Hand for storage device, storage device, and storage system

Abstract

To provide a technique capable of making a gap between an opening tray and a transport container inner wall be smaller, and of preventing an egg on the opening tray from being damaged when storing the opening tray in which the egg is stored, in the transport container.SOLUTION: A storage device hand comprises an egg suction part 141 for sucking a plurality of eggs stored in an opening tray 102 having no lid, a lifting part for lifting the opening tray, and a hooking part 200 or a grip part for gripping the opening tray by being hooked or gripped to a notch part 108 provided on an outer periphery of the opening tray.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a container for storing eggs in an open tray in a shipping container such as a cardboard box. The present invention relates to a storage device, a storage system, and a storage method. [Background technology]

[0002] As a container for storing eggs, there is an open tray that does not have a lid and has an open top. Examples of known trays include molded trays, paper trays, and PET trays. Trays, paper trays are made from paper or pulp, and PET trays are made from plastic. These open trays are used to store large numbers of eggs, such as for commercial use. For example, Patent Document 1 describes a robot that can arrange 32 eggs in 4 rows and 8 columns. An open tray is disclosed.

[0003] By the way, when both ends of an open tray containing many eggs are lifted, the weight of the eggs can cause the eggs to fall. This causes the open tray to bend. Since the materials are stored in transport containers such as boxes, automation by machines is difficult, and the process is usually done manually. It was common.

[0004] In contrast, the technology of Patent Document 2 automates the transfer of open trays containing eggs. discloses a device for lifting eggs and open trays separately and storing them in a transport container. Specifically, the head portion of the device has the same number of suction members as the number of eggs to be accommodated and a pair of gripping members. Each suction member picks up an egg, and the pair of gripping members grips both ends of the open tray. The part moves into the transport container while being attracted by the attracting member and being held by the holding member. The gripping members release their grip on the open tray and place the open tray in the transport container. The attachment member releases the eggs from their attachment and allows the eggs to be placed on an open tray placed within the transport container. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-202948 [Patent Document 2] International Publication No. 2019 / 004198 Summary of the Invention [Problem to be solved by the invention]

[0006] As described above, in the technique of Patent Document 2, the pair of gripping members grip both ends of the open tray. In this state, the object is moved into the transport container and the gripping is released (i.e., the gap between the pair of gripping members is widened). The open tray is placed in the transport container by the pair of gripping members. The width of the shipping container should be greater than the width of the open tray to allow for sufficient spacing within the container. As a result, there was a gap between the shipping container and the stored open tray. There was a problem of gaps.

[0007] Such gaps are undesirable as they hinder the stable transport of open trays. As open trays tend to be damaged by the heat, they should be packed as tightly as possible into the shipping container. It is required to store the

[0008] The present invention provides a method for separating eggs from an open tray when the open tray containing eggs is stored in a transport container. We have proposed a technology that can reduce the gap between the container and the inner wall compared to conventional methods, thereby preventing damage to eggs on open trays. The purpose is to provide [Means for solving the problem]

[0009] The hand for a storage device of the present invention comprises: an egg adsorption unit that adsorbs a plurality of eggs contained in an open tray that does not have a lid; a lifting portion for lifting the open tray; The lifting part is a tray suction part in which the egg adsorption part is provided, and the open tray A part of the top surface of the egg (preferably the upper peripheral surface and part or all of the egg excluding the egg placement area) is held by suction. The tray has a suction portion that lifts the tray.

[0010] A part or all of the tray suction portion may be in contact with the upper surface of the open tray. It doesn't have to be touching.

[0011] According to the above configuration, the eggs are attracted by the egg attracting portion, and therefore the target of attraction by the tray suction portion is The weight of the eggs can be reduced. Therefore, the tray suction part opens with a relatively small suction force. The tray can be lifted. In this way, the egg adsorption unit can pick up the eggs contained in the open tray. The tray suction part sucks the open tray, and the eggs and the open tray are transported to the transport container. This allows the open trays of eggs to be stored in the transport container without damaging the open trays. The gap between the tray and the inner wall of the transport container can be made smaller than before, preventing damage to eggs on open trays. Cut.

[0012] The eggs adsorbed by the egg adsorption unit float (i.e., separate) from the open tray. Also, the distance between the floating egg and the top surface of the open tray can be relatively small. This prevents the eggs from breaking even if they fall from the egg adsorption section.

[0013] The tray suction part is located at a position where it does not interfere with the egg adsorption part, and the tray suction part is lifted When viewed from the lifting direction, the tray is provided on the outer periphery of the open tray without protruding beyond the outer edge of the open tray. The tray is positioned in the notch and hooked onto the edge of the notch to grip the open tray. It may have a hook portion for hooking.

[0014] The hook portion does not protrude beyond the outer edge of the open tray when viewed in the lifting direction. The tray is inserted within the opening area of ​​the notch on the periphery of the open tray and is positioned toward the center of the tray. Or move it in a direction perpendicular to the tray center to hook it, and when released, return it to the origin (release) The operation may be performed. The hook portion has a leg including a claw, and the leg is hooked onto the notch portion toward the center of the tray. The open tray may be grasped by the handle. The hook portion has a pair of legs including a claw, back to back, and is configured to fit into the tray in the notch portion. The legs may be spread in a direction perpendicular to the center and hooked.

[0015] According to the above configuration, the open tray is attracted to the tray suction portion and is held in place by the hook portion. This allows the open tray to be stored more securely in the shipping container.

[0016] The tray suction portion is formed by at least a part of a notch provided on the outer periphery of the open tray. It is also acceptable to have a hole closing portion that closes the hole.

[0017] According to the above configuration, the notch provided on the outer periphery of the open tray (generally, the notch is opened by a person's hand) At least one of the finger-insertion notches in the open tray for easy holding This allows the tray suction part to more effectively suction the open tray. It can be stabilized.

[0018] The tray suction portion may have an outer edge that follows the outline of the open tray.

[0019] The tray suction portion may have an outer edge that follows the contour of the rectangular open tray. No.

[0020] According to the above configuration, it is possible to prevent a gap from occurring between the tray suction portion and the open tray. This allows the tray suction section to more stably suction the open tray.

[0021] The lifting part is configured to adjust the pressure in the space formed by the tray suction part and the open tray. a pressure sensor for detecting a first detachment mechanism that performs suction and detachment of the open tray by the tray suction unit; When the pressure detected by the pressure sensor is equal to or lower than a predetermined value, the open tray is transported. and a control unit that controls the first detachment mechanism so as to detach into the delivery container. do not have.

[0022] According to the above configuration, the pressure in the space formed by the tray suction portion and the open tray is The pressure is detected by the pressure sensor, and if the detected pressure is below a predetermined value, the tray suction unit It is judged that the suction by the tray suction part is sufficient (i.e., the open tray is sucked by the tray suction part). The control unit controls the first detachment mechanism to detach the open tray into the transport container. This allows the tray suction section to reliably suck the open tray.

[0023] The first detachment mechanism may further perform attachment and detachment of eggs by the egg attachment unit. stomach.

[0024] According to the above configuration, the egg adsorption and detachment by the egg adsorption part and the open tray by the tray suction part are performed. This allows the attachment and detachment of the storage device handle to be achieved by a single attachment / detachment mechanism. The cost of the storage device hand can be reduced compared to when the hand has multiple attachment / detachment mechanisms.

[0025] The hand for the storage device has a second detachment mechanism that performs attachment and detachment of the eggs by the egg attachment part. It is also possible to have more.

[0026] According to the above configuration, the first detachment mechanism performs suction and detachment of the open tray by the tray suction part. The second detachment mechanism performs egg adsorption and detachment by the egg adsorption part. The attachment and detachment of the tray and the attachment and detachment of the egg can be controlled separately. The transfer can be made more stable.

[0027] The hand for a storage device of the present invention comprises: an egg adsorption unit that adsorbs a plurality of eggs contained in an open tray that does not have a lid; a lifting portion for lifting the open tray, The lifting portion is a pair of gripping members that grip both sides of the open tray, When the open tray is removed after the tray is placed in the transport container, the width of the open tray is The length is longer than the width of the ray and shorter than the width of the inner wall of the transport container. The pair of gripping members is provided.

[0028] According to the above configuration, the egg suction unit suctions eggs contained in the open tray, and the lifting unit suctions eggs contained in the open tray. The lifting part lifts the open tray after placing it in the transport container. When the lifting part is lifted, the width of the lifting part is longer than the width of the open tray, and the transport container Therefore, the difference between the width of the shipping container and the width of the open tray is relatively small. Even in the smallest cases, the lifting mechanism can release the open tray without damaging the transport container. The open tray can be placed in the shipping container. That is, when the open tray is stored in the shipping container, The gap between the open tray and the inner wall of the transport container can be made smaller than before, preventing damage to eggs on the open tray. It can be suppressed.

[0029] The lifting portion is a hand body connected to the storage device; The hand body is provided with a depth of the hand body perpendicular to the width direction of the hand body. a first actuator capable of rotating the pair of gripping members about an axis parallel to the direction; It is acceptable to have

[0030] According to the above configuration, each of the pair of gripping members has a depth perpendicular to the width direction of the hand body. By rotating the hand body inward around an axis parallel to the direction of rotation, the open track The tray contacts the tray and can be gripped on both sides of the open tray.

[0031] The lifting portion is a hand body connected to the storage device; a gripping member provided on the hand body and positioned between the pair of gripping members in the width direction of the hand body; and a second actuator capable of expanding and contracting the gap.

[0032] The egg adsorption unit has adsorption members for adsorbing one egg, the number of which is equal to the number of eggs that can be accommodated in the open tray. It's okay to have several. The suction member may be a bellows-shaped suction pad.

[0033] According to the above configuration, one egg is attracted to one attracting member. The transfer can be made more stable.

[0034] The storage device of the present invention comprises: A robotic arm, and a hand for the storage device provided at the tip of the robot arm.

[0035] The robot arm may be composed of a vertical articulated robot or a horizontal articulated robot. It's okay.

[0036] The storage system of the present invention comprises: The storage device; a first loading section that loads the empty transport container into the storage device; a second loading section that loads the open tray containing the eggs into the storage device; and a conveying section that conveys the transport container in which the open trays containing eggs are stored. do. [Effects of the Invention]

[0037] When an open tray containing eggs is placed in a transport container, the open tray and the inner wall of the transport container The gap can be made smaller than before, which reduces damage to eggs on open trays. [Brief explanation of the drawings]

[0038] [Figure 1] FIG. 1 is a schematic diagram illustrating one embodiment of a storage system. [Figure 2] FIG. 2 is a schematic diagram showing a hand for a storage device according to the first embodiment. [Figure 3] FIG. 2 is a schematic diagram showing the back side of the storage device hand of the first embodiment. [Figure 4] FIG. 2 is a schematic diagram showing an example of an open tray. [Figure 5] 10 is a flow chart showing the adsorption and desorption operations of an open tray containing eggs. [Figure 6] FIG. 10 is a schematic diagram showing a hook portion in a storage device hand of a second embodiment. [Figure 7] 10 is a schematic diagram showing the positional relationship between the hook portion and the open tray when viewed in the −z direction. FIG. [Figure 8] FIG. 10 is a schematic diagram showing a hook portion in a storage device hand of a second embodiment. [Figure 9] 10 is a schematic diagram showing a state in which an egg adsorbing part adsorbs an egg (not shown) in the hand for the storage device of the third embodiment. FIG. [Figure 10] FIG. 11 is a schematic diagram showing a state in which a pair of gripping members grip an open tray in the storage device hand of the third embodiment. [Figure 11] FIG. 11 is a schematic diagram showing a state in which the cylinder of the second actuator is extended in the storage device hand of the third embodiment. [Figure 12] FIG. 11 is a schematic diagram showing a state in which the cylinder of the first actuator is contracted in the storage device hand of the third embodiment. [Figure 13] 10 is a schematic diagram showing a hole closing portion included in a tray suction portion in a storage device hand according to another embodiment. FIG. [Figure 14] 10 is a schematic diagram showing an outer edge portion along the outer shape of an open tray in a storage device hand of another embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0039] (Outline of the containment system) An overview of a storage system according to one embodiment of the present invention will be described with reference to FIG. 1 is a schematic diagram showing a storage system according to one embodiment. The system 1 includes a storage device 11, a first loading section 13, an intermediate conveyor 15, a second loading section 17, a first conveyor It includes a conveyor 19, a discharge section 21, a second conveyor 23, and a third conveyor 25. The storage system 1 is a main control system provided in a management system that manages the storage system 1. The storage system 1 is controlled by a separate control unit 10. The main control unit 10 and the individual control units may be implemented by, for example, dedicated circuits, firmware, or Or, a combination of hardware such as a processor and memory with a program that defines the control procedure. It may also be realized by a combination configuration.

[0040] The storage device 11 includes a robot arm 12 and a storage device hand 14. The storage device 11 is provided at the tip of the robot arm 12. The open tray (hereinafter referred to as the open tray containing eggs) is stored in the transport container 100. A is a tray that does not have a lid and has an open top. For example, it is made of pulp. molded trays, paper trays made from paper, and PET trays made from plastic. In this embodiment, the transport container 100 is a cardboard box, but is not limited to this. The container may be any container such as a plastic container. do.

[0041] The first loading section 13 includes a roller conveyor or the like, and is configured to load the empty transport container 100 into the storage device 1. Although not shown in the figure, in this embodiment, a box former is provided upstream of the first carrying-in section 13. The first carrying-in section 13 is arranged so that it continues to the box former. The assembled empty cardboard boxes are then transported to the storage device 11 at the lower standby positions 13a and 13b. When the first carry-in section 13 carries the cardboard box to the standby positions 13a and 13b, The cardboard boxes are transported to the intermediate conveyor 15.

[0042] The intermediate conveyor 15 is adjacent to the first receiving section 13 and includes a first detection sensor 15b. The exit sensor 15b detects whether the transport container 100 has arrived on the intermediate conveyor 15. The detection sensor 15b may be, for example, a load sensor or an optical sensor. Not limited. The intermediate conveyor 15 includes a holding portion 15a. The holding portion 15a holds the transport container 10 The flaps of the transport container 100a contact the flaps to restrict the movement of the transport container 100a. The intermediate conveyor 15 is located on the opposite side of the pressing portion 15a (opposing the pressing portion 15a in the y direction). The transport container 100a further includes one pressing portion at the upstream side of the transport container 100a. It contacts the flap of a certain transport container 100b to restrain the movement of the transport container 100b. The second receiving section 17 includes a belt conveyor or the like, and is used to transfer open trays containing eggs to the storage device 11. Although not shown in the drawings, in this embodiment, there is an open egg section upstream of the second carrying-in section 17. An egg-packing device for packing eggs into trays is provided, and the second carrying-in section 17 is continuous with the egg-packing device. A first conveyor 19 is disposed downstream of the second conveyor 17. The second conveyor 17 conveys the egg-containing The open tray is then transported to the first conveyor 19.

[0043] The first conveyor 19 includes a second detection sensor (not shown). , detects whether the open tray containing eggs has reached the first conveyor 19. The sensor (not shown) may be, for example, a load sensor or an optical sensor, but is not limited to these. stomach. The control unit 10 detects by a second detection sensor (not shown) that the open tray containing eggs is on the first conveyor 19. Once it detects that the egg has reached the top, it determines if the open tray of eggs is defective. The control unit 10 detects whether the eggs in the open tray are damaged by using a third detection sensor (not shown). whether eggs are in all rows of open trays (or whether eggs are in several rows of open trays) The third detection sensor (not shown) is, for example, a load sensor. The sensor may be, but is not limited to, a light sensor, an image sensor, or an ultrasonic sensor. If the control unit 10 determines that the open tray containing the eggs is not defective, it controls the storage device 11 to The open tray is then lifted and stored in a shipping container 100 on the intermediate conveyor 15.

[0044] The second conveyor 23 normally (initial state) faces upward (z direction). The second conveyor 23b is facing upward. If it is determined that there is a gap, the second conveyor 23a is lowered. When the second conveyor 23 is lowered, the control unit 10 controls the first conveyor 19 The second conveyor 23 is then operated to transport the open trays containing eggs to the third conveyor 25. When the open tray containing eggs is conveyed to the third conveyor 25, the control unit 10 controls the second conveyor 2 Raise 3 again.

[0045] The control unit 10 determines whether a predetermined number of open trays containing eggs have been stored in the transport container (i.e., For example, the control unit 10 detects the number of times the storage device 11 has been loaded. When the count reaches a predetermined number, the transport container is full. If the count does not reach the predetermined number, the transport container is determined to be not full. The storage device 11 stores eggs until the control unit 10 detects that the transport container is full. The open tray is stored in the transport container 100. The control unit 10 determines whether the transport container is full. When this is detected, the intermediate conveyor 15 conveys the transport container to the discharge section 21. The storage device 11 transfers an empty open tray containing no eggs to the egg container on the top surface of the transport container. Empty open trays may be placed on the top open tray containing eggs. It acts as a lid for the egg and prevents damage to the egg. The discharge section 21 is adjacent to the intermediate conveyor 15 and includes a roller conveyor and the like. In this embodiment, a scale is disposed downstream of the discharge section 21, and an open tray containing eggs is The stored transport container is weighed and the weight is adjusted if necessary. The box sealing machine is installed in the downstream of the box sealing machine, and the palletizer is installed downstream of the box sealing machine. The transport container containing the open trays of eggs is then transported to the scale.

[0046] (First embodiment) Next, a first embodiment of the storage device hand 14 will be described with reference to FIG. 1 is a schematic diagram showing a storage device hand according to a first embodiment. FIG. The storage device hand 14 includes an arm connection part 140, an egg suction part 141, a lifting part 143, and a tool. The device includes a changer 146, a first detachment mechanism 145, and a second detachment mechanism 147. The robot arm 12 is attached to the arm connection portion 140 .

[0047] The egg adsorbing portion 141 and the lifting portion 143 will be described with reference to Fig. 3. Fig. 3 shows the first embodiment. 1 is a schematic diagram showing the back side of the storage device hand 14 (i.e., when viewed in the z direction of the storage device hand 14). The lifting part 143 is a box-shaped tray suction part 149 that does not have a bottom (i.e., is open). and a pressure sensor 151. The tray suction portion 149 includes a rectangular outer edge portion 153. The tray suction portion 149 is sized so that the outer edge 153 can contact the outer edge of the open tray. The open tray will be described in detail later. The pressure sensor 151 detects the pressure in the tray suction part 149. The location of the pressure sensor 151 is not limited to the example shown in FIG. A plurality of egg adsorption units 141 are provided inside the tray suction unit 149. Each egg adsorption unit 141 is It comprises a bellows-shaped suction pad, and one egg suction portion 141 suctions one egg. The number of egg adsorbing sections 141 is equal to the number of eggs that can be accommodated in the open tray. The eggs are arranged in positions corresponding to the positions on the tray. It handles an open tray that can hold 8 eggs in the x-direction and 5 eggs in the y-direction, and has 40 egg attachment sections 14 1 is provided.

[0048] The open tray will be described with reference to Fig. 4. Fig. 4 shows the open tray in this embodiment. An example of an open tray 102 is shown. The open tray 102 has an egg placement area 104, a rim 106, and a cutout 108. The open tray 102 does not have a lid. The egg placement area 104 includes a plurality of recesses. One egg is placed in each recess. The peripheral portion 106 surrounds the egg placement portion 104. The tray suction portion 149 has an outer edge 153 that is The cutout 108 contacts the flat portion of the peripheral edge 106. It is a depression that faces the center of the tray (toward the center of the tray) and can be inserted with a human finger. The open tray 102 can be held by inserting a finger into the notch 108. As an example, the open tray 102 may have two trays on one short side and two trays on the other short side. The open tray shown in FIG. 4 is merely an example, and the egg-carrying tray The number of recesses in the portion 104 and the locations and / or number of the notches 18 are not limited thereto. do not have.

[0049] Returning to FIG. 2, the tool changer 146, the first detachment mechanism 145, and the second detachment mechanism 147 The egg attachment unit 141 and the lifting unit 143 are connected to the tool changer 146. The tool changer 146 is used to attach another egg attachment unit to the robot arm 12. This allows for the installation of 141 sets of eggs, which can be accommodated in different numbers. This makes it possible to realize a storage device hand 14 that can accommodate various open trays. The first detachment mechanism 145 performs suction and detachment of the open trays containing eggs. The first detachment mechanism 145 includes a first pipe 155 and a first pipe connection portion 157. The first pipe connection part 155 is connected to a first vacuum blower (not shown). 155 is connected to the tray suction unit 149. The first vacuum blower (not shown) has a switching valve, Switching between suction and exhaust of air in the first piping 155 and the tray suction part 149. First vacuum When the blower (not shown) sucks in air, the pressure in the tray suction section 149 drops, and the open tray The tray 102 is sucked by the tray suction part 149. A first vacuum blower (not shown) exhausts air. When the tray suction part 149 is opened, the pressure in the tray suction part 149 increases, and the open tray 102 is pulled out of the tray suction part 149. It detaches from the body.

[0050] The second detachment mechanism 147 performs adsorption and detachment of eggs from the open tray containing eggs. The attachment mechanism 147 has the same configuration as the first detachment mechanism 145, and therefore is different from the first detachment mechanism 145. The second detachment mechanism 147 is a second piping 161 and a second piping connection part 16. The second pipe 161 is connected to a second vacuum blower (not shown), and the second pipe connection portion 1 63 connects the second pipe 161 to the egg adsorption section 141. The second vacuum blower (not shown) The second pipe 161 has a valve for switching between suction and exhaust of air. When the second vacuum blower (not shown) sucks air while the eggs are in contact with the egg adsorption portion 141, the eggs are attracted to the egg adsorption portion 141. When a second vacuum blower (not shown) exhausts the air, the eggs are released from the egg adsorption section 141. Let go.

[0051] (Adsorption / desorption behavior of an open tray containing eggs) The adsorption and desorption operations of the open tray containing eggs will be further explained with reference to FIG. 5 is a flowchart showing the adsorption and detachment operations of the open tray containing eggs. 10, for example, starts the process of FIG. 5 in response to a start instruction from the administrator of the storage system 1. do. When the process of FIG. 5 is started, the control unit 10 controls the first vacuum blower (not shown) and the second vacuum blower. Then, the control unit 10 starts suctioning air from the first detection sensor (not shown) (S10). The arrival of the transport container 100 on the intermediate conveyor 15 is detected by the sensor 15b (S1 2) Next, the control unit 10 detects by a second detection sensor (not shown) that the open tray containing the eggs is The control unit 10 then detects that the product has arrived on the first conveyor 19 (S14). A detection sensor (not shown) determines whether the open tray containing the eggs has any defects (S16). If the control unit 10 determines that the open tray containing eggs is defective (S16: No), the second control unit The conveyor 23 is lowered and the open tray containing the defective eggs is transported to the third conveyor 25 (S2 On the other hand, if the control unit 10 determines that the open tray containing the eggs is not defective, the process returns to S14. (S16: Yes), the storage device hand 14 is moved above the open tray containing the eggs. Then, the open tray starts to be sucked (S18).

[0052] Next, the control unit 10 determines whether the pressure measured by the pressure sensor 151 is equal to or less than a predetermined value. It is determined whether the pressure measured by the pressure sensor 151 is equal to or less than a predetermined value (S22). If it is determined that the eggs are adsorbed to egg adsorbing portion 141, the open tray is The control unit 10 determines that the ray has been attracted to the ray suction unit 149, and proceeds to S24. If it is determined that the pressure measured by the sensor 151 is not equal to or less than the predetermined value (S22:N o), at least one of the eggs and the open tray is sucked into the egg suction part 141 or the tray suction part 149. If the call is not received, an error is reported, for example by sounding an alarm (S26). When the process proceeds to S24, the control unit 10 moves the storage device hand 14 to the intermediate controller. The container 100 is moved above the conveyor 15, and the eggs and open trays are placed in the container 100. Specifically, the control unit 10 controls the first vacuum blower (not shown) and the second vacuum blower (not shown). The vacuum blowers (not shown) are switched from suctioning air to exhausting air by their respective switching valves.

[0053] Next, the control unit 10 determines whether the transport container 100 is full (S28). The control unit 10 counts the number of times that open trays containing eggs are stacked, and when the count reaches a predetermined value, If the count reaches a predetermined value, the transport container 100 is full. If it is determined that the value is less than the predetermined value (S28: Yes), the transport container 100 is not full. If it is determined that the transport container 100 is not full (S28: No), No), return to S14, and perform the adsorption and desorption operations of the open tray containing eggs (S14 to S24). Repeat until it is determined that the transport container 100 is full. If the determination is yes (S28: Yes), the control unit 10 transfers the transport container 100 to the unloading unit 21. Then, the control unit 10 counts up the box counter by 1 (S30). It is determined whether the count number of the box counter is a predetermined value (S32). If it is determined that the count number is not reached (S32: No), the process returns to S12 and the count number is not counted until it reaches the predetermined value. The control unit 10 repeats steps S12 to S30 when the count number of the box counter reaches a predetermined value. If so (S32: Yes), the process ends.

[0054] In S22, the control unit 10 determines whether the pressure measured by the pressure sensor 151 is Based on this, it is determined whether the eggs and the open tray are adsorbed to the egg adsorption part 141 and the tray suction part 149. For example, the pressure in the second pipe 161 may be measured by a pressure sensor (not shown). Therefore, it may be possible to detect the pressure and determine whether an egg has been adsorbed to egg adsorbing section 141 based on the pressure value. No.

[0055] (Action and effect) According to the first embodiment, the eggs are attracted by the egg attracting portion 141, so that the tray suction portion 1 49 does not need to adsorb eggs, and it is sufficient to adsorb the open tray 102. 2 is lighter than an egg, the tray suction part 149 can suck it with a relatively small suction force. In addition, the first detaching mechanism 145 performs suction and detachment of the open tray 102. The second detachment mechanism 147 adsorbs and detaches the eggs, so the suction force of the first detachment mechanism 145 can be adjusted to suit the weight of the open tray, and the suction of the second detachment mechanism 147 The force can be adjusted to suit the weight of the eggs. This allows the eggs to be stored more securely in the transport container 100.

[0056] Second Embodiment Next, a second embodiment of the hand for the storage device will be described. The tray hand 14a is the same as the tray hand 14 of the first embodiment in that the tray suction portion 149 has a hook portion 200. The other configurations of the storage device hand 14a are different from those of the storage device hand 14 of the first embodiment. Since this is the same as above, the explanation will be omitted.

[0057] The hook portion 200 will be described with reference to Figs. 6 to 8. Fig. 6 shows the storage state of the second embodiment. 6 is a schematic diagram showing a hook portion 200 of the device hand 14a. In FIG. The hooking portion 200 is in a state of being sucked by the tray suction portion 141 (the same applies to FIG. 8). The tray suction unit 149 is installed inside the tray suction unit 149. For convenience of explanation, the tray suction unit 149 is not shown in FIG. The figure is abbreviated and shows a part of the tray suction portion 149 when viewed in the -x direction. The hook portion 200 is configured to fit inside the notch 108 of the open tray 102. The hook portion 149 is positioned inside the suction portion 149. This will be described in detail with reference to FIG. 7 shows the positional relationship between the tray 200 and the open tray 102 when viewed in the -z direction. For convenience, the configuration other than the hook portion 200 of the storage device hand 14a (tray suction portion 149, etc.) As shown in FIG. 7, the hook portion 200 is attached to the cutout of the open tray 102. The tray 102 is arranged so as to fit within the opening area of ​​the notch 108 and is located at the periphery 106 of the open tray 102. The hook portion 200 does not extend beyond the outer edge D. In other words, the hook portion 200 is When viewed from the lifting direction (when the tray suction portion 149 is viewed in the z direction), the outer edge of the open tray 102 Do not extend beyond D.

[0058] Returning to FIG. 6, the hook 200 has a pair of legs (202a, 202b) and Each leg (202a, 202b) has a claw (206a, 206b) The claws (206a, 206b) are arranged so as to face each other (i.e., back to back). The solenoid valve 204 is turned on and off to control the legs (202a, 202b). 6, the wiring for energizing the solenoid valve 204 is omitted. 6 shows the legs (202a, 202b) in an open position, and FIG. 6 shows the closed state. As shown in FIG. 6, the legs (202a, 202b) are The direction from the closed state to the center of the open tray 102 (-x direction) is perpendicular to the direction from the closed state to the center of the open tray 102 (-x direction). The claws (206a) move away from each other in a direction parallel to the y-direction. , 206b) are caught in the notch 108, and the catch 200 grasps the open tray 102. Hold.

[0059] (Action and effect) According to the second embodiment, the open tray 102 is sucked by the tray suction portion 149 and That is, the open tray 102 is gripped by the hook portion 200. The open tray is transferred into the transport container 100 by both of the hooks 200. 102 can be stored more stably within the transport container 100.

[0060] (Third embodiment) Next, the third embodiment of the hand for a storage device will be described with respect to differences from the first embodiment. FIG. 9 is a schematic diagram showing a storage device hand 14b of the third embodiment. The arm 14b has a lifting part 300 and an egg adsorbing part 303. The lifting part 300 is connected to an arm. A connecting part 301, a support part 305, a hand body 307, a tool changer 308, a first actuator an actuator 309, a second actuator 311, a joining member 313, a pair of gripping members 315, and and a slide base 317. The arm connection part 301 is installed on the top surface of the hand body 307, and the robot arm 12 is attached. The egg attachment part 303 is attached to the support part 305. The support part 305 is attached to the shaft 306. 9, for example, the following is included: 54 egg adsorption units 303 are installed, 9 in the x direction and 6 in the y direction (not shown). A tool changer 308 is attached to the top surface of the tool body 307. 308 allows another set of egg attachment parts 303 to be attached. The storage device hand 14b is capable of accommodating various open trays with different numbers of eggs that can be stored. It can be realized. The first actuator 309 is connected to the connecting holes A and B by fitting bolts or the like into the connecting holes A and B. The joining member 313 is attached to the slide base 31. 7, and the slide base 317 is attached to the second actuator 311. The gripping member 315 is attached to the slide base 317 by fitting a bolt or the like into the joining hole C. The gripping member 315 is attached to the 160°). Alternatively, it may be formed by bending a single flat plate.

[0061] The operation of the storage device hand 14b will be described further with reference to FIGS. For the sake of convenience, the eggs are not shown in the illustration of 12. The egg is adsorbed. Figure 9 shows the state in which egg adsorption section 303 has adsorbed the egg. As shown in Figure 9, When attaching an egg, the flat plates 315a of the pair of gripping members 315 are oriented perpendicular to the hand body 307. The tray 102 faces outward (away from the open tray 102) in the z-direction.

[0062] When the egg adsorption is completed, the storage device hand 14b grasps the open tray 102. 10 shows a state in which the pair of gripping members 315 grips the open tray 102. As shown in the figure, the cylinder 309a of the first actuator 309 extends, and the gripping member 3 on the right side of the drawing 15 rotates clockwise around the joining hole C as the rotation axis, and the gripping member 315 on the left side of the drawing rotates clockwise around the joining hole C as the rotation axis. As a result, each flat plate 315a rotates counterclockwise around the hole C as the rotation axis. With respect to the direction (z direction) perpendicular to the arrow O7, the inner side (the direction toward the center of the hand body 307) This causes each flat plate 315a to contact the periphery 106 of the open tray 102, In this way, the first actuator 309 grips the ray 102. The axis parallel to the depth direction (y direction) of the hand body 307, which is perpendicular to the width direction (x direction), is the rotation axis. As a result, the pair of gripping members 315 can be rotated. In addition, the open tray 102 is soft and easily compressed when force is applied, so in FIG. The flat plate 315a of the holding member 315 faces the peripheral edge 106 of the open tray 102 inward (hand body 30 10, the open tray 102 is compressed in a direction toward the center of the tray 102. 10 is merely an example, and the flat plate 315a of the gripping member 315 is curved in the z direction. The open tray 102 is pressed against the peripheral edge 106 of the open tray 102 without compressing the peripheral edge 106 of the open tray 102. 6 (outer edge) may be gripped, or the open tray 102 may not be curved.

[0063] After the storage device hand 14b has finished gripping the open tray 102, it moves it into the transport container. The storage device hand 14b then moves to place the open tray 102 into the transport container. The cylinder 311a of the second actuator 311 is extended. 3 shows the state in which the cylinder 311a of the second actuator 311 is extended. 311 is joined to a slide base 317, and the slide base 317 is joined to a gripping member 315. When the cylinder 311a of the second actuator 311 is extended, The slide base 317 and the gripping member 315 move in the -x direction, and the slide base on the left side of the drawing The base 317 and the gripping members 315 move in the x direction, widening the gap between the pair of gripping members 315. As shown in FIG. 11, each flat plate 315a of each gripping member 315 is attached to the hand body 3. With respect to the direction (z direction) perpendicular to the arrow O7, the inner side (the direction toward the center of the hand body 307) The facing position is maintained.

[0064] Next, the storage device hand 14b activates the cylinder 309a of the first actuator 309. FIG. 12 shows the state in which the cylinder 309a of the first actuator 309 is contracted. As shown in FIG. 12, the first actuator 309 moves the flat plates 31 of the gripping members 315. 5a is parallel to the direction (z direction) perpendicular to the hand body 307. When the contraction of the cylinder 309a is completed, the storage device hand 14b The suction by the suction part 303 is released, the eggs are placed on the open tray 102, and moved out of the transport container. However, FIG. 12 is merely an example, and the flat plate 315a of the gripping member 315 is 07 (z direction) is not parallel to the direction perpendicular to the hand body 30 It is okay if the direction is towards the center of 7.

[0065] (Action and effect) According to the third embodiment, the driving of the first actuator 309 and the second actuator 311 The pair of gripping members 315 grips the open tray 102 by the movement. The hand 14b is arranged in the width direction of the storage device hand 14b (the longitudinal direction of the hand body 307, the x direction). The length of each of the transport containers can be adjusted to be shorter than the width of the transport container. The intervals between the gripping members 315 (d1 in FIG. 10, d2 in FIG. 11, d3 in FIG. 12) are set to the inner wall of the transport container. This allows the storage device hand 14b to move into the transport container. When transporting or transferring outside the packaging, the container must be able to be transported in an open container without damaging the packaging. Ray can be placed on it.

[0066] (Another embodiment) (1) In the first embodiment, the storage device hand 14 includes a first detachment mechanism 145 and a second detachment mechanism 146. The detachment mechanism 147 is a single detachment mechanism that attaches and detaches the open tray 102 and eggs. It may have the following structure.

[0067] (2) In the first embodiment, the tray suction portion 149 is provided on the outer periphery of the open tray 102. The cutout 108 may have a hole closing portion 400 that closes at least a portion of the cutout 108. 3 shows an example of the hole closing part 400. The hole closing part 400 is a part that closes the notch 108 of the open tray 102. The hole closing portion 400 is provided inside the tray suction portion 149 so as to correspond to the position of the hole closing portion 400. In addition, in FIG. 13, the storage device hand is one The hole closing part 400 is provided when the detachable mechanism 401 is provided. The storage device hand 14 having the hole closing portion 400 may be provided. As described above, the open tray 102 has the notch 108 formed therein. When the outer edge 153 of the tray suction portion 149 is brought into contact with the peripheral edge 106 of the open tray 102, A gap may occur between the outer edge 153 and the notch 108, which may weaken the suction force. In response to this, by providing the hole closing portion 400 in the tray suction portion 149, the tray can be easily opened by the notch portion 108. This reduces the gap between the trays, and allows the tray suction portion 149 to perform more stable suction.

[0068] (3) In the first embodiment, the tray suction portion 149 has a rectangular outer edge portion 153. 14, the tray may have an outer edge 500 along the outer shape of the open tray. In addition, in FIG. 14, when the storage device hand has one detachment mechanism 401, The outer edge 500 is provided on the storage device handle 140. The storage device handle 140 has two detachable mechanisms 145 and 147. In the tray suction portion 149 of the tray holder 14, an outer edge portion 500 may be provided. By providing the notch 108, the gap due to the notch 108 can be reduced, and the tray suction portion 14 9. Achieves more stable suction.

[0069] (4) In the second embodiment, the hook portion 200 has one leg including a claw. Move the tray 102 toward the center (toward the center of the tray) to the notch 208 The open tray may be gripped by a hook.

[0070] (5) In the third embodiment, the storage device hand 14b is a first actuator 309 and the second actuator 311, but it is possible to have one without the other. In this case, when the storage device hand 14b moves into the inside of the transport container, When moving to the outside of the transport container, the interval between the gripping members 315 is set to be smaller than the width of the inner wall of the transport container. It is preferable that it be small. In the third embodiment, the flat plate 315a of the gripping member 315 is The tray 102 moves to the notch 108, contacts the notch 108, and grasps the open tray 102. It's okay to do so. [Explanation of symbols]

[0071] 1. Containment System 10 Control Unit 12 Robotic Arm 13 First Loading Section 14 Storage device hand 17 Second Loading Section 21 Unloading section 102 Open Tray 108 Notch 141 Egg adsorption part 143 Lifting part 145 First detachment mechanism 147 Second detachment mechanism 149 Tray suction unit 151 Pressure Sensor 153 outer edge 200 Hook 300 Lifting part 303 Egg adsorption part 307 Hand body 309 First Actuator 311 Second Actuator 315 Gripping member 400 Hole-blocking section 500 outer edge

Claims

1. A hand for a storage device includes an egg suction unit that suctions a plurality of eggs contained in an open tray having no lid, and a tray suction unit in which the egg suction unit is provided, and is used to store the open tray in a transport container, a hook portion that hooks onto a notch portion provided on the outer periphery of the open tray to grip the open tray; The hooking portion is positioned so as not to interfere with the egg suction portion, does not protrude beyond the outer edge of the open tray when viewed in the lifting direction of the tray suction portion, and is positioned in a notch provided on the outer periphery of the open tray, and is configured to hook onto an end of the notch to grip the open tray. Storage device hand.

2. A robotic arm, A storage device comprising: a storage device hand according to claim 1 provided at the tip of the robot arm.

3. A storage device according to claim 2; a first loading section that loads the empty transport container into the storage device; a second loading section that loads the open tray containing the eggs into the storage device; and a discharge section that discharges the transport container in which the open trays containing eggs are stored.

Images