Egg container loading device and method for loading an egg container onto an egg container transport cart

Abstract

To provide an egg container loading device which can reduce the number of transfer times, and which can cope with various types of loading patterns.SOLUTION: An egg container loading device 2 includes: a multi-axis robot arm 21; a suction gripping part 212 provided at a hand part 211 at a tip position of the multi-axis robot arm 21; a loading operation setting part 22 for presetting at least two or more loading patterns and operation of the multi-axis robot arm 21; and a loading control part 23 for controlling the operation of the multi-axis robot arm 21 and the suction gripping part 221 so as to grip an egg container P by the suction gripping part 212, correspondingly to the loading pattern, and to transfer it to at least one shelf of an egg container transport truck 3.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present invention relates to an egg container loading device for an egg container transport cart and a method for loading an egg container onto 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 transport roll box dedicated to chicken egg packs manufactured by Yoshida Ersis Co., Ltd., and a roll rack manufactured by San-Ei Seisakusho Co., Ltd. Patent Document 1 also describes a transport rack for transporting an egg container that houses chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction.

[0003] Patent Document 2 discloses a transfer device for egg packs that transfers a plurality of egg packs collected in a temporary waiting area to a storage space. Specifically, a holding unit that holds a plurality of the egg packs including one egg pack and another egg pack, and moves the plurality of held egg packs to the storage space, and an operation of holding the egg pack, an operation of moving at least one of the held egg pack and the storage space, and a control unit that controls the operation of the holding unit including an operation of releasing the state of holding the egg pack. The control unit holds a plurality of the egg packs, and at a first position in the storage space, after releasing the state of holding the one egg pack, moves the holding unit, and at a second position different from the first position in the storage space, controls an operation of releasing the state of holding the other egg pack. As the second position, at a height position different from the first position, the state of holding the other egg pack is released. As the second position, at a position where the other egg pack is stacked on the one egg pack, the state of holding the other egg pack is released. The operation of the holding unit changes the orientation of the held egg pack.

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

[0005] Patent Document 4 discloses a transfer device that transfers a plurality of egg packs into a box-shaped integrated container that is open upward. Specifically, it is controlled so that it can selectively adopt a first mode of holding three egg packs and a second mode of holding two egg packs. It is provided with a plurality of suction parts that adsorb and hold the egg packs from the upper surface side, and the suction parts include main suction parts used in the first mode and the second mode, and sub-suction parts that are used only in the first mode and not used in the second mode. Further, it is controlled so that it can selectively adopt a mode of holding n egg packs and a mode of holding m egg packs (m is an integer different from n).

[0006] In the figure of Patent Document 5, an example of packing the packaging container P is disclosed.

[0007] Patent Document 6 discloses an egg pack boxing system provided with a transfer device that transfers egg packs intermittently sent into a temporary waiting area into a box-shaped integrated container that is open upward. The transfer device performs the transfer for forming one layer in the integrated container in multiple times, and the number of egg packs transferred in each transfer operation is set to an arbitrary number, and at least one of the multiple times has the arbitrary number set to a number different from other times. When the set arbitrary number of egg packs gathers in the temporary waiting area, the transfer operation is started. By reducing the amount transferred in one operation compared to the conventional one, it is possible to achieve in a simple way the correspondence to the variations in the arrangement of the egg packs in the integrated container.

Prior Art Documents

Patent Documents

[0008]

Patent Document 1

Patent Document 2

Patent Document 3

[0009] The following problems cannot be solved by the above patent documents. (1) When transferring an egg container from the standby position of the conveyor to the cart, the more egg containers are grasped, the more can be transferred at a time, so the number of transfer times can be reduced. If there are restrictions on the stacking pattern, the number that can be grasped and transferred at one time is limited. In this case, it is necessary to reduce the number of grasped items and increase the number of round trips. Furthermore, in order to increase the transfer capacity, more egg containers must be grasped, which requires an increase in the size of the grasping part. (2) On the egg container, barcodes or expiration date labels are either pasted on the top surface or inserted into the container. The orientation of these displays and the specification of the direction of the flange (edge) part of the egg container (the flange part on the hinge side of the lid, the flange part at the part where the upper lid and the lower container are overlapped) vary from retailer to retailer, and as a result, there are multiple stacking patterns for the egg containers. It is necessary to meet these requirements. (3) In the case of a flat pack with a flat top surface, a sticker (seal) may be pasted on its top surface. Depending on the state of the adhesive strength of the sticker, it may peel off, and it was necessary to pay attention to the processing speed by adsorption transfer. If it is moved quickly, the sticker seal may peel off. (4) In the operation of stacking egg containers on the cart, it is necessary to switch the stacking pattern according to the size of the eggs and the layout requirements of the retail store where they are to be transported. This switching may be performed several times a day, and it is not uncommon to switch in units of 1 to several hours. For this reason, there is a demand to perform the switching operation of the stacking pattern quickly.

[0010] Therefore, an object of the present invention is to provide an egg container loading device that can reduce the number of transfer times and can cope with various stacking patterns.

Means for Solving the Problems

[0011] The first egg container loading device of the present invention is a multi-axis robot arm, a suction gripping part provided in a hand part at the tip position of the multi-axis robot arm, a loading operation setting part for presetting at least two or more loading patterns and the operation of the multi-axis robot arm, corresponding to the loading pattern set by the loading operation setting part, gripping one or more egg containers with the suction gripping part, and transferring them to at least one shelf (which may or may not be a folding shelf) of an egg container transport cart, a loading control part for controlling the operations of the multi-axis robot arm and the suction gripping part, and includes.

[0012] The egg container loading device may include a loading pattern switching control part for switching an arbitrary loading pattern from at least two or more loading patterns (either automatically by an operator's selection instruction or corresponding to the egg containers waiting on the conveyor). The egg container loading device may include a switching input part for receiving an input of an instruction to switch the loading pattern and / or the operation of the multi-axis robot arm, and the loading pattern switching control part may perform switching control corresponding to the input instruction of the switching input part. The egg container loading device In the loading pattern preset by the loading operation setting part, a subtractive loading instruction input part for receiving an input instructing to place egg containers only on a predetermined shelf (for example, only the lowermost shelf, up to the second shelf from the bottom, etc., which can be arbitrarily specified) for an arbitrary number of egg container transport carts at an arbitrary timing, and corresponding to the input instruction of the subtractive loading instruction input part, the loading control part may control the operations of the multi-axis robot arm and the suction gripping part.

[0013] For each of the plurality of shelves of the egg container transport cart (which may or may not be folding shelves), the same loading pattern or different loading patterns may be used. For one shelf, one type or a plurality of loading patterns may be used. Thereby, the center of gravity of the cart can be stabilized. It can meet the mixed loading requirements of retail stores. It can accommodate multiple types of carts. It can accommodate different types of egg containers. For example, when loading different types of egg containers or egg containers of different sizes according to the size of eggs, the shipping destination, the type of cart, and each shelf of the cart, by presetting a plurality of types of loading patterns in advance, the switching instruction can be performed with fewer steps or automatically switched, so that the setting time and switching time of the loading pattern can be shortened.

[0014] Also, the second egg container loading device a multi-axis robot arm, a suction gripping part provided on a hand part at the tip position of the multi-axis robot arm, a loading operation setting part for presetting at least one or more loading patterns and the operation of the multi-axis robot arm, corresponding to the loading pattern set by the loading operation setting part, gripping one or more egg containers with the suction gripping part, and controlling the operations of the multi-axis robot arm and the suction gripping part to transfer them to at least one shelf (which may or may not be a folding shelf) of the egg container transport cart. It is provided with. When only one loading pattern is set, since the same loading is performed for a long time, it is suitable for the same loading pattern in half-day or one-day units.

[0015] The loading control unit described below applies to both the first egg container loading device and the second egg container loading device. The loading control unit In any one of a plurality of loading steps of at least one stage among the multi-stage stacking for each shelf, at least three or four or more egg containers (A) are adsorbed and gripped, and at all predetermined first positions corresponding to the loading pattern, the adsorption of all the egg containers is released and placed (step a). Then, a smaller number of egg containers (B) than the at least three or four or more egg containers (A) placed are adsorbed and gripped again, moved to another second position different from the first position, and the adsorption is released and placed (rearranged) (step b). Thus, the operations of the multi-axis robot arm and the adsorption gripping unit may be controlled. This rearrangement is called "split rearrangement". For the operation of "releasing the adsorption and placing", the lowering operation in the height direction of the adsorption gripping unit may not be required. The adsorption gripping may be released before the bottom of the adsorbed and gripped egg container contacts the shelf or egg container below it. In the operation of "adsorbing and gripping again", it may be to re-adsorb and grip at a position different from the previously adsorbed position. Between step a and step b (during the split rearrangement stage), a plurality of other egg containers may be adsorbed and gripped from the standby position (the standby position of the conveying conveyor) and placed at a position different from the first and second positions. That is, another placing operation may be performed between step a and step b.

[0016] The loading control unit In any one of a plurality of loading steps of at least one stage among the multi-stage stacking, the egg container is placed so as to be pushed into a gap between the egg containers generated by the stacking pattern, which has a length shorter than the length in the short side direction of the egg container (fitted into the gap from the bottom of the container to a middle height in the height direction). Thus, the operations of the multi-axis robot arm and the adsorption gripping unit may be controlled. By filling the gap with the egg container, the movement of the egg container during transfer can be eliminated, and the storage quantity can be increased.

[0017] The loading control unit In the case of stacking in multiple stages for each shelf, the operations of the multi-axis robot arm and the suction gripping unit may be controlled so that the loading pattern of the first stage is the same as or different from the loading patterns of other stages. The loading control unit In the case of stacking in multiple stages for each of the multiple shelves of the carriage, the operations of the multi-axis robot arm and the suction gripping unit may be controlled so that the loading pattern of the first shelf is the same as or different from the loading patterns of other shelves. They may be egg containers of the same type or different types, with the same or different loading patterns.

[0018] The loading control unit In the case of stacking in multiple stages for each shelf, the operations of the multi-axis robot arm and the suction gripping unit may be controlled so that the loading pattern of the next stage is started before the loading pattern of any stage is completed. For example, half of the loading pattern of the first stage is placed (e.g., the inner placement area), the egg container of the next second stage is placed on the placed egg container, and further, the egg container of the next third stage is placed on the egg container of the second stage, and similarly, the fourth stage may be placed in the same way. An egg container is placed at the position of the remaining loading pattern (the front placement area) of the first stage that has not been placed, the egg container of the next second stage is placed on the placed egg container, and further, the egg container of the next third stage is placed on the egg container of the second stage, and similarly, the fourth stage may be placed in the same way. Among the loading patterns of one stage, the inner loading pattern and the front loading pattern may be the same or different loading patterns. In the inner loading pattern and the front loading pattern, it may be to load egg containers of the same type or different types.

[0019] (Loading pattern) Define the placement areas on the front side and the inner side of the carriage. The loading pattern may be a pattern including an inner-side horizontal placement in which the egg container is placed horizontally (also referred to as "lying horizontally") in the inner-side region of the carriage so as to be parallel to the longitudinal direction of the egg container, and a front-side vertical placement in which the egg container is placed vertically (also referred to as "standing vertically") in the front region so as to be orthogonal to the inner-side horizontal placement. The loading pattern may be a pattern including an inner-side vertical placement in which the egg container is placed vertically in the inner-side region of the carriage so as to be parallel to the short-side direction of the egg container, and a front-side horizontal placement in which the egg container is placed horizontally in the front region so as to be orthogonal to the inner-side vertical placement. The loading pattern may be a pattern including an inner-side vertical placement and a front-side vertical placement. The loading pattern may be a pattern including an inner-side horizontal placement and a front-side horizontal placement. The loading pattern may be a pattern including a vertical placement for a part of the inner side and a horizontal placement for the rest. The loading pattern may be a pattern including a vertical placement for a part of the front side and a horizontal placement for the rest. The loading pattern may be a pattern including arranging a vertical placement in the gap between the left and right horizontal placements. Conversely, it may also be a pattern including arranging a horizontal placement in the gap between the left and right vertical placements.

[0020] The egg container includes, for example, a regular pack composed of a container body capable of accommodating convex eggs according to the outer shape of the eggs and a lid covering the convex eggs, and a flat pack composed of a container body capable of accommodating convex eggs according to the outer shape of the eggs and a flat lid with a flat top surface. The multi-axis robot arm is preferably a robot arm with three or more axes. The multi-axis robot arm may also be a collaborative robot. The hand part at the tip is attached to the arm tip and has a fixing part for fixing the suction gripping part. The suction gripping part has, for example, a plurality of suction pads for negative-pressure suction. A suction pad is connected via a vacuum pump (or blower) and a negative pressure pipe, and by sucking air, a suction force is generated on the suction pad to grip an egg container that comes into contact with it. All of the plurality of suction pads may be configured and controlled such that the operations of "sucking, stopping suction (adsorbed state), releasing suction (returning to atmospheric pressure)" are possible for each one or in units of a plurality.

[0021] The "lifting position" where the suction gripping part sucks and grips a plurality of egg containers is not particularly limited, but is set according to the number of containers to be sucked, the placement position (back side, left and right side surfaces, below the upper folding shelf) according to the loading pattern, the divided arrangement, etc. The center of gravity (area center) of the suction gripping part may be aligned with the center of gravity position (area center) of the plurality of egg containers to be suction gripped in a plan view. The center of gravity (center) of the suction gripping part may be deviated from the center of gravity (center) of the area of the plurality of egg containers in a plan view.

[0022] The first egg container loading method of another aspect of the present invention is a loading operation setting step of presetting at least two or more loading patterns and the operations of a multi-axis robot arm, and a loading control step of controlling the operations of the multi-axis robot arm and the suction gripping part so as to grip one or more egg containers with the suction gripping part provided on the multi-axis robot arm and transfer them to at least one shelf (which may or may not be a folding shelf) of an egg container transport cart corresponding to the loading pattern set in the loading operation setting step. The loading control step is In any one of at least one stage of multiple stages of stacking for each shelf, at least three or four or more egg containers (A) are suction gripped, and at a predetermined first position corresponding to the loading pattern, the suction of all the egg containers is released and they are placed (step a). Then, a smaller number of egg containers (B) than the at least three or four or more egg containers (A) placed are suction gripped again, moved to another second position different from the first position, and the suction is released and they are placed (rearranged) (step b). The operations of the multi-axis robot arm and the suction gripping part are controlled, and / or In any one of the plurality of loading steps of at least one stage among the multi-stage stacking, the operation of the multi-axis robot arm and the suction gripping part may be controlled so that the egg container is placed so as to be pushed into a gap between egg containers caused by a stacking pattern, the gap having a length shorter than the length in the short side direction of the egg container (fitted into the gap from the bottom of the container to a middle height in the height direction). The loading control step includes In the multi-stage stacking for each shelf, the operation of the multi-axis robot arm and the suction gripping part is controlled so that the stacking pattern of the first stage is the same as or different from the stacking patterns of other stages. In the multi-stage stacking for each of the plurality of shelves of the cart, the operation of the multi-axis robot arm and the suction gripping part is controlled so that the stacking pattern of the first shelf is the same as or different from the stacking patterns of other shelves, or In the multi-stage stacking for each shelf, the operation of the multi-axis robot arm and the suction gripping part may be controlled so that the stacking pattern of the next stage is started before the stacking pattern of any stage is completed. The first egg container loading method includes It may include a stacking pattern switching control step of switching an arbitrary stacking pattern from at least two or more stacking patterns (automatically corresponding to an operator's selection instruction or an egg container waiting on a conveying conveyor). The first egg container loading method includes It may include a switching input step of receiving an input of an instruction to switch the stacking pattern and / or the operation of the multi-axis robot arm. The stacking pattern switching control step may perform stacking pattern switching control corresponding to the input instruction of the switching input step. The first egg container loading method includes It may include a subtractive loading instruction input step of receiving an input for instructing to place egg containers only on a predetermined shelf (for example, only the lowermost shelf, any shelf up to the second position from the bottom, etc.) for an arbitrary number of egg container transport carts at an arbitrary timing in a preset stacking pattern. The loading control process may control the operations of the multi-axis robot arm and the suction gripping part in response to the input instruction of the subtractive loading instruction input process.

[0023] A second egg container loading method of another aspect of the present invention is corresponding to a preset loading pattern, gripping one or more egg containers with a suction gripping part provided on a multi-axis robot arm, and transferring them to at least one shelf (which may or may not be a folding shelf) of an egg container transport cart, including a loading control process for controlling the operations of the multi-axis robot arm and the suction gripping part. The loading control process is In any one of a plurality of loading steps for multiple stacks for each shelf, at least three or four or more egg containers (A) are suction-gripped, and at a predetermined first position corresponding to the loading pattern, the suction of all the egg containers is released and they are placed (step a). Then, a smaller number of egg containers (B) than the at least three or four or more egg containers (A) placed are suction-gripped again, moved to another second position different from the first position, and the suction is released and they are placed (rearranged) (step b). Control the operations of the multi-axis robot arm and the suction gripping part, and / or In any one of a plurality of loading steps for at least one stage of multiple stacks, place the egg container so as to be pushed into a gap between egg containers generated by the stacking pattern and having a length shorter than the length in the short side direction of the egg container (fit it into the gap from the bottom of the container to a middle height in the height direction). The operations of the multi-axis robot arm and the suction gripping part may be controlled. The loading control process is In multiple stacks for each shelf, control the operations of the multi-axis robot arm and the suction gripping part so that the loading pattern of the first stage is the same as or different from the loading patterns of other stages. In multiple stacks for multiple shelves of the cart, control the operations of the multi-axis robot arm and the suction gripping part so that the loading pattern of the first shelf is the same as or different from the loading patterns of other shelves, or In the case of stacking multiple levels for each shelf, the operations of the multi-axis robot arm and the suction gripper may be controlled so that the stacking pattern of the next level is started before the stacking pattern of any level is completed. The second egg container stacking method is It may include a switching input step of receiving an input of an instruction to switch the stacking pattern and / or the operation of the multi-axis robot arm. The stacking pattern switching control step may perform stacking pattern switching control corresponding to the input instruction of the switching input step. The second egg container stacking method is In a preset stacking pattern, it may include a subtractive stacking instruction input step of receiving an input instructing to place egg containers only on a predetermined shelf (for example, any shelf can be arbitrarily specified, such as only the bottommost shelf, up to the second shelf from the bottom) for any number of egg container transport carts at any timing. The stacking control step may control the operations of the multi-axis robot arm and the suction gripper corresponding to the input instruction of the subtractive stacking instruction input step.

[0024] The information processing device is equipped with at least one or more processors and a memory for storing a program for realizing the above first egg container stacking method or second egg container stacking method, and is an information processing device in which the above processor executes the program read from the above memory to control the operations of the multi-axis robot arm and the suction gripper.

[0025] The method for producing an egg-containing egg container storage cart is producing an egg-containing egg container storage cart using the above first egg container stacking method or second egg container stacking method.

[0026] According to the above configuration, the following effects are achieved. (1) It is possible to simultaneously adsorb and transport more egg packs. For example, with a robotic arm (a suction gripping part that can adsorb five egg containers), the five egg containers waiting on the transport conveyor are collectively adsorbed and gripped and transferred to the shelf. At the standby position, while reducing constraints such as adsorbing the egg containers in the adsorption direction (adsorption position) corresponding to the stacking pattern, the transfer processing capacity can be improved. In the case of a multi-axis robotic arm, it is easy to correspond to the stacking pattern by rotating during transfer due to the rotation mechanism. However, in the case of a robot hand or a scalar robot with few rotation axes, there were constraints. By adopting a multi-axis robotic arm, the transfer processing capacity can be improved. (2) For management reasons, the operator desires to unify the orientation of the egg containers in a certain direction so that not only the simple combination in the longitudinal direction of the egg containers but also the product labels and barcodes attached to the upper surface of the egg containers can be confirmed. As a countermeasure, once all the egg containers are placed and re-adsorbed at another adsorption position (for example, the adsorption position at the end), the orientation of the egg packs can be unified in a predetermined direction. (3) When adsorbing and gripping, shift the gripping position (the center in the plan view of the adsorption gripping part does not coincide with the center in the plan view of the plurality of egg containers to be gripped), and rotate the hand of the multi-axis robotic arm (for example, even if both the standby position of the egg container and the shelf of the cart are parallel to the longitudinal direction of the egg container, rotate it 180 degrees and adsorb and place it), so that it can correspond to various stacking patterns. (4) By shifting the adsorption position in the short side direction of the egg container and adsorbing the middle between the top sticker (seal) and the egg container, it is possible to suppress the peeling of the top sticker (seal). Also, by shifting the adsorption position in the longitudinal direction of the egg container and adsorbing, some adsorption pads can adsorb at positions without the top sticker (seal), and peeling can be suppressed.

Brief Description of the Drawings

[0027]

Fig. 1A

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Mode for Carrying Out the Invention

[0028] (Embodiment 1) Fig. 1A shows the overall configuration of the egg pack automatic placement system. 1 is a conveyor, P is an egg pack, W is a waiting area, 2 is an egg container loading device, and 3 is an egg container transport cart. 211 is a suction gripping part. The egg packs P are staying in the waiting area W in parallel along the longitudinal direction. The egg container loading device 2 transfers and places a plurality of egg containers P in the waiting area W where a plurality of egg containers P sent by the conveyor 1 from upstream are waiting, onto the shelves of the egg container transport cart 3. 211 is a suction gripping part. In this embodiment, 5 egg containers P can be suction-gripped. Fig. 1A shows the state of suction-gripping 4 egg packs.

[0029] The egg container transport cart 3 is a generally circulated chicken egg container transport cart, for example, the dedicated transport roll box for chicken egg packs manufactured by Yoshida Ersis Co., Ltd. shown in the prior art, the roll rack manufactured by San-Ei Seisakusho Co., Ltd., and the transport rack for transporting in Patent Document 1. The common configuration among these is that they have a bottom frame, a back frame, both side frames, and a plurality of foldable middle shelves (sometimes referred to as shelf boards). In this embodiment, the bottommost foldable shelf is unfolded, and egg containers are placed on that shelf. After loading a predetermined number of stages, the foldable shelf above it is unfolded, and egg containers are placed on that shelf, and they are sequentially placed from bottom to top.

[0030] Fig. 1B shows an example of the position of the hand part (suction gripping part). 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 hand part (suction gripping part) of the egg pack P. Figs. 1B(b) to (d) show the arrangement of 2 or 4 egg packs and the position of the plane center of the hand part (suction gripping part). In the upper part of Fig. 1B(b), it shows that the center in plan view of the arrangement P1 of vertically parallel egg packs and the center in plan view of the hand part (adsorption gripping part) lying horizontally in a direction orthogonal to the longitudinal direction of the egg packs are shifted to the left in the drawing in the short side direction of the container and not shifted in the longitudinal direction of the container. In the lower part thereof, it shows that the center in plan view of the arrangement P11 of two vertically and horizontally parallel egg packs and the center in plan view of the hand part (adsorption gripping part) lying horizontally in a direction parallel to the longitudinal direction of the egg packs are shifted in both the short side direction and the longitudinal direction of the container. The center in plan view of the arrangement P12 of horizontally parallel egg packs and the center in plan view of the hand part (adsorption gripping part) lying horizontally in a direction parallel to the longitudinal direction of the egg packs are shifted in both the short side direction and the longitudinal direction of the container. In the upper part of Fig. 1B(c), it shows that the center in plan view of the arrangement P2 of vertically parallel egg packs and the center in plan view of the hand part (adsorption gripping part) lying horizontally in a direction orthogonal to the longitudinal direction of the egg packs are not shifted in either the short side direction or the longitudinal direction of the container. In the lower part thereof, it shows that the center in plan view of the arrangement P21 of two vertically and horizontally parallel egg packs and the center in plan view of the hand part (adsorption gripping part) lying horizontally in a direction parallel to the longitudinal direction of the egg packs are shifted in both the short side direction and the longitudinal direction of the container. The center in plan view of the arrangement P22 of horizontally parallel egg packs and the center in plan view of the hand part (adsorption gripping part) lying horizontally in a direction parallel to the longitudinal direction of the egg packs are shifted in the short side direction and not shifted in the longitudinal direction. Fig. 1B(d) shows that the center in plan view of the arrangement P3 of vertically parallel egg packs and the center in plan view of the hand part (adsorption gripping part) lying horizontally in a direction orthogonal to the longitudinal direction of the egg packs are shifted downward in the drawing in the longitudinal direction of the container and not shifted in the short side direction of the container. In this embodiment, it is not limited to four egg containers, and one, two, three, or five egg containers can be adsorbed and gripped. Similarly, the position of the hand part (adsorption gripping part) can be set for other numbers. So as to avoid interference between the rear frame of the carriage 3, the side frames on both sides, and the upper folding shelves, the length, direction (front-back, left-right position), rotation direction of the protruding portion of the adsorption gripping portion 211 (the region protruding from the outer peripheries of a plurality of egg containers in plan view), the overall operation of the multi-axis robot arm 21, and the operation of the hand portion (adsorption gripping portion) are controlled by the loading control unit 23 described later.

[0031] FIG. 1C shows an example of the types of egg containers. FIG. 1C(a) shows a top surface flat pack for 10 eggs. The top surface flat pack P has a top surface flat lid Pa, a convex lower container Pb, and a flange portion Pc (on the peripheral side surface), and a top surface overlying seal r1 and an expiration date or barcode seal r2 are attached to the top surface. FIG. 1C(b) shows a top surface flat pack for 12 eggs, and FIG. 1C(c) shows a regular pack for 10 eggs. The regular pack is composed of a convex lower container and a convex lid. The number of eggs accommodated in the pack is not limited to 10 or 12, and there are also flat packs and regular packs for 6 or 8 eggs.

[0032] (Egg container loading device) The egg container loading device 2 of this embodiment includes a multi-axis robot arm 21. The multi-axis robot arm 21 has a hand portion 211 at its tip position, and an adsorption gripping portion 212 is provided on the hand portion 211. The egg container loading device 2 includes a loading operation setting unit 22 that presets at least one or two or more loading patterns and the operation of the multi-axis robot arm 21. The loading operation setting unit 22 may be configured to receive the setting data by manual input or communication means and store it in the memory.

[0033] The egg container loading device 2 includes a loading pattern switching control unit 24 that switches an arbitrary loading pattern from at least two or more loading patterns. Various methods can be adopted for the switching control by the loading pattern switching control unit 24. (1) For example, it automatically switches in response to a loading work schedule in units of several hours or one day. (2) Switch according to receiving identification information of the egg container or information indicating egg container switching from any device on the upstream side. (3) Switch according to the result of discriminating the egg container detected by an image analysis device (such as a CCD sensor, a CMOS sensor, a line sensor, and its analysis device) installed on a conveyor for conveying the egg container or a robot arm. (4) The operator inputs a switching instruction for the loading pattern. In this embodiment, the egg container loading device 2 includes a switching input unit 241 for switching the loading pattern and / or the operation of the multi-axis robot arm. The loading control unit 23 may control the operations of the multi-axis robot arm 21 and the suction gripping unit 212 according to the loading pattern corresponding to the switching instruction from the switching input unit 241. The switching input unit 241 may be configured to receive switching instruction information by manual input or communication means and store it in the memory. The switching instruction information may include at least one of the identification information of the preset loading pattern, the type of the egg container associated with the loading pattern, the type of the carriage (registered size) associated with the loading pattern, the shipping destination information associated with the loading pattern, and the like. The switching instruction information may be displayed on a monitor (not shown) of the egg container loading device 2, and the operator may input an instruction based on it. For example, in the setting of the start of work, a daily loading schedule is set, and accordingly, the carriage, the type of egg container, and the loading pattern determined for the first shipping destination are input and instructed, and the carriage, the egg container, and the loading pattern determined for the second shipping destination are input and instructed, etc., and they can be set (switched and instructed) collectively.

[0034] The egg container loading device 2 includes a subtractive loading instruction input unit 242 that receives an input instructing to place egg containers only on a predetermined shelf (for example, arbitrarily specifiable such as only the lowermost shelf, up to the shelf at the second position from the bottom) for an arbitrary number of egg container transport carts at an arbitrary timing in the loading pattern preset by the loading operation setting unit. In response to the input instruction of the subtractive loading instruction input unit 242, the loading control unit 23 may control the operations of the multi-axis robot arm 21 and the suction gripping unit 212. For example, in the first few units, loading is only performed on the lowermost shelf, and then it can be loaded on all shelves. Also, the input to the subtractive loading instruction input unit 242 can be made before the loading process or even during the loading. In the case of during loading, if an input instruction is given to the subtractive loading instruction input unit 242, loading with the shelves reduced from the next cart can be performed only for the specified number of units (or the preset number of units). An example is shown in Fig. 9(d).

[0035] The egg container loading device 2 may include an operator's operation input unit 25 (which may be manual input setting, data reading by communication means, etc.) and may also serve as the loading operation setting unit 22, the switching input unit 241, and the subtractive loading instruction input unit 242. The operation input unit 25 may be a touch panel that also serves as a monitor and an input unit.

[0036] The egg container loading device 2 includes 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 the egg container P with the suction gripping unit 212 and transfer it to at least one shelf of the egg container transport cart 3 according to the loading pattern set by the loading operation setting unit 22.

[0037] The loading control unit 23 adsorbs and grips at least 3 or 4 or more egg containers (A) in any one of a plurality of loading steps for each shelf in the multi-stage stacking, and at a predetermined first position corresponding to the loading pattern, releases the adsorption of all the egg containers and places them (step a). Then, it adsorbs and grips a smaller number of egg containers (B) than the at least 3 or 4 or more egg containers (A) that have been placed, moves them to another second position different from the first position, releases the adsorption, and places (rearranges) them (step b). Thus, the operations of the multi-axis robot arm 21 and the adsorption gripping unit 212 may be controlled.

[0038] The loading control unit 23, in any one of a plurality of loading steps for at least one stage of the multi-stage stacking, places the egg containers so as to be pushed into a gap between the egg containers generated by the stacking pattern and having a length shorter than the length in the short-side direction of the egg container (fitting the egg containers into the gap from the bottom of the container to a middle height in the height direction). Thus, the operations of the multi-axis robot arm 21 and the adsorption gripping unit 212 may be controlled.

[0039] (Loading pattern) The various loading patterns of this embodiment will be described. Figure 2A shows the plan view and side views of the first stacking pattern (rear-side horizontal placement and front-side vertical placement) of the top surface flat pack for 10 pieces. Figure 2A(a) is a plan view of the first stage placed on the shelf. "1-1" means the first step of adsorbing and placing a plurality of egg containers P from the standby area W in the first stage of loading. The two "1-1"s mean that two egg containers P are adsorbed and gripped together and placed horizontally on the rear side. Similarly, the two "1-2"s mean the second step of adsorbing two egg containers P from the standby area W and placing them horizontally on the rear side in the first stage of loading. The three "1-3"s mean the third step of adsorbing three egg containers P from the standby area W and placing them vertically on the front side in the first stage of loading. The three "1-4"s mean the fourth step of adsorbing three egg containers P from the standby area W and placing them vertically on the front side in the first stage of loading. In the first stacking pattern, the same loading pattern is used from the first stage to the fourth stage, which can be confirmed in the front side view and left and right side views of Figures 2A(b)(c)(d). Figure 2B shows the placement steps of the first stacking pattern. In steps S1 and S2, two are placed horizontally on the left rear side and the right rear side (4 in total), and then in steps S3 and S4, three are placed vertically on the left front side and the right front side (6 in total) in this order. The order may be step S2→S1, step S3→S4, or the order of step S1→S3→S2→S4.

[0040] Figure 2C shows an example of the splitting and rearrangement steps of the first stacking pattern. In step S11, two are placed horizontally on the left rear side. Then, in step S12, four are placed horizontally on the right rear side. Next, in step S13, the two in front that have been placed are adsorbed and gripped again, and placed vertically (split and rearranged) on the left front side at the position where two were placed horizontally on the left rear side in step S11. The split and rearranged egg containers are underlined like "1-2". Then, in step S14, four are placed vertically on the right front side. Here, the expiration date or the direction of the barcode seal r2 is unified to the front side. As shown in step S14-1 as another embodiment, it may be placed so that the direction of the barcode seal r2 is to the rear side. Regarding the loading patterns from the first stage to the fourth stage, they can be confirmed in the front side view and left and right side views of FIGS. 2C(b)(c)(d).

[0041] FIG. 2D shows another example of the splitting and repositioning steps of the first stacking pattern. At step S101, four are placed horizontally on the left back side. Then, at step 102, the two front ones previously placed are adsorbed and gripped again and placed horizontally on the right back side (split and repositioned). Next, at step S103, two are placed vertically on the left front side, and at step S104, four are placed vertically on the right front side. Here, the expiration date or the direction of the barcode seal r2 is unified to the front side. As shown in step S104-1 as another embodiment, it may be placed so that the direction of the barcode seal r2 is towards the back side. Regarding the loading patterns from the first stage to the fourth stage, they can be confirmed in the front side view and left and right side views of FIGS. 2D(b)(c)(d).

[0042] FIG. 3A shows the plan view and side view of the second stacking pattern (back side horizontal placement and front side vertical placement) of the top surface flat pack for 10. FIG. 3A(a1) is the plan view of the first stage placed on the shelf. FIG. 3A(a2) is the plan view of the second, third, and fourth stages placed on the shelf. FIG. 3A(a3) is the plan view of the fifth stage placed on the shelf. Regarding the loading patterns from the first stage to the fifth stage, they can be confirmed in the front side view and left and right side views of FIGS. 3A(b)(c)(d). As another example of the five-stage stacking, it can be confirmed in the plan view of (a2) and the front side view of (b2). FIG. 3B shows the placement steps of the second stacking pattern. For the first stage, at steps S31 and S32, three are placed horizontally on the left back side and the right back side (six in total). Then, at step S33, two are placed vertically on the left front side, and at step S34, three are placed vertically on the right front side with a gap (d1) left. The gaps with the frames on both the left and right sides are not provided as much as possible, and a gap is created inside the shelf, and by pushing the egg pack into this gap, the unexpected movement of the egg container is suppressed. In the second stage, three are placed horizontally on the left rear side and three on the right rear side in steps S35 and S36 (six in total). Then, in step S37, the egg pack P "2-3" is placed in the interval (d1) formed in the first stage. The lower part of the egg container is inserted into the interval d1. Depending on the size of the interval d1, the container flanges may be configured to contact each other vertically to stop and suppress movement, or the outer peripheral surfaces of the containers may be configured to contact each other to stop each other's movement. Next, in step S38, two are placed vertically on the left side of the egg pack P "2-3", and then in step S39, three are placed vertically on the right side of the egg pack P "2-3". The third and fourth stages are the same steps as the second stage. In the fifth stage, in step S40, the egg pack P "5-1" is placed in the interval (d1) formed in the fourth stage. As another embodiment, in step S40-1, three vertically placed ( "5-2") are placed on the right side of the egg pack P "5-1".

[0043] Figure 4A is a plan view and a side view of the third stacking pattern (rear side horizontal placement and front side vertical placement) of the top surface flat pack for 12 pieces. Figure 4A (a1) is a plan view of the first stage placed on the shelf. Figure 4A (a2) is a plan view of the second, third, and fourth stages placed on the shelf. Figure 4A (a3) is a plan view of the fifth stage placed on the shelf. The stacking pattern from the first stage to the fifth stage can be confirmed in the front side view, left and right side views of Figures 4A (b) (c) (d). Figure 4B shows the splitting and rearrangement steps of the third stacking pattern. In step S51, two are placed horizontally on the left rear side. Then, in step S52, four are placed horizontally on the right rear side. Then, the two in the front placed in step S52 are adsorbed and gripped again, and in step S51, the egg pack "2-1" is placed vertically (split and rearranged) on the front side of the position where two were placed horizontally on the left rear side. Then, leaving an interval (d1), three are placed vertically on the front side in step S54. In the second stage, at step S55, three are placed vertically on the left rear side. Then, at step S56, the front one of those placed at step S55 is adsorbed and gripped again, and is placed vertically on the front side of the egg container placed at step S55 (split and rearranged). An interval d2 from the left side of "2-1" to the left frame and an interval d3 from its right side to the right frame are provided. Then, at step S57, four are placed horizontally on the right rear side. Next, at step S58, the front two of those placed at step S57 are adsorbed and gripped again, and two egg packs P "2-2" are placed vertically in the interval d2 formed at step S56 (split and rearranged). Then, at step S59, three egg containers "2-3" are placed vertically in the interval d3 on the right side of the egg pack P "2-1". At this time, a recess with an interval d4 is formed between the egg pack P "2-2" and the egg container "2-3". The third and fourth stages are the same steps as the second stage. In the fifth stage, at step S60, the egg pack P "5-1" is placed in the recess with the interval d4 formed in the fourth stage. Further, at step S61, three placed vertically ("5-2") are placed on the right side of the egg pack P "5-1".

[0044] Figure 5A is a plan view and a side view of the fourth stacking pattern (rear side horizontal placement and front side vertical placement) of the top surface flat pack for 10 pieces. Figure 5A(a1) is a plan view of the first stage placed on the shelf. Figure 5A(a2) is a plan view of the second, third, and fourth stages placed on the shelf. Figure 5A(a3) is a plan view of the fifth stage placed on the shelf. Regarding the stacking pattern from the first stage to the fifth stage, it can be confirmed from the front side view and the left and right side views of Figures 5A(b)(c)(d). Figure 5B shows the split and rearrangement steps of the fourth stacking pattern. At step S71, three are placed horizontally on the left rear side. Then, at step S72, five are placed horizontally on the right rear side. Next, at step S73, the front two of those placed at step S72 are adsorbed and gripped again, and the egg pack "1-2" is placed vertically on the front side of the position where three were placed horizontally on the left rear side at step S71 (split and rearranged). Then, leaving an interval (d1), three are placed vertically on the front right side at step S74. In the second stage, in step S75, place four vertically on the left rear side, and then, in step S76, adsorb and grip the front one placed in step S75 again, and place it vertically at the position of the interval (d1) on the front side of the egg container placed in step S75 (rearrange and relocate "2-1"). Provide an interval d2 from the left side of "2-1" to the left frame and an interval d3 from its right side to the right frame. Next, in step S77, place five horizontally on the right rear side, and then, in step S78, adsorb and grip the front two placed in step S77 again, and place two egg packs P "2-2" vertically in the interval d2 formed in step S76 (rearrange and relocate). Next, in step S79, place three egg containers "2-3" vertically in the interval d3 on the right side of the egg pack P "2-1". At this time, a recess with an interval d4 is formed between the egg pack P "2-2" and the egg container "2-3". In the fifth stage, in step S80, place the egg pack P "5-1" in the recess with the interval d4 formed in the fourth stage.

[0045] Fig. 6A shows the plan view and side view of the fifth stacking pattern (rear side horizontal placement and front side vertical placement) of the regular pack for 10 pieces. Figs. 6A (a1) to (a5) are the respective plan views of the first to fifth stages placed on the shelf. The stacking patterns from the first to fifth stages can be confirmed in the front side view, left and right side views of Figs. 6A (b), (c), and (d). Fig. 6B shows the placement steps of the fifth stacking pattern. In the first stage, in steps S81 and S82, place three horizontally on the left rear side and the right rear side (a total of six), and then, in steps S83 and S84, place three vertically on the left front side and the right front side (a total of six). This order may also be step S82 → S81, step 8S3 → S84, or the order of step S81 → S83 → S82 → S84. In the second stage, in steps S85 and S86, three are placed horizontally on the left rear side and three on the right rear side (six in total). Then, in step S87, two are placed vertically on the front left side. Then, in step S88, three are placed vertically on the front right side with an interval d6 therebetween. In this embodiment, the interval d6 is not a gap large enough for the egg pack to be inserted. In the stacking, since it is stacked with a shift corresponding to the concavo-convex shape of the container, it is placed with a shift in the left-right and front-back directions in plan view. In the third stage, in steps S89 and S90, three are placed horizontally on the left rear side and three on the right rear side (six in total), and then, in steps S91 and S92, three are placed vertically on the front left side and three on the front right side (six in total). In the fourth stage, in steps S93 and S94, three are placed horizontally on the left rear side and three on the right rear side (six in total). Then, in step S95, five are placed vertically on the front side. In the fifth stage, in step S96, four are placed horizontally approximately at the center.

[0046] FIG. 7A shows the plan view and side view of the sixth stacking pattern (rear side horizontal placement and front side vertical placement) of the regular pack for 10 pieces. In the case of the regular pack, the convex part on the bottom surface is fitted into the concave part on the top surface and stacked. FIGS. 7A(a1) to (a5) are the respective plan views of the first stage to the fifth stage placed on the shelf. Regarding the stacking patterns from the first stage to the fifth stage, they can be confirmed in the front side views and left and right side views of FIGS. 7A(b), (c), and (d). FIG. 7B shows the splitting and rearrangement steps of the sixth stacking pattern. In the first stage, in step S101, three are placed horizontally on the left rear side. Then, in step S102, five are placed horizontally on the right rear side. Then, in step S103, the two in front of those placed in step S102 are adsorbed and gripped again, and the egg pack "1-2" is placed vertically (split and rearranged) on the front side of the position where three were placed horizontally on the left rear side in step S101. Then, in step S104, four are placed vertically on the front side. In the second stage, in step S105, place three horizontally on the left back side. Then, in step S106, place five horizontally on the right back side. Next, in step S107, pick up and hold the two front ones placed in step S106 again, and vertically place the egg pack "2-2" on the front side of the position where three were horizontally placed on the left back side in step S105 (divide and rearrange). Then, in step S106, place three vertically on the front side with an interval d7. In this embodiment, the interval d7 is not a gap large enough for the egg pack to be inserted. The third stage is the same as the first stage. In the fourth stage, in steps S109 and S110, place three horizontally on the left back side and three horizontally on the right back side (six in total). Then, in step S111, place five vertically on the front side. In the fifth stage, in step S112, place four horizontally at approximately the center.

[0047] FIG. 8A is an example of a plan view of an alternative stacking pattern (vertical placement on the back side and horizontal placement on the front side). Different from FIGS. 2A to 7A, it is a pattern with vertical placement on the back side and horizontal placement on the front side. FIG. 8B is an alternative example of the stacking patterns of FIGS. 3A and 5A. Compared with FIGS. 3A and 5A, one vertical placement is added at the center back side (such as "1-3", "2-3", "4-3", etc.). The arrangements of other egg containers are the same. As the stacking order, the central vertical placement may be done after the left and right horizontal placements, or vice versa.

[0048] In the above embodiment, each component of the egg container loading device 2, for example, the loading operation setting unit 22, the loading control unit 23, and the loading pattern switching control unit 24, may be realized in cooperation with hardware such as a processor and a memory and a program describing the control content, or may be realized by a combination of dedicated circuits and firmware, or may be realized by a cloud-type or on-premises server or a general-purpose computer.

[0049] (Egg container loading method) The egg container loading method is a loading operation setting step of presetting at least one or two or more loading patterns and the operations of the multi-axis robot arm, and In response to the loading pattern set in the above-described loading operation setting step, the multi-axis robot arm controls the operations of the multi-axis robot arm and the suction gripping part so as to grip one or more egg containers with the suction gripping part provided on the multi-axis robot arm and transfer them to at least one shelf of the egg container transport cart. including The above-described loading control step In any one of a plurality of loading steps for multi-stage stacking for each shelf, at least three or four or more egg containers (A) are suction-gripped, and at a predetermined first position corresponding to the loading pattern, the suction of all the egg containers is released and they are placed (step a). Then, a smaller number of egg containers (B) than the at least three or four or more egg containers (A) placed are suction-gripped again, moved to another second position different from the first position, and the suction is released and they are placed (rearranged) (step b). Thus, the operations of the multi-axis robot arm and the suction gripping part are controlled, and / or In any one of a plurality of loading steps for at least one stage of multi-stage stacking, the operations of the multi-axis robot arm and the suction gripping part may be controlled so that the egg containers are placed so as to be pushed into a gap between the egg containers generated by the stacking pattern and having a length shorter than the length in the short side direction of the egg container (fitted into the gap from the bottom of the container to a middle height in the height direction). The above-described loading control step In multi-stage stacking for each shelf, the operations of the multi-axis robot arm and the suction gripping part are controlled so that the loading pattern of the first stage is the same as or different from the loading patterns of other stages. In multi-stage stacking for a plurality of shelves of the cart, the operations of the multi-axis robot arm and the suction gripping part are controlled so that the loading pattern of the first shelf is the same as or different from the loading patterns of other shelves, or In multi-stage stacking for each shelf, the operations of the multi-axis robot arm and the suction gripping part may be controlled so that the loading pattern of the next stage is started before the loading pattern of any stage is completed. The above-described egg container loading method It may include a loading pattern switching control step of switching from at least two or more loading patterns to an arbitrary loading pattern (either by an operator's selection instruction or automatically corresponding to the egg container waiting on the conveyor). The above egg container loading method is It may include a switching input step of receiving an input of an instruction to switch the loading pattern and / or the operation of the multi-axis robot arm. The loading pattern switching control step may perform loading pattern switching control corresponding to the input instruction of the switching input step. The above egg container loading method is In a preset loading pattern, it may include a subtractive loading instruction input step of receiving an input instructing to place egg containers only on a predetermined shelf (for example, arbitrarily specified such as only the lowest shelf, up to the second shelf from the bottom) for an arbitrary number of egg container transport carts at an arbitrary timing. The loading control step may control the operations of the multi-axis robot arm and the suction gripping part corresponding to the input instruction of the subtractive loading instruction input step.

[0050] The egg container loading program is A program that, when executed by at least one or more processors, realizes each step of the above egg container loading method.

[0051] The information processing device is Comprising at least one or more processors and A memory for storing a program for realizing the above egg container loading method, An information processing device in which the above processor executes the program read from the above memory and controls the operations of the multi-axis robot arm and the suction gripping part.

[0052] The method for producing an egg-containing egg container storage cart is Producing an egg-containing egg container storage cart using the above egg container loading method.

[0053] (Another embodiment) From the loading patterns shown in FIGS. 2A to 7A, different loading patterns may be set for each of the multiple shelves of the same cart. Also, different loading patterns may be set for each of the multiple tiers of the same shelf. That is, in the multiple-tier loading for each shelf, the operations of the multi-axis robot arm and the suction gripping part are controlled so that the loading pattern of the first tier is the same as or different from the loading patterns of the other tiers. Further, in the multiple-tier loading for each of the multiple shelves of the cart, the operations of the multi-axis robot arm and the suction gripping part are controlled so that the loading pattern of the first shelf is the same as or different from the loading patterns of the other shelves. FIG. 9(a) shows an example of the same loading pattern for all the shelves (folding shelves) of the cart, FIG. 9(b) shows an example of different loading patterns for each shelf, and FIG. 9(c) shows an example of different loading patterns among the shelves. It is selected according to the size of the cart and the size of the egg container, and can also handle mixed loading with various containers. FIG. 9(d) shows an example of loading only on an arbitrary shelf, completing the loading, and then shipping. In FIG. 9(d), it is the bottom shelf, but it can also handle loading on other shelves other than the bottom shelf. Also, it can handle shipping in small quantities according to the requirements of the retail store at the shipping destination.

Explanation of Reference Numerals

[0054] 1 Conveyor Shelf Opening Device 2 Egg Container Loading Device 21 Multi-axis Robot Arm 211 Hand Part 212 Suction Gripping Part 22 Loading Operation Setting Part 23 Loading Control Part 24 Loading Pattern Switching Control Part 241 Switching Input Part 25 Operation Input Part 3 Egg Container Transport Cart

Claims

1. A multi-axis robot arm, a suction gripping part provided in a hand part at the tip position of the multi-axis robot arm, a loading operation setting part for presetting at least one or two or more loading patterns and the operation of the multi-axis robot arm, a loading control part for controlling the operations of the multi-axis robot arm and the suction gripping part so as to grip one or more egg containers by the suction gripping part and transfer them to at least one shelf of an egg container transport cart according to the loading pattern set by the loading operation setting part, comprising: The loading control part: In any one of at least one stage of multi-stage stacking for each shelf among a plurality of loading steps, at least three or four or more egg containers (A) are suction-gripped, and at a predetermined first position corresponding to the loading pattern, the suction of all the egg containers is released and they are placed. Then, a number of egg containers (B) less than the at least three or four or more egg containers (A) placed are suction-gripped again, and they are moved to another second position different from the first position and the suction is released and they are placed (rearranged). The operations of the multi-axis robot arm and the suction gripping part are controlled accordingly. An egg container loading device.

2. A multi-axis robot arm, a suction gripping part provided in a hand part at the tip position of the multi-axis robot arm, a loading operation setting part for presetting at least one or two or more loading patterns and the operation of the multi-axis robot arm, a loading control part for controlling the operations of the multi-axis robot arm and the suction gripping part so as to grip one or more egg containers by the suction gripping part and transfer them to at least one shelf of an egg container transport cart according to the loading pattern set by the loading operation setting part, comprising: The loading control part: In any one of at least one stage of multi-stage stacking among a plurality of loading steps, the convex lower container of an egg container smaller than the gap is placed so as to be pushed into the gap between the egg containers caused by the stacking pattern and having a length shorter than the length in the short side direction of the egg container in plan view. The operations of the multi-axis robot arm and the suction gripping part are controlled accordingly. An egg container loading device.

3. The loading control part: In the case of multiple-stage stacking for each shelf, the egg container loading device according to claim 1 or 2, wherein the operations of the multi-axis robot arm and the suction gripping unit are controlled so that the loading pattern of the first stage is the same as or different from the loading patterns of other stages.

4. The loading control unit In the case of multiple-stage stacking for each of the plurality of shelves of the carriage, the egg container loading device according to claim 1 or 2, wherein the operations of the multi-axis robot arm and the suction gripping unit are controlled so that the loading pattern of the first shelf is the same as or different from the loading patterns of other shelves.

5. Including a loading control step of controlling the operations of the multi-axis robot arm and the suction gripping unit so as to grip an egg container with the suction gripping unit provided on the multi-axis robot arm and transfer it to at least one shelf of the egg container transport carriage corresponding to a preset loading pattern. The loading control step includes In any one of a plurality of loading steps of at least one stage among the multiple-stage stacking for each shelf, at least three or four or more egg containers (A) are suction-gripped, and at all the egg containers are released from suction and placed at a predetermined first position corresponding to the loading pattern. Then, a smaller number of egg containers (B) than the at least three or four or more egg containers (A) placed are suction-gripped again, moved to another second position different from the first position, and released from suction and placed, so as to control the operations of the multi-axis robot arm and the suction gripping unit, and / or In any one of a plurality of loading steps of at least one stage among the multiple-stage stacking, the multi-axis robot arm and the suction gripping unit are controlled to place the convex lower container of the egg container, which is smaller than the gap, into the gap between the egg containers formed by the stacking pattern and having a length shorter than the length in the short side direction of the egg container in plan view. Egg container loading method.

6. An egg container loading program, which when executed by at least one or more processors, realizes each step of the egg container loading method according to claim 5.

7. A method for producing an egg-containing egg container storage carriage, characterized in that the egg-containing egg container storage carriage is produced using the egg container loading method according to claim 5.

Images