Egg container loading system

Abstract

To provide an egg container loading system capable of conveying various kinds of egg containers at high speed while avoiding a collision with an egg container conveyance truck and a lower egg container.SOLUTION: An egg container loading system includes: a robot arm 10; a grip part 31 provided on a hand 11 of the robot arm 10; a plurality of suction members 32 provided on the grip part 31 and for suctioning one or more egg containers P; and a loading operation control part 70 that controls the robot arm 10 and the grip part 31 in accordance with a predetermined loading pattern. The loading operation control part 70 grips a central region of one or more egg containers P at a standby position W with the grip part 31, conveys the egg container toward an unfolded folding shelf of an egg container transport trolley 8, and controls a loading operation for loading one or more egg containers P.SELECTED DRAWING: Figure 1A

Description

Technical Field

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

Background Art

[0002] In order to transport egg containers (also referred to as "egg packs") filled with eggs to retailers such as food supermarkets, transport racks are used. For example, there are a dedicated transport roll box for chicken egg packs manufactured by Yoshida Ersis Co., Ltd., and a roll rack manufactured by San-Young Manufacturing Co., Ltd. Patent Document 1 also describes a transport rack for transporting an egg container for housing chicken eggs. The above transport rack has a design in which a plurality of shelves are foldable and can 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 vertically arranged on the back side of the shelf.

[0004] Patent Document 3 discloses that the positions of the tip (21) of the robot arm (2) and the gripping part (11) are shifted from the center of gravity position in the longitudinal direction of the egg container, and in particular, the egg container is transferred while being adsorbed at a position away from the folding shelf board in order to avoid contact with the folding shelf board, and the egg container is vertically arranged on the back side of the shelf.

[0005] FIGS. 2 and 3 of Patent Document 4 disclose a configuration in which an egg container is adsorbed by a part of the adsorption members (4) of the holding part (3). Patent Document 5, similar to Patent Document 4, discloses a configuration in which an egg pack is adsorbed and transported by a part of the adsorption members, and an egg pack to be stacked on the egg pack on the first layer of the shelf board is disclosed to be arranged so as to protrude into the space above the front frame or the rear frame.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

[0007] In each of the above Patent Documents 3, 4, and 5, in order to avoid interference (collision) between the hand tip of the robot arm and the suction means with the folding plate, the suction position is shifted from the longitudinal center of gravity of the egg container. However, it is much less stable compared to suction at the center of gravity position, and there is a risk that the egg container may fall, especially during high-speed suction and conveyance. Also, in all of the embodiments in Patent Documents 3, 4, and 5, the top surface is a flat pack, and although it is described in the specification that the top surface can also be applied to a regular pack having a shape along the outer appearance of the egg, since the adsorption stability of the regular pack is inferior to that of the flat pack, high-speed conveyance is difficult with the adsorption shifted from the center of gravity positions of Patent Documents 3, 4, and 5.

[0008] Therefore, an object of the present invention is to provide an egg container loading system that can avoid collision with an egg container transport cart or a lower egg container and enable high-speed conveyance of various egg containers. [Means for Solving the Problems]

[0009] The first egg container loading system (A1) is a robot arm (10), a gripping portion (31) provided on a hand (11) at the tip of the robot arm (10), A plurality of suction members (32) provided on the gripping portion (31) for sucking one or more egg containers (P); An loading operation control unit (70) for controlling the robot arm (10) and the gripping portion (31) according to a predetermined loading pattern; The loading operation control unit (70) is configured to: (1) Control a loading operation of gripping a central region of the one or more egg containers (P) with the gripping portion (31) at a standby position (W) (such that the central region of the one or more egg containers (P) overlaps with the central region of the gripping portion (31)), transporting the central region of the one or more egg containers (P) toward a deployed folding shelf board of the egg container transport cart (8), and loading the one or more egg containers (P); (2) In the loading operation, perform control to perform a vertical arrangement along the front - rear direction of the folding shelf board and a horizontal arrangement along the left - right direction orthogonal to the front - rear direction according to the loading pattern; (3) Control a collision avoidance operation of operating the robot arm (10) so as to avoid collision between the folded folding shelf board (852), a front holding portion (8521) protruding forward of the folded folding shelf board (852) and / or each support column (for example, the left frame (82), the right frame (83), the rear - side frame (81)) and the egg container (P) and the gripping portion (31); (4 - 1) In the loading operation at any step directly below at least the folded folding shelf board, when placing the one or more egg containers (P) vertically on the placed egg containers, while maintaining the horizontal state of the egg container (P), control a horizontal movement of moving the gripping portion (31) and the one or more egg containers (P) in the adsorbed state horizontally from the front to the rear into the lower space of the folded folding shelf board (852) with a front margin interval (d5) and upper - lower side entry intervals (h1, h2) provided so as not to collide with the front holding portion (8521) of the folded folding shelf board (852); The one or more egg containers (P) may be placed vertically on top of the egg container (P) in a placed state such that the distance (d6) to the back side frame (81) is the same (substantially the same) or different. At the loading position, adsorption is released and the egg container is removed from the gripping portion while being in contact with or close to the upper egg container. The horizontal movement in (4-1) above is performed only at the uppermost stage directly below the folded shelf board in the folded state and during the loading operation on the back side, and loading may be performed at other stages by "horizontal movement" and / or "diagonal downward movement from the front to the back". For example, depending on the height position to be loaded, the movement locus of the robot hand and the gripping portion may move substantially horizontally and finally tilt. Also, if not directly below the folded shelf board, it may be tilted while moving during the movement to the loading position. "Close" is, for example, a distance exceeding 0 mm and equal to or less than 10 mm or 20 mm. There is no particular limitation on the positional relationship between the standby position (W) and the robot arm. For example, it may be arranged on the left and right side surfaces of the robot arm, the front surface (between the egg container mailing cart and the robot arm), or the rear surface (in a straight line in this order: the egg container transport cart, the robot arm, and the standby position).

[0010] The "horizontal movement" may satisfy the following conditions. (1) The sum of the egg container height (Ph) and the vertical entry interval (h2 + h3) is equal to or less than the lower margin interval (h1) (Ph + h2 + h3) ≤ h1 (2) The front margin interval is greater than zero (d5 > 0) (3) The upper entry interval is greater than zero (h3 > 0) (4) The lower entry interval is greater than zero (h2 > 0) The "central region of the egg container" is the region at the intersection of the center line in the longitudinal direction and the center line in the lateral direction of the egg container. It coincides (substantially coincides) with the center of gravity of the egg container in which eggs are stored. The "front margin interval (d5)" is the interval between the farthest part in the back side direction of the gripping portion (31) and the robot arm (10) and the farthest part in the front direction of the folded shelf board in the folded state (for example, the front holding portion (8521)). The "lower margin interval (h1)" is the interval between the top (highest position) of the folded shelf board (851) in the open state or the top of the uppermost egg container in the placed state and the bottom of the folded shelf board (852) in the folded state immediately above the folded shelf board (851) in the current loaded state. The "lower entry interval (h2)" is the interval between the lowest part (lowest position) in the downward direction of the egg container (P) held by the gripping part (31) and the top (uppermost position) of the folded shelf board (851) in the open state or the top of the uppermost egg container in the placed state. The "upper entry interval (h3)" is the interval between the farthest part at the maximum height in the back direction of the egg container (P) held by the gripping part (31) and the bottom of the folded shelf board (852) in the folded state immediately above the folded shelf board (851) in the current loaded state. The "interval to the back frame (81) (d6)" is the interval between the farthest part in the back direction of the egg container (P) in the placed state and the back frame (81).

[0011] According to the first egg container loading system (A1), by gripping the center position of the egg container and setting the front margin interval, the vertical entry interval, etc. in consideration of the vibration of the egg container during high-speed transportation, the mechanical dimensional error of the egg container transport cart, the distortion of the frame, the dimensional error of the egg container, and the loading position error, stable high-speed transportation can be achieved without collision.

[0012] The second egg container loading system (A2) comprises a robot arm (10), a gripping part (31) provided on the hand (11) at the tip of the robot arm (10), a plurality of suction members (32) provided on the gripping part (31) for sucking one or more egg containers (P), and a loading operation control unit (70) for controlling the robot arm (10) and the gripping part (31) corresponding to a predetermined loading pattern. The loading operation control unit (70) (1) Hold the central region of the one or more egg containers (P) at the standby position (W) (such that the central region of the one or more egg containers (P) overlaps with the central region of the gripping portion (31)), convey it toward the unfolded folding shelf board of the egg container transport cart, and control the loading operation of loading the one or more egg containers (P). (2) In the loading operation, perform control to arrange the containers in a vertical arrangement along the front-rear direction of the folding shelf board and a horizontal arrangement along the left-right direction orthogonal to the front-rear direction, corresponding to the loading pattern. (3) Control the collision avoidance operation of operating the robot arm (10) so as to avoid collision between the folded folding shelf board (852), the front restraining portion (8521) protruding forward of the folded folding shelf board (852) and / or each support column (for example, the left frame (82), the right frame (83), the rear frame (81)), and the egg container (P) and the gripping portion (31). (4-2) In the loading operation at any step directly below at least the folded folding shelf board, when placing the one or more egg containers (P) vertically on the placed egg containers, with a front clearance interval (d5) and vertical and horizontal entry intervals (h1, h2) provided so as not to collide with the front restraining portion (8521) of the folded folding shelf board (852), incline the gripping portion (31) and the one or more egg containers (P) in the adsorbed state in a direction warping from the folding shelf board (in a direction warping forward, tilting the rear side upward and the front side downward), and control the inclined horizontal movement of horizontally moving from the front to the rear into the lower space of the folded folding shelf board (852). (5) The one or more egg containers (P) may be placed on the vertically arranged and placed egg containers (P) such that the interval (d6) to the rear frame (81) is the same (substantially the same) or different, and / or (6) Shift from the inclined horizontal movement to the downward movement, and bring the lowest part in the downward direction (the convex part at the lowest position) of the inclined egg container (P) into contact with or close to the top surface or the concave part of the egg container (P) in the placed state, release the gripping of the inclined egg container, and control the dropping movement to drop and place it on the egg container below. The above-mentioned inclined horizontal movement in (4-2) is performed only at the uppermost stage directly below the folded shelf board in the folded state (for example, the fourth stage in Fig. 3A) and during the loading operation on the back side. At other stages, the loading may be performed by "horizontal movement" and / or "diagonal downward movement from the front to the back". For example, depending on the loading height position, the movement trajectory of the robot hand and the gripping part may move substantially horizontally and finally tilt. Also, if it is not directly below the folded shelf board, it may be tilted while moving during the movement to the loading position. "Proximity" is, for example, a distance exceeding 0 mm and being 10 mm or less or 20 mm or less. The positional relationship between the standby position (W) and the robot arm is not particularly limited. For example, it may be arranged on the left and right side surfaces of the robot arm, the front surface (between the egg container mailing cart and the robot arm), or the rear surface (the egg container transport cart, the robot arm, and the standby position are in a straight line in this order).

[0013] The "inclined horizontal movement" may satisfy the following conditions. (1) The sum of the egg container height (Ph), the vertical entry interval (h21 + h31), and the additional amount due to inclination (h8) is less than or equal to the downward margin interval (h11) (Ph + h21 + h31 + h8) ≤ h11 The additional amount due to inclination (h8) = the longitudinal length of the egg container (Pa) × sinθ Inclination angle: θ (2) The front margin interval is greater than zero (d51 > 0) (3) The upper entry interval is greater than zero (h31 > 0) (4) The lower entry interval is greater than zero (h21 > 0) The "central region of the egg container" is the region at the intersection of the center line in the longitudinal direction and the center line in the lateral direction of the egg container. It coincides (substantially coincides) with the center of gravity of the egg container in which eggs are stored. The "front clearance interval (d51)" is the interval between the rearmost part of the gripping part (31) and the robot arm (10) in the back side direction, and the rearmost part in the front direction of the folded shelf board in the folded state (for example, the front holding part (8521)). The "lower clearance interval (h11)" is the interval between the open folded shelf board (851) or the top part (highest position) of the uppermost egg container in the placed state, and the bottom part of the folded shelf board (852) in the folded state immediately above the currently loaded folded shelf board (851). The "lower entry interval (h21)" is the interval between the lowest part (lowest position) of the egg container (P) in the state of being gripped by the gripping part (31) in the lower side direction, and the open folded shelf board (851) or the top part (uppermost position) of the uppermost egg container in the placed state. The "upper entry interval (h31)" is the interval between the maximum height part of the rearmost part of the egg container (P) in the state of being gripped by the gripping part (31) in the back side direction, and the bottom part of the folded shelf board (852) in the folded state immediately above the currently loaded folded shelf board (851). The "interval to the rear frame (81) (d61)" is the interval between the rearmost part of the egg container (P) in the placed state in the back side direction, and the rear frame (81).

[0014] According to the second egg container loading system (A2), by gripping the center position of the egg container and setting the front clearance interval, the vertical entry interval, etc. in consideration of the vibration of the egg container during high-speed transportation, the mechanical dimensional error of the egg container transportation cart, the distortion of the frame, the dimensional error of the egg container, and the loading position error, stable high-speed transportation without collision becomes possible. Also, according to the second egg container loading system (A2), by tilting the egg container, the robot arm (10), the hand (11), the gripping part (31), and the egg container (P) are arranged on a straight tilt axis, and the egg container is moved to a predetermined release point (R) without interfering with the folded shelf board or its front holding part (8521) during the movement on the back side of the egg container transportation cart, and the gripping is released (detached; released) in the tilted state, so that it can be placed on the egg container. When releasing, the release may be performed after a part of the egg container comes into contact with a part of the lower egg container. Thereby, the impact on the egg container due to the release can be reduced. The second egg container loading system (A2) can be placed deeper at the uppermost stage than the first egg container loading system (A1) that moves horizontally.

[0015] The third egg container loading system (A3) includes a robot arm (10), a gripping part (31) provided on a hand (11) at the tip of the robot arm (10), a plurality of suction members (32) provided on the gripping part (31) for sucking one or more egg containers (P), and a loading operation control unit (70) that controls the robot arm (10) and the gripping part (31) according to a predetermined loading pattern. The loading operation control unit (70) (1) controls a loading operation of gripping the central region of the one or more egg containers (P) with the gripping part (31) (such that the central region of the one or more egg containers (P) overlaps with the central region of the gripping part (31)) when in the standby position (W), transporting the one or more egg containers (P) toward the unfolded folding shelf board of the egg container transport cart, and loading the one or more egg containers (P); (2) in the loading operation, controls to perform a vertical arrangement along the front - rear direction of the folding shelf board and a horizontal arrangement along the left - right direction orthogonal to the front - rear direction according to the loading pattern; (3) controls a collision avoidance operation of operating the robot arm (10) so as to avoid collisions between the folded folding shelf board (852), the front holding part (8521) protruding forward of the folded folding shelf board (852) and / or each support column (for example, the left frame (82), the right frame (83), the rear frame (81)) and the egg container (P) and the gripping part (31). (4-3) In the loading operation at any step directly below at least the folded shelf board in the folded state, when placing the one or more egg containers (P) vertically on top of the egg container in the placed state, so as not to collide with the front holding part (8521) of the folded shelf board (852) in the folded state, with a front clearance interval (d5) and upper and lower side entry intervals (h1, h2) provided, the gripping part (31) and the one or more egg containers (P) in the adsorbed state are moved from the front to the rear (horizontally or obliquely (in a state inclined from the horizontal) downward) toward the lower space of the folded shelf board (852) in the folded state (for example, (a) horizontal movement while maintaining the horizontal state or a predetermined inclined state of the egg container (P), (b) movement obliquely downward from above while maintaining the horizontal state of the egg container (P) (oblique downward movement operation)), in the lower space, tilt the back side upward and the front side downward (tilting operation (tilting the egg container in the horizontal state or inclined state)), and make the lowest height part (the convex part, corner part, or bottom surface part at the lowest position) in the lower direction of the tilted egg container (P) contact or approach the top surface or recess of the lower egg container in the placed state, release the gripping of the tilted egg container (P), and control the dropping operation of dropping and placing it on the egg container below it. (5) The one or more egg containers (P) may be placed vertically on top of the egg container (P) in the placed state so that the interval (d6) to the rear frame (81) is the same (substantially the same) or different. The above "oblique downward movement operation" and "tilting operation" in (4-3) are performed only at the uppermost step directly below the folded shelf board in the folded state (for example, the fourth step in FIG. 3A) and during the loading operation on the back side, and loading may be performed by "horizontal movement" and / or "oblique downward movement operation" at other steps. For example, depending on the height position to be loaded, the movement trajectory of the robot hand and the gripping part may move substantially horizontally and finally tilt. Also, if it is not directly below the folded shelf board, it may be tilted while moving during the movement to the loading position. "Proximity" is, for example, a distance exceeding 0 mm and less than or equal to 10 mm or 20 mm. The positional relationship between the standby position (W) and the robot arm is not particularly limited. For example, it may be arranged on the left and right side surfaces of the robot arm, the front (between the egg container mailing trolley and the robot arm), or the rear (the egg container transport trolley, the robot arm, and the standby position are in a straight line in this order).

[0016] According to the third egg container loading system (A3), by gripping the center position of the egg container and taking into account the vibration of the egg container during high-speed transportation, the mechanical dimensional error of the egg container transport trolley, the distortion of the frame, the dimensional error of the egg container, and the loading position error, it is possible to set the front margin interval, the vertical entry interval, etc., enabling stable high-speed transportation without collision. Also, according to the third egg container loading system (A3), by moving obliquely downward, the moving distance and moving time can be shortened. Then, by tilting the egg container, it can move on the back side of the egg container transport trolley without interfering with the folding shelf board and its front holding part (8521), and move the egg container to a predetermined release point (R). By releasing (detaching; releasing) the grip in the tilted state, it can be placed on the egg container. It enables more stable high-speed movement and can also reduce the risk of collision compared to the second egg container loading system (A2). When releasing, the release may be performed after a part of the upper egg container comes into contact with a part of the lower egg container. This can reduce the impact on the egg container caused by the release. The third egg container loading system (A3) can be placed deeper on the uppermost level compared to the first egg container loading system (A1) that moves horizontally.

[0017] The loading operation control unit (70) of the first, second, and third egg container loading systems (A1, A2, A3) When loading an egg container (regular pack) on top of an egg container (regular pack) placed below, the operations of the robot arm (10) and the gripping part (31) are controlled so that the convex part on the bottom surface of the upper egg container is arranged in the concave part on the top surface of the lower egg container.

[0018] The loading operation control unit (70) of the first, second, and third egg container loading systems (A1, A2, A3) The operations of the robot arm (10) and the gripping part (31) are controlled so that the egg container (P) is placed and loaded within the ranges of the front restraining part and the rear restraining part of the folding shelf board. The width, depth, and the space height between the upper and lower plates of the shelf board are different depending on the egg container transport cart. The egg containers also differ in egg size, the number of eggs they can hold, flat packs, and regular packs. Therefore, the loading operation control needs to be set and changed each time. For this reason, the loading operation control unit (70) selects a preset loading pattern according to the type of the cart and the type of the egg container, and controls the operations of the robot arm (10) and the gripping part (31) so that the egg container (P) is placed and loaded within the ranges of the front restraining part and the rear restraining part of the folding shelf board. The loading operation control unit (70) of the first, second, and third egg container loading systems (A1, A2, A3) may have an acquisition unit (which may receive information from a code reader) for acquiring information on the type of the cart and the type of the egg container. The type of the cart may be obtained by reading an IC tag or a two-dimensional code provided on the cart with a code reader. The type of the egg container may be data from a code reader, data transmitted from any device upstream of the egg container loading system, or manually input information on the type of the egg container. It may also be determined from the analysis result of an image obtained by imaging an egg container transported by a transport device from a device that stores and packs eggs into the egg container with an imaging unit.

[0019] The first, second, and third egg container loading systems (A1, A2, A3) may be equipped with a sensor unit (proximity sensor, distance measuring sensor, ultrasonic sensor) and / or an imaging unit (omnidirectional camera, wide-angle camera, camera) provided on the side part (detecting in the horizontal direction, obliquely upward and downward directions with respect to the horizontal direction) and the bottom part (on the side of the suction member, detecting toward the egg container) of the gripping part (31). The loading operation control unit (70) may calculate the position (coordinates) and distance of the detected object from the detection result detected by the sensor unit, and operate to avoid collisions with the gripping position of the egg container, the position of the egg container transport cart, the cart frame, or the folding shelf board. When there is a risk of collision, the operation of the robot arm may be controlled to stop. The loading operation control unit (70) may calculate the position (coordinates) and distance of the object to be imaged from the analysis result of the image obtained by the imaging unit, and operate so as to avoid collisions with the gripping position of the egg container, the position of the egg container transport cart, the cart frame, or the folding shelf board. When there is a risk of collision, the operation of the robot arm may be controlled to stop.

Brief Description of the Drawings

[0020]

Figure 1A

Figure 1B

Figure 1C

Figure 2A

Figure 2B

Figure 3A

Figure 3B

Figure 4A

Figure 4B

Mode for Carrying Out the Invention

[0021] (Embodiment 1) Fig. 1A shows the overall configuration of the egg container loading system (A1, A2). 1 is a conveyor, P is an egg pack, W is a standby position, A1 and A2 are egg container loading systems, and 8 is an egg container transport cart. 31 is a gripping part. The egg packs P are staying in the standby area W in parallel along the longitudinal direction. The first and second egg container loading systems A1 and A2 transfer and place a plurality of egg containers P in a waiting area W where a plurality of egg containers P to be sent by the conveying conveyor 1 from upstream are waiting, onto the shelves of the egg container transport cart 8. 32 is a suction member. In this embodiment, five egg containers P can be suction-gripped. FIG. 1A shows a state of suction-gripping four egg packs.

[0022] FIG. 1B shows an example of the position of the gripping portion 31. FIG. 1B(a) shows the center line in the short side direction, the center line in the long side direction, and the center of the gripping portion 31 of the egg container P. FIGS. 1B(b) to (c) show the positions of the plane centers of the arrangement of two or four egg packs and the gripping portion 31. In the upper row of FIG. 1B(b), the plane view center of the arrangement P1 of vertically arranged egg packs and the plane view center of the gripping portion 31 lying horizontally in a direction orthogonal to the long side direction of the egg container P are shifted to the left in the drawing in the short side direction of the container and are not shifted in the long side direction of the container. In the lower row, the plane view center of the arrangement P11 of two vertically and horizontally arranged egg containers and the plane view center of the gripping portion 31 lying horizontally in a direction parallel to the long side direction of the egg pack are shifted in both the short side direction and the long side direction of the container. The plane view center of the arrangement P12 of horizontally arranged egg packs and the plane view center of the gripping portion 31 lying horizontally in a direction parallel to the long side direction of the egg pack are shifted in both the short side direction and the long side direction of the container. In the upper row of FIG. 1B(c), the plane view center of the arrangement P2 of vertically arranged egg containers and the plane view center of the gripping portion 31 lying horizontally in a direction orthogonal to the long side direction of the egg container are not shifted in either the short side direction or the long side direction of the container. In the lower row, the plane view center of the arrangement P21 of two vertically and horizontally arranged egg containers and the plane view center of the gripping portion 31 lying horizontally in a direction parallel to the long side direction of the egg container are shifted in both the short side direction and the long side direction of the container. The plane view center of the arrangement P22 of horizontally arranged egg packs and the plane view center of the gripping portion 31 lying horizontally in a direction parallel to the long side direction of the egg container are shifted in the short side direction and are not shifted in the long side direction. In this embodiment, the number of egg containers to be gripped is not limited to four, and one, two, three, or five egg containers can be gripped. Similarly, the position of the gripping portion 31 can be set for other numbers. So as to avoid interference between the rear frame and both side frames of the cart 8 and the upper folding shelves, the length, direction (front-rear, left-right position), rotation direction of the protruding portion of the gripping portion 31 (the region protruding from the outer periphery of a plurality of egg containers in a plan view), the overall operation of the multi-axis robot arm 10, and the operation of the gripping portion 31 are controlled by the loading control unit 70 described later.

[0023] Fig. 1C shows the egg container transport cart 8. Commonly circulated chicken egg container transport carts are, for example, the dedicated transport roll box for chicken egg packs manufactured by Yoshida Elsys Co., Ltd. shown in the prior art, the roll rack manufactured by San-young Manufacturing Co., Ltd., and the transport rack for conveyance in Patent Document 1. The common configuration among these is that they have a bottom frame, a rear frame, both side frames, and a plurality of folding shelves (which may also be referred to as shelf boards) that can be folded in the middle. In Fig. 1C, the lowermost folding shelf board 851 is unfolded, and egg containers are placed on that shelf. After loading a predetermined number of stages, the folding shelf 852 above it is unfolded, and egg containers are placed on that shelf, and they are sequentially placed from bottom to top. In the front view, right side view, and perspective view of Fig. 1C, the left frame 82, right frame 83, first folding shelf board 851, second folding shelf board 852, third folding shelf board 853, fourth folding shelf board 854, first left shelf board support portion 821, second left shelf board support portion 822, third left shelf board support portion 824, first right shelf board support portion 831, second right shelf board support portion 832, and third right shelf board support portion 834 are shown. In Fig. 1C, the left caster rail 45, right caster rail 46, front cart fixing portion 41, rear cart fixing portion 42, left cart fixing portion 43, and right cart fixing portion 44 are shown. Each fixing portion is provided at the lower part of the cart, but may also be arranged at the middle part, upper part, and each height position of the shelf boards of the cart.

[0024] (First egg container loading system) The first egg container loading system A1 will be described with reference to Figs. 2A and 2B. The first egg container loading system A1 includes a robot arm 10, a gripping part 31 provided on the hand 11 at the tip of the robot arm 1, a plurality of suction members 32 provided on the gripping part 31 for sucking one or more egg containers P, and a loading operation control unit 70 for controlling the robot arm 10 and the gripping part 31 corresponding to a predetermined loading pattern.

[0025] The loading operation control unit 70 executes the following operations. (1) In the standby position W, preferably, the central region of one or more egg containers P is gripped by the gripping part 31 such that the central region of the gripping part 31 overlaps with the central region of one or more egg containers P, and it is transported toward the unfolded folding shelf board of the egg container transport cart 8, and the loading operation of loading one or more egg containers P is controlled. (2) In the above loading operation, corresponding to the loading pattern, control is performed to perform a vertical arrangement along the front-rear direction of the folding shelf board and a horizontal arrangement along the left-right direction orthogonal to the front-rear direction. (3) The folding shelf board 852 in the folded state, the front holding part 8521 protruding in front of the folding shelf board 852 in the folded state, and each support column (for example, the left frame 82, the right frame 83, the rear frame 81), and the collision avoidance operation of operating the robot arm 10, the hand 11, and the gripping part 31 is controlled so as to avoid collision with the egg container P and the gripping part 31. (4-1) In the loading operation at any step directly below at least the folded folding shelf board, when placing one or more egg containers P vertically on the placed egg containers, the front margin interval d5 and the vertical and horizontal entry intervals h1, h2 are provided so as not to collide with the front holding part 8521 of the folded folding shelf board 852, and the gripping part 31 and the one or more egg containers P in the adsorbed state are horizontally moved from the front to the rear while maintaining the horizontal state of the egg container P into the lower space of the folded folding shelf board 852. The control of the horizontal movement is performed. (5) Control is performed to place one or more egg containers P on the vertically placed egg containers P such that the interval d6 to the rear frame 81 is the same (substantially the same) or different.

[0026] In FIG. 2A, an example of placing the egg container P between the front holding portion 8511 and the rear holding portion 8512 of the first folding shelf board 851 is shown. The "distances (d6a, d6b) to the inner frame (81)" of the bottommost egg container P1, the third egg container P3, and the fourth egg container P4 are the same, and are larger than the "distance (d6) to the inner frame (81)" of the second egg container P2. This is because the second egg container P2 is placed so that the bottom convex portion of the second egg container P2 fits into the top surface concave portion of the first egg container P1. In the case where the top surface is flat, the "distances (d6) to the inner frame (81)" of the first to fourth egg containers P1 to P4 from the bottom to the top may all be the same.

[0027] The horizontal movement in the above (4-1) is performed only at the uppermost stage directly below the folding shelf board in the folded state and during the loading operation on the inner side, and loading may be performed by "horizontal movement" and / or "diagonal downward movement from the front to the rear (diagonal downward movement operation)" at other stages. For example, depending on the loading height position, the movement trajectory of the robot hand and the gripping portion may move substantially horizontally and finally tilt. Also, if it is not directly below the folding shelf board, it may be tilted while moving during the movement to the loading position. The loading operation control unit 70 may arbitrarily select the movement trajectory between the hand and the gripping portion of the robot arm, the standby position W, and the loading position (such as the loading position on the folding shelf board, the loading position on the placed egg container, etc.) within the operating range of the multi-axis robot arm. For example, the movement trajectory is selected to be the shortest movement (time reduction) corresponding to each loading position and loading pattern. The loading operation control unit 70 may control the movement trajectory of the hand and the gripping portion of the robot arm and the loading position of the egg container transport cart with an arbitrary movement trajectory in the horizontal and tilted states.

[0028] As shown in FIG. 2B, the "horizontal movement" satisfies the following conditions. (1) The sum of the egg container height (Ph) and the vertical side entry interval (h2 + h3) is less than or equal to the lower margin interval (h1) (Ph + h2 + h3) ≤ h1 (2) The front margin interval is greater than zero (d5 > 0) (3) The upper entry interval is greater than zero (h3 > 0). (4) The lower entry interval is greater than zero (h2 > 0). The "central region of the egg container" is the region at the intersection of the center line in the longitudinal direction and the center line in the lateral direction of the egg container. It coincides (substantially coincides) with the center of gravity of the egg container in which eggs are loaded. The "front clearance interval (d5)" is the interval between the farthest part in the back side direction of the gripping part 31 and the robot arm 10, and the farthest part in the front side direction of the folded shelf board in the folded state (for example, the front holding part (8521)). The "lower clearance interval (h1)" is the interval between the top part (highest position) of the folded shelf board 851 in the opened state or the top part of the uppermost egg container in the placed state, and the bottom part of the folded shelf board 852 in the folded state immediately above the folded shelf board 851 in the actual loading state. The "lower entry interval (h2)" is the interval between the lowest part (lowest position) of the egg container P in the state of being gripped by the gripping part 31 in the lower side direction, and the top part (uppermost position) of the folded shelf board 851 in the opened state or the top part of the uppermost egg container in the placed state. The "upper entry interval (h3)" is the interval between the farthest part at the maximum height in the back side direction of the egg container P in the state of being gripped by the gripping part 31, and the bottom part of the folded shelf board 852 in the folded state immediately above the folded shelf board 851 in the actual loading state. The "interval to the back side frame (81) (d6)" is the interval between the farthest part in the back side direction of the egg container P in the placed state, and the back side frame 81.

[0029] (Second egg container loading system) The second egg container loading system A2 will be described with reference to FIGS. 3A and 3B. The second egg container loading system A2 includes a robot arm 10, a gripping part 31 provided on the hand 11 at the tip of the robot arm 1), a plurality of suction members 32 provided on the gripping part 31 for sucking one or more egg containers P, and a loading operation control part 70 for controlling the robot arm 10 and the gripping part 31 corresponding to a predetermined loading pattern.

[0030] The loading operation control part 70 executes the following operations. (1) When in the standby position W (preferably, so that the central region of one or more egg containers P overlaps with the central region of the gripping portion 31), the central region of one or more egg containers P is gripped by the gripping portion 31, conveyed toward the unfolded folding shelf board of the egg container transport cart 8, and the loading operation of loading one or more egg containers P is controlled. (2) In the above loading operation, corresponding to the loading pattern, control is performed to arrange in a vertical arrangement along the front-rear direction of the folding shelf board and in a horizontal arrangement along the left-right direction orthogonal to the front-rear direction. (3) To avoid collisions between the folded folding shelf board 852, the front holding portion 8521 protruding forward of the folded folding shelf board 852, and each support column (for example, the left frame 82, the right frame 83, the rear frame 81), and the egg container P and the gripping portion 31, the collision avoidance operation of operating the robot arm 10, the hand 11, and the gripping portion 31 is controlled. (4-2) In the above loading operation at at least one step directly below the folded folding shelf board, when placing one or more egg containers P vertically on the placed egg containers, with a front margin interval d5 and vertical side entry intervals h1, h2 provided so as not to collide with the front holding portion 8521 of the folded folding shelf board 852, the gripping portion 31 and one or more egg containers P in the adsorbed state are tilted in a direction warping from the folding shelf board (a direction warping forward, tilting the rear side upward and the front side downward), and the control of the inclined horizontal movement of horizontally moving from the front to the rear into the lower space of the folded folding shelf board 852 is performed. (5) One or more egg containers P are placed on the vertically placed egg containers P so that the distance d61a to the rear frame 81 is smaller than the distance d61 between the lower egg containers. (6) Shifting from the inclined horizontal movement to the downward movement, the lowest height portion (the convex portion at the lowest position) in the downward direction of the inclined egg container P is brought into contact with or close to the top surface or the concave portion of the placed egg container P, the gripping of the inclined egg container is released, and the dropping operation of dropping and placing it on the lower egg container is controlled. In FIG. 3A, the egg container P is moved to a predetermined release point R, the suction is released, the egg container is released, and it is allowed to fall naturally.

[0031] The above-mentioned inclined horizontal movement is performed only at the uppermost stage (for example, the fourth stage in FIG. 3A) directly below the folded shelf board in the folded state and during the loading operation on the back side. For other stages, the loading may be performed by "horizontal movement" and / or "diagonal downward movement from the front to the back (diagonal downward movement operation)". For example, depending on the loading height position, the movement trajectory of the robot hand and the gripping part may move almost horizontally and finally tilt. Also, if it is not directly below the folded shelf board, it may be tilted while moving during the movement to the loading position. The loading operation control unit 70 may arbitrarily select the movement trajectory between the hand and the gripping part of the robot arm, the standby position W, and the loading position (such as the loading position on the folded shelf board, the loading position on the egg container in the placed state, etc.) within the operating range of the multi-axis robot arm. For example, corresponding to each loading position and loading pattern, the movement trajectory is selected to achieve the shortest movement (time reduction). The loading operation control unit 70 can control the movement trajectory of the hand and the gripping part of the robot arm and the horizontal / tilted state to the loading position of the egg container transport cart with an arbitrary movement trajectory.

[0032] In FIG. 3A, an example of placing the egg container P between the front restraining part 8511 and the rear restraining part 8512 of the first folded shelf board 851 is shown. The "distance (d61a) to the back frame (81)" of the first and third egg containers P1 and P3 from the bottom is the same, and is larger than the "distance (d61) to the back frame (81)" of the second and fourth egg containers P2 and P4. This is because the bottom convex part of the upper egg container is fitted into the top surface concave part of the lower egg container for placement. In the case of a flat top surface, the "distance (d6) to the back frame (81)" of the first to fourth egg containers P1 to P4 from the bottom to the top may all be the same.

[0033] As shown in FIG. 3B, the "inclined horizontal movement" satisfies the following conditions. Inclination angle: θ (the direction of warping from the folded shelf board (the direction of warping forward, in FIG. 3B, an upward-rightward inclination) The difference in the intervals up to the back side frame 81 (d6 - d61) = (the height of the egg container Ph) × sinθ (+ correction value) The difference in the upper side entry intervals (h3 - h31) = (the longitudinal length of the egg container Pa) × sinθ (+ correction value) The correction value is a correction value for the influence of deformation of the adsorption member, shaking of the egg container due to high - speed movement, etc., and may be set in teaching. (1) The sum of the egg container height (Ph), the upper and lower side entry intervals (h21 + h31), and the additional amount due to inclination (h8) is less than or equal to the lower margin interval (h11) (Ph + h21 + h31 + h8) ≤ h11 The additional amount due to inclination (h8) = the longitudinal length of the egg container (Pa) × sinθ (2) The front margin interval is greater than zero (d51 > 0) (3) The upper side entry interval is greater than zero (h31 > 0) (4) The lower side entry interval is greater than zero (h21 > 0) The "central region of the egg container" is the region at the intersection of the center line in the longitudinal direction and the center line in the lateral direction of the egg container. It coincides (substantially coincides) with the center of gravity of the egg container in which eggs are loaded. The "front margin interval (d51)" is the interval between the farthest part in the back side direction of the gripping part 31 and the robot arm 10 and the farthest part in the front direction of the folded shelf board in the folded state (for example, the front holding part (8521)). The "lower margin interval (h11)" is the interval between the top (highest position) of the folded shelf board 851 in the open state or the top of the uppermost egg container in the placed state and the bottom of the folded shelf board 852 in the folded state immediately above the currently loaded folded shelf board 851. The "lower side entry interval (h21)" is the interval between the farthest part in the lower side direction (lowest position) of the egg container P held by the gripping part 31 and the top (uppermost position) of the folded shelf board 851 in the open state or the top of the uppermost egg container in the placed state. The "upper side entry interval (h31)" is the interval between the farthest part in the back side direction at the maximum height of the egg container P held by the gripping part 31 and the bottom of the folded shelf board 852 in the folded state immediately above the currently loaded folded shelf board 851. The "distance (d61) to the rear frame (81)" is the distance between the farthest part in the rear direction of the egg container P in the placed state and the rear frame 81.

[0034] (Third egg container loading system) Figures 4A and 4B will be used to explain the third egg container loading system A3. Similar to the second egg container loading system A2, the third egg container loading system A3 includes a robot arm 10, a gripping part 31 provided on the hand 11 at the tip of the robot arm 1, a plurality of suction members 32 provided on the gripping part 31 for sucking one or more egg containers P, and a loading operation control unit 70 for controlling the robot arm 10 and the gripping part 31 corresponding to a predetermined loading pattern.

[0035] The loading operation control unit 70 executes the following operations. (1) Control the loading operation of gripping the central region of one or more egg containers P with the gripping part 31 at the standby position W (preferably, so that the central region of one or more egg containers P overlaps the central region of the gripping part 31), transporting them toward the unfolded folding shelf board of the egg container transport cart 8, and loading one or more egg containers P. (2) In the above loading operation, control is performed to perform a vertical arrangement along the front-rear direction of the folding shelf board and a horizontal arrangement along the left-right direction orthogonal to the front-rear direction corresponding to the loading pattern. (3) Control the collision avoidance operation of operating the robot arm 10, the hand 11, and the gripping part 31 so as to avoid collisions between the folded folding shelf board 852, the front restraining part 8521 protruding in front of the folded folding shelf board 852, and each support column (for example, the left frame 82, the right frame 83, the rear frame 81), the egg container P, and the gripping part 31. (4-3) In the loading operation at any step directly below at least the folded shelf board in the folded state, when placing one or more egg containers P vertically on top of the egg containers in the placed state, in such a manner that they do not collide with the front holding part 8521 of the folded shelf board 852 in the folded state, with a front margin interval d5 and vertical side entry intervals h1, h2 provided, the gripping part 31 and one or more egg containers P in the adsorbed state are moved from the front to the rear (horizontally or obliquely (inclined from the horizontal) downward) toward the lower space of the folded shelf board 852 in the folded state while maintaining the horizontal state of the egg container P (for example, (a) horizontal movement while maintaining the horizontal state or a predetermined inclined state of the egg container (P), (b) movement obliquely downward from above while maintaining the horizontal state of the egg container (P) (oblique downward movement operation)), in the lower space, the rear side is tilted upward and the front side is tilted downward (tilting operation (tilting the egg container in the horizontal state or inclined state)), the convex part or bottom surface part at the lowest position of the tilted egg container P is brought into contact with or close to the top surface or concave part of the lower placed egg container P, the gripping of the tilted egg container P is released, and the dropping operation of dropping and placing it on the lower egg container is controlled. (5) Place one or more egg containers P vertically on top of the egg containers P in the placed state such that the distance to the rear frame 81 is smaller than that of the lower egg container. The above-mentioned "oblique downward movement operation" and "tilting operation" in (4-3) are performed only at the uppermost step directly below the folded shelf board in the folded state (for example, the 4th step in FIG. 3A) and during the loading operation on the rear side. At other steps, loading may be performed by "horizontal movement" and / or "oblique downward movement operation". For example, depending on the loading height position, the movement trajectory of the robot hand and the gripping part may move almost horizontally and finally tilt. Also, if it is not directly below the folded shelf board, it may be tilted while moving during the movement to the loading position. The loading operation control unit 70 can arbitrarily select the movement trajectory of the hand and the gripping part of the robot arm between the standby position (W) and the loading position (such as the loading position on the folding shelf board, the loading position on the egg container in the placed state, etc.) within the operating range of the multi-axis robot arm. For example, corresponding to each loading position and loading pattern, the movement trajectory is selected to achieve the shortest movement (time reduction). The loading operation control unit 70 can control the movement trajectory of the hand and the gripping part of the robot arm and the movement trajectory to the loading position of the egg container transport cart in an arbitrary movement trajectory in the horizontal and inclined states.

[0036] In the "diagonal downward movement operation", according to the entry angle of the movement, it enters below so that the innermost protruding part (the bottom end or the top end in the longitudinal direction) of the egg container does not contact the folded shelf board 852 in the folded state, and proceeds until it is close to or contacts the placed egg container, and then the "tilting operation" is executed. When the egg container is tilted, it is tilted so that the innermost protruding part (the top end in the longitudinal direction) of the egg container does not contact the bottom of the folded shelf board 852 in the folded state, and the convex part or the bottom of the lowest position of the tilted egg container P is brought into contact with or close to the top surface or the concave part of the egg container P in the placed state. Due to this tilting, the egg container further advances to the back side and is placed in a state where it protrudes more to the back side than the lower egg container when it is leveled again.

[0037] (Egg container) The egg container is, for example, a regular pack composed of a container body that can accommodate convex eggs according to the outer shape of the eggs and a lid that covers the convex eggs, or a flat pack composed of a container body that can accommodate convex eggs according to the outer shape of the eggs and a flat lid with a flat top surface.

[0038] (Robot arm) The robot arm 10 may be composed of a 6-axis robot arm, or may be a scalar robot. The hand 11 at the tip is attached to the tip of the arm and has a fixing part for fixing the gripping part 31. The holding part 31 has, for example, a plurality of suction members 32 that perform negative pressure suction. The suction member 32 may be, for example, a bellows-shaped pad or a pad with a trapezoidal cross-section. The suction member 32 is connected via a vacuum pump (or blower) and a negative pressure pipe, and by sucking air, a suction force capable of holding the egg container in contact with it is generated in the suction member 32. All of the plurality of suction members 32, each or in units of a plurality, may be configured and controlled such that operations of "suction, suction stop (adsorption state), suction release (return to atmospheric pressure)" are possible.

[0039] The first, second, and third egg container loading systems A1, A2, and A3 may be provided with cart fixing means (41, 42, 43, 44, 45, 46) for positioning and fixing the egg container transport cart 8 at a preset loading location. "Fixing" means stopping the movement, and the movement can be resumed by releasing the fixing. The cart fixing means (41, 42, 43, 44, 45, 46) may include positioning means, suction means, clamp means, or pressing means for fixing one or more of each support column (front frame, left frame, right frame, rear frame), the lowermost folding shelf board (in the unfolded state), the casters, and each stage's folding shelf board (in the unfolded state) of the egg container transport cart 8. The cart fixing means may also have positioning means, suction means, clamp means, or pressing means for fixing the folded shelf board in the folded state. This can prevent unexpected unfolding.

[0040] The first, second, and third egg container loading systems A1, A2, and A3 may be provided with teaching means for teaching the operation of the robot arm 10 corresponding to the information of the egg container transport cart 8 (for example, cart size, number of folding shelf board levels, coordinates of the placement available space area on each folding shelf board in the egg container transport cart fixed at the loading position), the information of the egg container (for example, flat pack, regular pack, number of eggs stored, egg container size), and the loading pattern of the egg container. The teaching means may be means using each method of offline teaching, online teaching, direct teaching, and teaching using AI.

[0041] (Another Embodiment) The robot arm 10 is composed of a multi-axis robot arm, and each axis arm may be provided with one or more sensors among a motion sensor (for example, a 9-axis motion sensor), an angular velocity sensor, an acceleration sensor, an ultrasonic sensor, and a camera. The robot arm 10 may be provided with a center of gravity position sensor (for example, a 6-axis force and torque sensor) for detecting the center of gravity position of the egg container held by the hand 11. The loading operation control unit 70 may control the operations of the robot arm 10 and the gripping unit 31 to re-grip when the center of gravity position deviation is equal to or greater than the threshold value based on the result detected by the center of gravity position sensor. The gripping part provided on the hand 11 of the robot arm 10 may be composed of a claw-type gripping part or a multi-joint multi-finger part (2 fingers, 3 fingers, 4 fingers, 5 fingers, 6 fingers or more). The claw-type gripping part or the multi-joint multi-finger part may be provided with a tactile sensor (3-axis, 6-axis force and torque sensor), a slip sensor, and a proximity sensor.

Explanation of Reference Numerals

[0042] A1 First egg container loading system A2 Second egg container loading system 10 Robot arm 11 Hand 31 Gripping part 32 Suction member 70 Loading operation control unit 8 Egg container transport cart P egg container W standby position

Claims

1. A robot arm, A gripping part provided on the hand at the tip of the robot arm, A plurality of suction members provided on the gripping part for sucking one or more egg containers, Comprising a loading operation control unit for controlling the robot arm and the gripping part corresponding to a predetermined loading pattern, The loading operation control unit, Grips the central region of the one or more egg containers in the standby position with the gripping part, conveys them toward the unfolded folding shelf of the egg container transport cart, and controls the loading operation of loading the one or more egg containers, In the loading operation, corresponding to the loading pattern, controls the vertical arrangement along the front-rear direction of the folding shelf and the horizontal arrangement along the left-right direction orthogonal to the front-rear direction, Controls the collision avoidance operation of operating the robot arm so as to avoid collisions between the folded folding shelf, the front restraining part protruding in front of the folded folding shelf and / or each support column, and the egg container and the gripping part, In the loading operation at at least one step directly below the folded folding shelf, when placing the one or more egg containers on the placed egg containers, in a state where a front margin interval and an upper and lower side entry interval are provided so as not to collide with the front restraining part of the folded folding shelf, controls the inclined horizontal movement of inclining the gripping part and the one or more egg containers in the adsorbed state in a direction warping from the folding shelf and horizontally moving them from the front to the rear, Places the one or more egg containers on the placed egg containers in a vertical arrangement so that the distances to the back frame are the same or different, An egg container loading system.

2. A robot arm, A gripping part provided on the hand at the tip of the robot arm, A plurality of suction members provided on the gripping part for sucking one or more egg containers, Comprising a loading operation control unit for controlling the robot arm and the gripping part corresponding to a predetermined loading pattern, The loading operation control unit, Grips the central region of the one or more egg containers in the standby position with the gripping part, conveys them toward the unfolded folding shelf of the egg container transport cart, and controls the loading operation of loading the one or more egg containers, In the loading operation, corresponding to the loading pattern, controls the vertical arrangement along the front-rear direction of the folding shelf and the horizontal arrangement along the left-right direction orthogonal to the front-rear direction, Control a collision avoidance operation for operating a robot arm so as to avoid collisions between the folded shelf board in a folded state, the front restraining portion protruding in front of the folded shelf board in a folded state and / or each support column, and the egg container and the gripping portion. In the loading operation at least at any step directly below the folded shelf board in the folded state, when placing the one or more egg containers vertically on top of the egg container in the placed state, with a forward margin interval and an upper and lower side entry interval provided so as not to collide with the front restraining portion of the folded shelf board in the folded state, move the gripping portion and the one or more egg containers in the adsorbed state from the front to the rear toward the lower space of the folded shelf board in the folded state. In the lower space, tilt the back side upward and the front side downward, and bring the lowest height portion in the downward direction of the tilted egg container into contact with or close to the top surface or recess of the egg container in the placed state below it. Release the gripping of the tilted egg container, and control a dropping operation to drop and place it on the egg container below. Place the one or more egg containers vertically on top of the egg container in the placed state so that the intervals to the back frame are the same or different. Egg container loading system.

3. A robot arm, A gripping portion provided on the hand at the tip of the robot arm, A plurality of suction members provided on the gripping portion for sucking one or more egg containers, Comprising a loading operation control unit that controls the robot arm and the gripping portion corresponding to a predetermined loading pattern, The loading operation control unit, Controls a loading operation of gripping the central region of the one or more egg containers in the standby position with the gripping portion, transporting them toward the unfolded shelf board of the egg container transport cart, and loading the one or more egg containers. In the loading operation, performs control to perform a vertical arrangement along the front-rear direction of the shelf board and a horizontal arrangement along the left-right direction orthogonal to the front-rear direction corresponding to the loading pattern. Control a collision avoidance operation for operating a robot arm so as to avoid collisions between the folded shelf board in a folded state, the front restraining portion protruding in front of the folded shelf board in a folded state and / or each support column. In the loading operation at any step directly below at least the folded shelf board in the folded state, when placing the one or more egg containers on the egg container in the placed state, the front margin interval and the vertical side entry interval are provided so as not to collide with the front holding portion of the folded shelf board in the folded state, and the gripping portion and the one or more egg containers in the adsorbed state are horizontally moved from the front to the rear to control the horizontal movement. Placing the one or more egg containers on the egg container in the placed state in a vertical arrangement so that the intervals to the rear frame are the same or different. Egg container loading system.

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