelf opening unit drive units (513, 5131) to start or stop driving.

[0038] The first and second shelf opening devices (50, 60) 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 first and second shelf opening control units may be configured to output an alarm when the shelf open detection unit does not detect (the position of) the folding shelf in an open state after a predetermined unfolding operation (opening).

[0039] The first and second shelf opening control units are When egg containers are stacked on the folding shelves and / or egg containers by the first and second multi-axis robot arms (for example, when stacking the topmost egg container), a command may be given to the first and second tilt forming units (561, 562) to control the folding shelves, which are in a folded state position (M1), to be inclined or lifted on one side relative to the loading rail (a state in which the folding shelves are tilted backwards). For example, when stacking the topmost egg container, the folding shelf can be tilted backward to ensure space between the folding shelf and the egg containers below it, thereby reducing operational interference between the first and second multi-axis robot arms (21a, 21b) and the hand units (211a, 211b).

[0040] The above configuration has the following advantages. (1) An egg container loading system equipped with a cart transport device that can accommodate various carts (roll inners) can be provided. (2) It is possible to provide an egg container loading system having a cart fixing structure that can suppress failure of shelf opening (deployment). (3) A filling egg container loading system can be provided that is compatible with a variety of egg containers. (4) It is possible to provide an egg container loading system whose layout takes into consideration the work area, cart waiting area, shipping area, and the movement lines of carts and workers. [Brief description of the drawings]

[0041] [Figure 1A] FIG. 2 is a diagram showing an example of an overall layout diagram of an egg container loading system. [Figure 1B] FIG. 2 is a diagram showing an example of an overall layout diagram of an egg container loading system. [Figure 1C] FIG. 2 is a diagram showing an example of an overall layout diagram of an egg container loading system. [Figure 1D] FIG. 2 is a diagram showing an example of the left side surface of the shelf opening device. [Figure 2A] FIG. 11 is a diagram showing an example of the operation of the shelf opening device. [Figure 2B] FIG. 11 is a diagram showing an example of the operation of the shelf opening device. [Figure 2C] FIG. 11 is a diagram showing an example of the operation of the shelf opening device. [Figure 2D] FIG. 11 is a diagram showing an example of the operation of the shelf opening device. [Diagram 3] FIG. 2 is a diagram showing an example of a trolley loading device. [Figure 4] FIG. 2 is a diagram showing an example of an overall layout diagram of an egg container loading system. [Diagram 5] FIG. 13 is a diagram showing an example of sorting, transporting, and leaving. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] (Egg container transport trolley) Cart 8 is a commonly distributed egg container transport cart. In this embodiment, when cart 8 is loaded into cart loading devices 30, 40, the lowest folding shelf is unfolded, egg containers P are placed on that shelf, and after a predetermined number of stages are loaded, the folding shelf above is unfolded, and egg containers are placed on that shelf, and so on, in order from bottom to top. Cart 8 differs in width, depth, and spacing (height) between upper and lower shelves, and the hinge position and structure of the folding frame also differ depending on the manufacturer, but the present invention is a system that can handle carts of many different sizes.

[0043] The cart 8 shown in Figures 1D and 3 has a bottom frame 831, a back frame 834 that is fixed to the bottom frame 831 in an L-shape when viewed from the side, and a left frame 832 and a right frame 833 that are connected to the back frame 834 by hinges (not shown) so that the cart can be folded. The front of the trolley is open so that egg containers can be loaded. The bottom frame 831 is provided with freely rotating casters (wheels) at each of its four corners.

[0044] On the left side frame 832, a first side plate 811, a second side plate 812, a third side plate 813, and a fourth side plate 814 are arranged at a predetermined interval from the bottom in the width direction of the frame (the direction from the back to the front, perpendicular to the vertical direction). The first side plate 811, the second side plate 812, the third side plate 813, and the fourth side plate 814 are provided with a first mounting rail 8111, a second mounting rail 8121, a third mounting rail 8131, and a fourth mounting rail 8141 that extend at a right angle (approximately a right angle) from their respective bottom sides toward the center of the dolly 8. Similar opposing side plates and mounting rails are also provided on a right-side frame 833 that faces each of the first side plate 811, the second side plate 812, the third side plate 813, and the fourth side plate 814.

[0045] One end of the folding shelf 801 is pivotally supported (801d) and rotatably connected to the rear ends (on the rear frame 834 side) of a pair of opposing mounting rails, and the folding shelf 801 is configured so that the rear shelf 801a and the front shelf 801b can be folded (M1) at a hinge (801e) in the center. The front end 801c and the rear end (not shown) of the folding shelf 801 extend diagonally upward. This makes it possible to restrict the movement of the egg container P in the rear and front directions. The front end 801c functions as a locked part of a locking part of a multi-axis robot arm, as will be described later.

[0046] (egg container) The egg container may be, for example, a flat-top pack or a regular pack, and may contain, but is not limited to, 6, 10, 12, or the like eggs. Unless otherwise specified, the egg container is filled with a specified number of eggs.

[0047] (Egg container loading system) 1A to 1C show the overall configuration of an egg container loading system 1. System 1 of the present embodiment is a loading station in which two loading units using a trolley carry-in and a multi-axis robot arm are arranged, but in the present invention, one trolley carry-in and one multi-axis robot arm may be arranged, or three or more may be arranged.

[0048] The system 1 includes a main conveying device 71 that conveys the egg containers P conveyed from the upstream side in series in the longitudinal direction. The system 1 is not limited to this configuration, and there may be a plurality of main conveying devices 71. The system 1 sends the egg container P being transported by the main transport device 71 to a first egg container transport device 72a. The system 1 is provided with a first sorting and transport device 73a. The main conveying device 71 further includes a second sorting and conveying device 73b that sends the egg containers P to the second egg container conveying device 72b on the conveying upstream side of the first sorting and conveying device 73a. Both of the first and second sorting and conveying devices 73a and 73b include discrimination units 75a and 75b that discriminate the type of the egg container P. The first and second sorting and conveying devices 73a and 73b will be described in detail later. The discrimination units 75a, 75b may be composed of, for example, a barcode reader that reads a barcode provided on the egg container P, an image analysis unit that takes an image and analyzes it to identify the egg container, a sensor discrimination unit that discriminates whether the egg container is a flat pack or a regular pack using, for example, a photoelectric sensor, etc. When two different types of egg containers are loaded, they are discriminated and sorted by the sorting conveying device. The discrimination units 75a and 75b have counters for counting the number of containers, and are configured to count the total number of containers transported, the number of containers per type, the number of containers to be sorted, and the number of containers to be passed through. The number of containers to be sorted on the upstream side and the downstream side may be controlled according to the loading status of the robot arm.

[0049] Egg container loading system 1 has an overall operation control unit 150 that issues control commands for transporting and waiting for egg containers, for mutual cooperation and control commands with discrimination units 75a and 75b, for the loading operation of trolley 8, for the egg container loading operation (container transport and multi-axis robot arm operation, suction gripping and release operation), and for the unloading operation of trolley 8. The overall operation control unit 150, the discrimination units 75a, 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized, for example, by cooperation between hardware such as a processor and a memory and a program that describes the control content, or may be realized by a combination of a dedicated circuit and firmware, or may be realized by a cloud-type or on-premise server, or a general-purpose computer.

[0050] (L-shaped layout) Please refer to FIG. 1A. The first egg container transport device 72a has a first waiting area W1 in which one egg container or two or more egg containers P arranged in parallel (parallel to the longitudinal direction) are located. A stopping unit is provided so that the device can be stopped at a predetermined stopping position. As an example of a transport device, the device disclosed in Japanese Patent No. 6765151 may be adopted. The first multi-axis robot arm 21a has a first suction gripper 212a provided on a first hand unit 211a at the tip position of the first multi-axis robot arm 21a. The first multi-axis robot arm 21a grips an egg container P in the first waiting area W1 with the first suction gripper 212a, and transfers the gripped egg container P onto each folding shelf and onto the egg container of the dolly 8. The loading control of the multi-axis robot arm will be described later. The first carriage push-out device 34 transports the first egg container transport carriage 8 with the lowest shelf unfolded along a linear first carry-in line L1 from the first carriage carry-in section 30, which is distal to and faces the first multi-axis robot arm 21a, to a first loading section 38 (loading position), which is proximal to the first multi-axis robot arm 21a. At the loading position, loading of the multi-axis robot arm is performed. The first trolley discharge device 36 transports the trolley 8a from the first loading section 38 to the trolley discharge section 39 (discharge area) along the first discharge line L11, which is in a direction that intersects with the first loading line L1 at 90 degrees (any direction that intersects with the first loading line L1 at substantially 90 degrees). In this embodiment, the first waiting area W1 of the first egg container transporting device 72a, the first multi-axis robot arm 21a, and the first loading section 38 are arranged in an L-shape with the main body axis AR of the first multi-axis robot arm 21a as the starting point (first L-shaped layout).

[0051] The second multi-axis robot arm 21b has a second suction gripper 212b provided on a second hand unit 211b at the tip position of the second multi-axis robot arm 21b. The second multi-axis robot arm 21b grips an egg container P in the second waiting area W2 with the second suction gripper 212b, and transfers the gripped egg container P onto each folding shelf of the dolly 8 and onto the egg container. The second cart push-out device 44 transports the second egg container transport cart 8, with the lowest shelf unfolded, along the linear second loading line L2 from the second cart loading section 40, which is distal and faces the second multi-axis robot arm 21b, to the second loading section 48 (loading position), which is proximal to the second multi-axis robot arm 21b. The second cart unloading device 46 transports the cart 8b from the second loading section 48 to the cart unloading section 39 (unloading area) along the second unloading line L21, which is in a direction intersecting with the second carry-in line L2 at 90° (any direction may be sufficient as long as it intersects with the second carry-in line L2 at 90°). In this embodiment, the second unloading line L21 is in the direction opposite to the first unloading line L11, and serves as a shared unloading area. In this embodiment, the second waiting area W2 of the second egg container transporting device 72b, the second multi-axis robot arm 21b, and the second loading section 48 are arranged in an L-shape with the main body axis AR of the second multi-axis robot arm 21b as the starting point (second L-shaped layout). As shown in FIG. 1A, the first L-shaped layout and the second L-shaped layout are arranged in mirror symmetry.

[0052] The first carry-in line L1, the first loading section 38, and the first multi-axis robot arm 21a are arranged in a straight line (linear layout). The second carry-in line L2, the second loading section 48, and the second multi-axis robot arm 21b are arranged in a straight line (linear layout). This allows the shortest route from carry-in to loading to be configured. The first and second carry-in lines L1 and L2 are further provided with a straight or L-shaped carry-in route L0 on the entrance side. The carry-in route L0 may be manual or may be automatically transported by a transport device.

[0053] The cart sending-out device 391 sends out the loaded cart 8a and / or cart 8b from the cart unloading section 39 along a sending-out line L3 that is arranged parallel to the first and second carry-in lines L1, L2. Double doors 392a, 392b are provided at the exit of the trolley discharge section 39, and when the trolley 8 is pushed out by the trolley discharge device 391 and sent along the discharge line L3, the double doors 392a, 392b hit the front frame of the trolley 8 and also open. The output line L3 is disposed between the first and second input lines L1 and L2. The output line L3 may further include an L-shaped output route L31 at the same distal end as the inlets of the first and second inputs. The transport route L31 may be manual or automatically transported by a transport device. The closer the first and second loading sections 30, 40 are to the outgoing line L3, the more the workability can be improved. For example, the movement path of the cart 8 is U-shaped, and the ingoing and outgoing are next to each other, thereby improving the workability, and further combining the U-shaped movement path to form a mountain-shaped movement path (shaping the outgoing route in common) can reduce the dedicated space and costs while improving the processing capacity.

[0054] The layout of the alternative embodiment will be described below. (translationally symmetrical arrangement) The explanation will be given with reference to Fig. 1B. The difference from Fig. 1A is that the carriage discharge section and carriage discharge device are not combined into one unit but are provided separately from the delivery line. The second carry-out line L21 runs from left to right, and the second cart carry-out section 39b and the second cart send-out device 391b are provided in that direction. The second send-out line L3b runs parallel to the second carry-in line L2 and in the opposite direction (i.e., parallel to the first send-out line L3a) and in the same direction. The layout configurations of [first loading line L1, first loading section 38, first multi-axis robot arm 21a, first waiting area W1, first unloading line L11, first cart unloading section 39a, first cart send-out device 391a, first send-out line L3a] and [second loading line L2, second loading section 48, second multi-axis robot arm 21b, second waiting area W2, second unloading line L21, second cart unloading section 39b, second cart send-out device 391b, second send-out line L3b] have translational symmetry.

[0055] (T-shaped layout) Please refer to FIG. 1C. The egg container loading system 1 includes a first egg container transport device 72a having a first waiting area W1 in which one egg container or two or more egg containers P arranged in parallel (arranged in parallel in the longitudinal direction), a first multi-axis robot arm 21a having a first suction gripper 212a that grips the egg container P in the first waiting area W1 and transfers the gripped egg container P to each folding shelf of a cart 8, a first cart push-out device 340 that transports the cart 8 with the lowest shelf unfolded from the first cart carry-in device 300 to a first loading unit 38 (loading position) that is proximal to the first multi-axis robot arm 21a along a linear first carry-in line L10 from left to right, and a first cart carry-out device (not shown) that transports the cart 8a from the first loading unit 38 to the cart carry-out unit 39 along a first carry-in line L11 that is in the same direction as the first carry-in line L10. The first carry-in line L10, the first loading section 38, the first carry-out line L11, and the first multi-axis robot arm 21a are arranged in a T-shape (first T-shaped layout). The egg container loading system 1 includes a second egg container transport device 72b having a second waiting area W2 in which one egg container or two or more egg containers P arranged in parallel (arranged in parallel in the longitudinal direction), a second multi-axis robot arm 21b having a second suction gripping unit 212b that grips the egg container P in the second waiting area W2 and transfers the gripped egg container P to each folding shelf of the cart 8, and a second cart carry-in device 400 that carries the cart 8 with the lowest shelf plate unfolded and moves the cart 8 from the second cart carry-in device 400 to the second multi-axis robot arm 21b. The robot arm 41 is equipped with a second trolley loading device 440 which transports the trolley 8b along a straight second loading line L20 from right to left in a direction 180 degrees different from the first loading line L10 (the directions in which they collide) to a second loading section 48 (loading position) which is proximal to the axis robot arm 21b, and a second trolley unloading device (not shown) which transports the trolley 8b from the second loading section 48 to the trolley unloading section 39 along a second unloading line L21 which is in the same direction as the second loading line L20. The second carry-in line L20, the second loading section 48, the second carry-out line L21, and the second multi-axis robot arm 21b are arranged in a T-shape (second T-shaped layout). The system 1 further includes a cart sending-out device 391 that sends out the loaded cart 8a and / or cart 8b from the cart discharge section 39 along a sending-out line L30 that intersects with the first and second carry-in lines L10 and L20 at an angle of 90 degrees.

[0056] (Another straight line, T-shaped layout) The following description will be given with reference to FIG. The first waiting area W1 of the first egg container transport device 72a is disposed between the first multi-axis robot arm 21a and the first loading unit 38. The transport direction of the first egg container transport device 72a is from left to right, but is not limited to this and may be the opposite direction. As a result, the first multi-axis robot arm 21a, the first waiting area W1, the first loading unit 38, and the first cart carry-in device 30 are disposed in a straight line. In addition, the first multi-axis robot arm 21a, the first waiting area W1, the first loading unit 38, the first cart carry-in device 30, and the cart carry-out unit 39 are disposed in a T-shape with the first loading unit 38 as the starting point (T-shaped layout). Similarly, the second waiting area W2 of the second egg container transport device 72b is disposed between the second multi-axis robot arm 21b and the second loading unit 48. The transport direction of the second egg container transport device 72b is from right to left, but is not limited to this and may be the opposite direction. As a result, the second multi-axis robot arm 21b, the second waiting area W2, the second loading unit 48, and the second cart carry-in device 40 are disposed in a straight line. In addition, the second multi-axis robot arm 21b, the second waiting area W2, the second loading unit 48, the second cart carry-in device 40, and the cart carry-out unit 39 are disposed in a T-shape with the second loading unit 48 as the starting point (T-shaped layout).

[0057] (Cart loading device) The carriage state detection unit will be described with reference to FIG. 1A. The first cart carry-in device 30 is equipped with a first cart state detection unit 346 for detecting the open state of the lowest folding shelf of the cart 8 being carried in and the orientation of the cart (front-rear direction). The cart state detection unit 346 is installed at the entrance of the carry-in route of the first cart carry-in device 30. The second cart carry-in device 40 is equipped with a second cart state detection unit 446 for detecting the open state of the lowest folding shelf of the cart 8 being carried in and the orientation of the cart (front-rear direction). The cart state detection unit 446 is installed at the entrance of the carry-in route of the second cart carry-in device 40. The detection results of the first and second cart state detection units 346, 446 are sent to the operation control unit 150, and the operation control unit 150 may command a warning to a notification means (such as a light output device that flashes a light, a monitor display, a warning sound emitting speaker, or a warning sent to a mobile terminal) when an abnormal detection result indicates that the open state of the lowest folding shelf and the orientation of the cart are abnormal. When an abnormal detection result indicates that the open state of the lowest folding shelf and the orientation of the cart are normal, the operation control unit 150 may control to restrict the pushing-out operation of the cart 8 by the first and second cart pushing-out devices 34, 44. When a normal detection result indicates that the open state of the lowest folding shelf and the orientation of the cart are normal, the operation control unit 150 may control to enable the pushing-out operation of the cart 8 by the first and second cart pushing-out devices 34, 44. The first and second carriage state detection units 346, 446 are composed of, for example, a pair of light emitting and light receiving optical sensors, a reflective optical sensor, a distance measuring sensor, an imaging means, an image analysis device, and the like.

[0058] (Cart pushing device) The carriage pushing device will be described with reference to FIG. The first cart pushing device 34 is composed of, for example, a first pushing section 341 having an abutment surface that abuts against the lower frame of the cart 8, a moving path 342 (which may be a rail or a groove) along which the first pushing section 341 moves, and a driving section (not shown, linear motion device) that moves the first pushing section 341 along the moving path 342. When the abutment surface is set to the front with respect to the conveying direction, the first pushing section 341 is pushed from behind and falls forward and downward against a spring means (not shown), and when this pushed state is removed, the spring means causes the first pushing section 341 to rise from the fallen state and return to the original position. As a result, when the cart 8 is inserted into the first cart loading section 30 from the rear, the first pushing section 341 does not get in the way and the cart 8 can be inserted smoothly. The second cart pushing device 44 is also configured in the same way.

[0059] (Frame Guide) The left and right frame guides will be described with reference to FIG. 1A and FIG. The system 1 includes a first left guide section 31 that guides the left frame 832 of the cart 8 and a first right guide section 33 that guides the right frame 833 along the first carry-in line L1 when transporting the cart 8 with the front side facing forward and the rear side facing rear. The first left guide section 31 includes a first movement mechanism 32 that changes the distance between the two guide sections. The system 1 includes a second left guide section that guides the left frame 832 of the cart 8 and a second right guide section that guides the right frame 833 along the second carry-in line L2 when transporting the cart 8 with the front side facing forward and the rear side facing rearward. The second left guide section 41 includes a second movement mechanism 42 that changes the distance between the two guide sections. The first and second moving mechanisms 32, 42 are, for example, position changing mechanisms using electric or air-driven cylinders.

[0060] The front and rear frame guides will be described with reference to FIG. 1C and FIG. 3(c). The system 1 includes a first front frame guide portion 310 that contacts and guides the left and right front frames 83, 84 of the cart 8 when transporting the cart 8 laterally from left to right, and a first rear frame guide portion 330 that contacts and guides the left and right rear frames 834. The first front frame guide portion 310 includes a movement mechanism 320 that changes the distance between the two guide portions. The system 1 includes a second front frame guide portion 410 that contacts and guides the left and right front frames 83, 84 of the cart 8 when transporting the cart 8 laterally from right to left, and a second rear frame guide portion 430 that contacts and guides the left and right rear frames 834. The second front frame guide portion 410 includes a movement mechanism 420 that changes the distance between the two guide portions. In addition, the front frame guide and / or the rear frame guide may be installed to feed the goods from the first loading section 38 to the cart unloading section 39 in a direction along the first unloading line L11.

[0061] (Caster guide) The guides for the left and right front casters and the left and right rear casters will be explained with reference to Figure 3(b). The system 1 includes a first front caster guide 343a that guides the left and right front casters and a first rear caster guide 343b that guides the left and right rear casters when transporting the dolly 8, in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel, in either direction of the left or right side of the dolly 8. A movement mechanism that changes the distance between the front and rear casters may be further provided. In addition, when the cart is transported in the forward and backward directions, guides may be provided for the left forward and backward casters and the right forward and backward casters. The caster guide portion may be a single frame in which a recessed groove is formed, or may be composed of a pair of guide frames that sandwich the caster from both sides.

[0062] (Cart removal section) The retention state detection unit will be described with reference to FIG. 1A. The trolley discharge section 39 is provided with a retention state detection section 392 for detecting whether or not there is a trolley 8 retained inside the trolley discharge section 39. The detection result of the retention state detection section 392 is sent to the operation control section 150, and the operation control section 150 may command a warning to a notification means (a light output device such as a light flashing device, a monitor display, a warning sound emitting speaker, a warning transmission to a mobile terminal, etc.) when the detection result indicates that there is a trolley 8. The operation control section 150 may control to restrict the operation of sending out the trolley 8 by the first and second trolley discharge devices 36, 46 when the detection result indicates that there is no trolley 8. The operation control section 150 may control to enable the operation of sending out the trolley 8 by the first and second trolley discharge devices 36, 46 when the detection result indicates that there is no trolley 8. The operation control section 150 may control to send out the trolley 8 to the sending line L3 by the trolley sending out device 391 when the detection result indicates that there is a trolley 8. The retention state detection unit 392 may be composed of, for example, a pair of light emitting and receiving optical sensors, a reflective optical sensor, a distance measuring sensor, an imaging means, an image analysis device, and the like.

[0063] (Cart sending device and carrying-out device) The carriage sending device 391 and the first and second carriage carrying devices 36 and 46 are configured, for example, with air-driven, hydraulically-driven or electrically-driven linear motion devices (cylinders).

[0064] (Shelf opening device) The following description will be given with reference to FIG. 1D and FIG. 2A to 2D. The first shelf opening device 50 comprises a first frame body 510 forming a rear surface 512, a front surface 511 and both side surfaces (not shown), a first shelf opening unit 51 that is movable in the vertical direction on the rear surface side of the first frame body 510, and a first shelf opening unit drive section 513 and a drive belt 5131 (which may be a toothed belt or a chain) that drive the first shelf opening unit 51 up and down. The second shelf opening device 60 has a similar configuration to the first shelf opening device, so a description thereof will be omitted.

[0065] The first shelf opening unit 51 comprises a first left arm frame 52 and a first right arm frame 54 arranged forward on each of the left and right sides, a first left arm end frame 53 arranged in front of the first left arm frame 52 toward the center, and a first right arm end frame 55 arranged in front of the first right arm frame 54 toward the center. A first left rear side surface clamp 521 and a first left preliminary opening portion 522 are provided on the rear side of the first left arm frame 52, a first right rear side surface clamp 541 and a first right preliminary opening portion 542 are provided in front of the first right rear side surface clamp 541 on the rear side of the first right arm frame 54, a first left front surface clamp 531 is provided on the first left arm end frame 53 toward the rear side, and a first right front surface clamp 551 is provided on the first right arm end frame 55 toward the rear side. The first shelf opening unit 51 is provided with a drive unit 524 so that at least one of the first left arm frame 52 and the first right arm frame 54 can move relative to the first shelf opening unit 51 so as to expand or contract the parallel space formed by the first left arm frame 52 and the first right arm frame 54. In this embodiment, the first left arm frame 52 is configured to move. A pair of left and right clamps, a first rear left side surface clamp 521 and a first rear right side surface clamp 541, are provided so as to be vertically movable together with the first shelf opening unit 51. They press and regulate the left support pillar 81 and the right support pillar 82 on the rear side of the left and right side frame of the dolly 8 toward the center of the shelf. A pair of left and right clamps, a first left front clamp 531 and a first right front clamp 551, are provided so as to be vertically movable together with the first shelf opening unit 51. The first left front clamp 531 presses the left front support pillar 83 and the right front support pillar 84 of the left and right front frames of the cart 8 toward the rear side to regulate them. The pair of left and right first left inclination forming parts 561 and 562 are provided so as to be vertically movable together with the first shelf opening unit 51. The first left inclination forming part 561 and the first right inclination forming part 562 are formed, for example, of a suction pad, a suction tube, a vacuum pump, etc. An air drive part 5611 (which may be an electric drive part) is provided for moving in the front-rear direction. The pair of left and right first left preliminary opening section 522 and first right preliminary opening section 542 are provided so as to be vertically movable together with the first shelf opening unit 51. In order to enlarge the acute angle (M2) formed by the center bend of the folding shelf (801) in the inclined state or one-sided lift state by the first left inclination forming section 561 and the first right inclination forming section 562 (widening from the initial 0 degrees to, for example, 10 degrees to 30 degrees, preliminary open state), the first left inclination forming section 561 and the first right inclination forming section 562 are inserted into the gap at the center bend by abutting against both the left and right side surfaces (left side surface and right side surface) of the shelf board.

[0066] The left and right interval driving unit 524, each clamp and the preliminary opening unit are provided with an air-driven linear motion device or an electric-driven linear motion device.

[0067] The first shelf opening device 50 has a first shelf opening control unit (not shown). Necessary information such as information on the type of the cart 8 may be received from the system 1, or the necessary information may be received from another device, or may be input manually. The first shelf opening control unit commands the first shelf opening unit drive units 513 and 5131 to control the vertical movement of the first shelf opening unit 51. The first shelf opening control unit also commands the left-right spacing drive unit 524 to adjust the spacing between the first left arm frame 52 and the first right arm frame 54. The first shelf opening control unit also commands the first left and first right rear clamp drive units 5211 and 5411 to control the clamping operation of the first left rear side surface clamp 521 and the first right rear side surface clamp 541. The first shelf opening control unit also commands the first left and first right front clamp drive units 532 and 552 to control the clamping operation of the first left front surface clamp 531 and the first right front surface clamp 551 and the stopper operation of the first left opening stopper unit (533) and the first right opening stopper unit (553). The first shelf opening control unit commands first left inclination forming unit 561 and first right inclination forming unit 562 to control the operation of adsorbing and pulling backward folding shelf 301, which is in a folded state position (M1), so as to make it inclined or one-sidedly lifted with respect to the placement rail. The first shelf opening control unit also commands first left and first right preliminary opening drive units 5221, 5421 to control the operation of first left preliminary opening unit 522 and first right preliminary opening unit 542 to put the folding shelves into the preliminary open state.

[0068] (Shelf opening operation) The operation control unit 150 controls the first multi-axis robot arm in conjunction with the shelf opening operation performed by the first shelf opening control unit. First, as shown in FIG. 2A(b), the dolly 8 is placed at the loading position. Next, as shown in FIG. 2A(c), a command is sent to each drive unit to clamp each pillar with the first left rear side clamp 521 and the first right rear side clamp 541, and a command is sent to drive units 532 and 552 to clamp each pillar with the first left front clamp 531 and the first right front clamp 551. Next, as shown in Figures 2B (d) and (e), the first left inclination forming unit 561 and the first right inclination forming unit 562 are instructed to suck up the folding shelf 801, which is in a folded state position (M1), and pull it backward so that it is inclined or one-sidedly lifted relative to the mounting rail. Next, as shown in FIG. 2B(f), in order to enlarge the acute angle (M2) formed by the center bend of the folding shelf 801, which is in an inclined or one-sided raised state (to a preliminary open state), the first left abutment portion 522a and the first right abutment portion 542a are abutted against both the left and right sides (left and right sides) of the shelf board and inserted into the gap at the center bend. 2C(g), a command is given to the first multi-axis robot arm 21a to lock the locked portion (the front shelf frame 801c) of the folding shelf 801 in the preliminary open state with the locking means 213a. The first multi-axis robot arm 21a is provided with the locking means 213a (for example, a hooking means) on the hand unit 211a. Next, as shown in Figures 2C (h) and (i), the first left inclination forming portion 561 and the first right inclination forming portion 562 are released from their suction to the folding shelf, and the first left preliminary opening portion 522 and the first right preliminary opening portion 542 are returned to their original positions, and then a command is given to the first multi-axis robot arm 21a to open (unfold) the folding plates toward the front while still in the hooked state. 2D(j), before the folding shelf 301 is completely opened (deployed), the locked portion (front shelf frame 801c) is brought into contact with the first left and first right opening stopper portions 533, 553, and the locking means 213a is released from the frame 801c. By intentionally releasing the locking portion before the folding shelf 301 is completely unfolded, it is possible to prevent the locking portion from unexpectedly coming off the hook and falling onto the placement rail, or to prevent the generation of collision noise due to the fall. 2D(k), the first left rear side clamp 521, the first right rear side clamp 541, the first left front clamp 531, the first right front clamp 551, the first left opening stopper portion 533, and the first right opening stopper portion 553 are released and returned to their original positions. By returning the clamps and stopper portions to their original positions, the folding shelf board is also completely opened (unfolded).

[0069] (Sorting and conveying device) The first sorting and conveying device 73a will be described with reference to Fig. 5. The second sorting and conveying device 73b has a similar configuration. The first sorting and conveying device 73a sends the egg containers P conveyed by the main conveying device 71 to the first egg container conveying device 72a in a direction parallel to the short side direction (second side) perpendicular to the long side direction (first side). The upstream detection unit 701a is provided at a predetermined position on the first sorting and conveying device 73a and on the main conveying device 71 side upstream of the first sorting and conveying device 73a, and detects the egg containers. The upstream detection unit 701a may be composed of, for example, a pair of light emitting and light receiving optical sensors, a reflective optical sensor, a distance measuring sensor, an imaging means, an image analyzing device, and the like. The first sorting and conveying device 73a includes endless belt rotors 732, 733 on which four contact sending-out portions 731 are provided at equal intervals, a pair of rolls 734, 735 that stretch the rotors 732, 733, and a drive device 736 that rotates the drive roll 735, one of which is a drive roll 735 and the other is a passive roll that rotates freely. The drive device 736 is, for example, a positioning motor, and controls the timing of sending out the egg containers, the amount of egg containers P sent out, and / or the sending speed (acceleration / deceleration) according to the size and / or weight of the egg containers. The drive device 736 rotates in one direction, in the direction of the arrow. The drive device 736 rotates by the amount of egg container P sent out at a predetermined timing from the detection by the upstream detection unit 701a, that is, when the egg container P reaches the sending position W5. As a result, the contact sending part 731 comes into contact with the side surface in the longitudinal direction (first side side) parallel to the transport direction of the egg container being transported, and sends the egg container from the main transport device 71a to the first egg container transport device 72a. The transition member 739 is provided between the first sorting transport device 73a and the main transport device 71, but it does not matter whether it is present or not. First egg container transport device 72a includes a first container guide unit 731 that guides one side of the egg container P in the short side direction and a second container guide unit 732 that guides the other side of the egg container P in the short side direction along the transport direction of the egg container P. A moving mechanism 733 moves second container guide unit 732 to change the distance between the first and second container guide units 731, 732. The moving mechanism 733 can receive information on the size and weight of the egg containers from the overall control unit 150 of the system or an upstream device, and move automatically. The moving mechanism 733 may be composed of, for example, a linear motion device driven by air, electricity, or hydraulic pressure.

[0070] (Loading control device) The egg container loading system 1 may include a loading control device 2 that allows multiple types of loading patterns. The egg container loading system 1 may include a loading control device 2 that controls the loading of egg containers onto the egg container transport cart 8 by the first and second multi-axis robot arms 21a and 21b. The loading control device 2 includes a loading operation setting unit 22 that presets at least one loading pattern and an operation of the multi-axis robot arm 21, and a loading control unit 23 that controls the operations of the multi-axis robot arm 21 and the suction gripping unit 212 so as to grip one or more egg containers with a suction gripping unit 212 provided on a hand unit 211 at the tip position of the multi-axis robot arm 21 and transfer them to at least one shelf (which may or may not be a folding shelf) of an egg container transport cart 8, in accordance with the loading pattern set by the loading operation setting unit 22. The loading pattern switching control unit 24 may be provided, which switches an arbitrary loading pattern from at least two loading patterns (selected by an operator or automatically in response to egg containers waiting on the transport conveyor). The loading pattern switching control unit 24 may be provided with a touch panel type operator operation input means 25. The loading control unit 23 includes: The multi-axis robot arm and the suction gripping unit may be controlled to control the operation of the multi-axis robot arm and the suction gripping unit so that, in any of the multiple loading steps for at least one of the multiple stacking steps for each shelf, at least three or more egg containers (A) are suction-gripped, and all of the egg containers are released from suction and placed at a predetermined first position corresponding to the loading pattern (step a), and egg containers (B) that are less than the at least three or more egg containers (A) that have been placed are again suction-gripped, and moved to a second position different from the first position, where they are released from suction and placed (rearranged) (step b). This rearrangement is called "division rearrangement". The operation of "releasing suction and placing" does not have to involve a downward movement as a movement in the height direction of the suction gripping part. The suction gripping may be released before the bottom of the egg container being suction-held comes into contact with the shelf or egg container below. In the "re-adsorbing and gripping" operation, the object may be re-adsorbed and gripped at a position different from the previous position. Between step a and step b (an intermediate stage of the division and rearrangement), another plurality of egg containers may be suction-held from a standby position (a standby position of the transport conveyor) and placed at a position different from the first and second positions. In other words, another placing operation may be performed between step a and step b.

[0071] The loading control unit 23 includes: In any one of a plurality of loading steps of at least one stage among the plurality of stacked stages, the operation of the multi-axis robot arm 21 and the suction gripping unit 212 may be controlled so that the egg container is placed in a manner of being pushed into a gap between egg containers generated by a stacking pattern and having a length shorter than the length of the egg container in the short direction (fitted into the gap from the bottom of the container to a height partway in the height direction). By filling the gaps with egg containers, movement of the egg containers during transportation can be eliminated and the number of eggs that can be stored can be increased.

[0072] The loading control unit 23 includes: In stacking multiple tiers on each shelf, the operations of the multi-axis robot arm 21 and the suction gripper 212 may be controlled so that the loading pattern of the first tier is the same as or different from the loading pattern of the other tiers. The loading control unit 23 includes: In stacking multiple shelves of a cart in multiple tiers, the operations of the multi-axis robot arm 21 and the suction gripper 212 may be controlled so that the loading pattern of a first shelf is the same as or different from the loading pattern of other shelves. The egg containers may be of the same type or different types, with the same or different loading patterns.

[0073] The loading control unit 23 includes: In stacking multiple layers on each shelf, the operation of the multi-axis robot arm and the suction gripper may be controlled so that the loading pattern of the next layer is started before the loading pattern of any layer is completed. For example, half of the loading patterns of the first layer may be placed (e.g., in the back side loading area), the egg containers of the next second layer may be placed on the placed egg containers, the egg containers of the next third layer may be placed on the egg containers of the second layer, and the egg containers of the fourth layer may be similarly placed. The egg containers may be placed in the remaining loading patterns of the first layer that have not been placed (the front side loading area), the egg containers of the next second layer may be placed on the placed egg containers, the egg containers of the next third layer may be placed on the egg containers of the second layer, and the egg containers of the fourth layer may be similarly placed. In the loading patterns for one stage, the loading pattern on the rear side and the loading pattern on the front side may be the same or different. The back loading pattern and the front loading pattern may have the same or different types of egg containers.

[0074] (Loading pattern) This specifies the loading areas at the front and rear of the trolley. The loading pattern may include a pattern including a rear-side horizontal loading, in which the eggs are loaded horizontally (also referred to as "horizontal loading") in the rear area of ​​the cart so as to be parallel to the longitudinal direction of the egg container, and a front-side vertical loading, in which the eggs are loaded vertically (also referred to as "vertical loading") in the front area so as to be perpendicular to the rear-side horizontal loading. The loading pattern may include a rear-side vertical loading pattern in which the egg containers are loaded vertically in the rear area of ​​the cart so as to be parallel to the short side direction of the egg container, and a front-side horizontal loading pattern in which the egg containers are loaded horizontally in the front area so as to be perpendicular to the rear-side vertical loading pattern. The loading pattern may include a back-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 loaded and the rest is horizontally loaded. The loading pattern may include a front portion being vertically loaded and the remainder being horizontally loaded.

[0075] (Multi-axis robot arm) A hand unit 211 at the tip is attached to the tip of the arm, and has a fixing portion for fixing a suction gripper unit 212 thereto. The suction gripper 212 has, for example, a plurality of suction pads that perform negative pressure suction. The suction pads are connected to a vacuum pump (or blower) via a negative pressure pipe, and by sucking air, the suction pads generate a suction force capable of gripping an egg container that comes into contact with them. Pipes, on-off valves, etc. may be configured and controlled so that all of the multiple suction pads, individually or in units of multiple pads, can perform the operations of "suction, suction stop (suction state), and suction release (return to atmospheric pressure)." [Explanation of symbols]

[0076] 1 Egg container loading system 2 Egg container loading device 21a First multi-axis robot arm 211a First Hand Section 212a First suction gripping part 30 First trolley loading device 32 First movement mechanism 34 First cart pusher 36 First trolley ejection device 38 First loading section 39 Trolley Discharge Section 50 First shelf opening device 52 First Left Arm Frame 53 First Left Arm End Frame 54 First Right Arm Frame 55 First Right Arm End Frame 510 First frame body 521 First left rear side clamp 541 First right rear side clamp 531 First Left Front Clamp 533 First left opening stopper part 551 First Right Front Clamp 553 First right opening stopper part 561 First left inclined forming part (suction unit) 562 First right inclined forming part (suction unit) 522 First left spare opening 542 First right spare opening 72a First egg container transport device 60 Second shelf opening device 8 Egg container transport trolley L1 First loading line P egg container W1 First waiting area

Claims

1. a first egg container transport device having a first waiting area in which one egg container or two or more egg containers arranged in parallel are located; a first multi-axis robot arm having a first suction gripper that grips an egg container in the first waiting area, and transferring the gripped egg container to at least one shelf of a first egg container transport cart; a first carriage carrying device that carries the first egg container transport carriage to the first multi-axis robot arm; a first carriage push-out device provided in the first carriage carry-in device, the first carriage push-out device transporting the first egg container transport carriage along a first carry-in line toward a first loading section (loading position) that is proximal to the first multi-axis robot arm; a first cart carrying-out device that transports the first egg container transport cart from the first loading unit to a cart carrying-out unit along a first carrying-out line different from the first carrying-in line, The first waiting area, the first multi-axis robot arm, and the first loading unit are arranged in an L-shape with a main body axis of the first multi-axis robot arm as a starting point. or the first waiting area is disposed between the first multi-axis robot arm and the first loading unit, and the first multi-axis robot arm, the first waiting area, and the first loading unit are disposed in a straight line. Egg container loading system.

2. a second egg container transport device having a second waiting area in which one egg container or two or more egg containers arranged in parallel are located; a second multi-axis robot arm having a second suction gripping unit that grips an egg container in the second waiting area and transfers the gripped egg container to at least one shelf of a second egg container transport cart; a second carriage carrying device that transports the second egg container transport carriage to the second multi-axis robot arm; a second carriage push-out device provided in the second carriage carry-in device, the second carriage push-out device conveying the second egg container transport carriage along a second carry-in line toward a second loading section (loading position) that is proximal to the second multi-axis robot arm; a second cart carrying-out device that transports the second egg container transport cart from the second loading section to a cart carrying-out section along a second carrying-out line different from the second carrying-in line, The second waiting area, the second multi-axis robot arm, and the second loading unit are arranged in an L-shape with a main body axis of the second multi-axis robot arm as a starting point. or the second waiting area is disposed between the second multi-axis robot arm and the second loading unit, and the second multi-axis robot arm, the second waiting area, and the second loading unit are disposed in a straight line.

2. The egg container loading system of claim 1.

3. a delivery line for carrying the loaded first egg container transport cart and / or the loaded second egg container transport cart from the cart discharge section in parallel to the first and second delivery lines; 3. The egg container loading system of claim 2.

4. a first shelf opening device that automatically opens a folding shelf of the first egg container transport cart; The first shelf opening device is A first shelf opening unit that is movable in the vertical direction; A first shelf opening unit drive unit that drives the first shelf opening unit up and down; a pair of left and right first rear side clamps and a first right rear side clamp for restricting rear sides of left and right frames or left and right side sides of a back frame of the first egg container transport cart so as to press the rear sides toward a center of the shelf; a pair of a first left front clamp and a first right front clamp for restricting the front sides of the left and right frames of the first egg container transport cart so as to press the front sides toward the rear sides; a first opening stopper portion that abuts against a front side of the folding shelf before the shelf is completely opened to stop the opening; at least one first inclination forming unit that causes a folding shelf that is in a folded state at a folded state position at one end of a loading rail of the first egg container transport cart to be inclined backward or in a one-sided lifting state with respect to the loading rail; A first preliminary opening portion that is inserted into a gap at the center bend by contacting one or both of the left and right sides of the shelf board in order to enlarge the acute angle formed by the center bend of the folding shelf that is inclined or lifted on one side by the first inclination forming portion; Equipped with 2. The egg container loading system of claim 1.

5. a second shelf opening device that automatically opens a folding shelf of the second egg container transport cart; The second shelf opening device is A second shelf opening unit that is movable in the vertical direction; A second shelf opening unit drive unit that drives the second shelf opening unit up and down; a pair of second left rear side clamps and second right rear side clamps for restricting the rear sides of the left and right frames of the second egg container transport cart or the left and right side sides of the back frame of the second egg container transport cart so as to press the rear sides toward a center of the shelf; a pair of second left front clamp and second right front clamp that restrict the front sides of the left and right frames of the second egg container transport cart so as to press the front sides toward the rear sides; a first opening stopper portion that abuts against a front side of the folding shelf before the shelf is completely opened to stop the opening; at least one second inclination forming unit, which causes a folding shelf that is in a folded state at a folding state position at one end of a loading rail of the second egg container transport cart to be inclined backward or lifted up on one side relative to the loading rail; A second preliminary opening portion that is inserted into the gap of the center bend by contacting one or both of the left and right side surfaces of the shelf board in order to enlarge the acute angle formed by the center bend of the folding shelf that is inclined or lifted on one side by the second inclination forming portion; Equipped with 3. The egg container loading system of claim 2.

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