Hand for storage device, storage device, and storage system

Abstract

To provide a technique capable of reducing a gap between an open tray containing eggs and an inner wall of a transport container more than before when the open tray is stored in the transport container, thereby suppressing damage to eggs on the open tray.SOLUTION: The hand for the storage device includes: an egg adsorption portion that adsorbs multiple eggs contained in an open tray having no lid; and a lifting portion that lifts the open tray. The lifting portion has a pair of gripping members that grip both sides of the open tray, and when the open tray is removed after being placed in a transport container, the pair of gripping members have a widthwise length that is longer than the widthwise length of the open tray and shorter than the widthwise length of the inner wall of the transport container.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a handle for a storage device that stores an open tray containing eggs in a transport container such as cardboard, a storage device, and a storage system.

Background Art

[0002] As a container for storing eggs, there is an open tray that has no lid and an open top surface. Examples of open trays include mold trays, paper trays, PET trays, etc. Mold trays and paper trays are made of, for example, paper or pulp, and PET trays are made of, for example, plastic. These open trays are used for applications such as storing a large number of eggs for business use. For example, Patent Document 1 discloses an open tray that can arrange 32 eggs in 4 rows and 8 columns.

[0003] By the way, when lifting both ends of an open tray while storing a large number of eggs, an event occurs where the open tray bends due to the weight of the eggs. Therefore, in order to store an open tray containing eggs in a transport container such as cardboard, automation by a machine is difficult, and it is generally performed manually.

[0004] In contrast, in the technology of Patent Document 2, in order to automate the transfer of an open tray containing eggs, a device is disclosed that separately lifts the eggs and the open tray and stores them in a transport container. Specifically, the head portion of the device has the same number of suction members as the eggs to be stored and a pair of gripping members. Each suction member sucks each egg, and the pair of gripping members grip both ends of the open tray. The head portion moves into the transport container while maintaining the suction by the suction members and the gripping by the gripping members. The gripping member releases its grip on the open tray and places the open tray inside the transport container. The attachment member releases the egg's suction and places the egg on an open tray placed inside the transport container. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2009-202948 [Patent Document 2] International Publication No. 2019 / 004198 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] As described above, in the technology of Patent Document 2, a pair of gripping members grip both ends of the open tray. Move into the transport container in this state and release the grip (i.e., widen the distance between the pair of gripping members). The open tray is placed inside the transport container by (doing this). Therefore, the pair of gripping members transport To allow sufficient space to be created within the container, the width of the transport container should be greater than the width of the open tray. It was necessary to create a fairly large gap. As a result, there was a gap between the transport container and the stored open tray. There was a problem with the resulting gaps in the conversation.

[0007] Such gaps are undesirable as they hinder the stable transport of open trays. Eggs, in particular, are easily lost. Because they tend to be damaged, open trays should be placed inside the transport container with as little gap as possible. It is required to store it in [location].

[0008] This invention relates to the process when an open tray containing eggs is stored in a transport container, and the open tray and transport container This technology allows for a smaller gap between the container wall and the eggs, thereby reducing the risk of egg breakage on the open tray. for the purpose of being used.

Means for Solving the Problem

[0009] The hand for the storage device of the present invention has an egg suction part that sucks a plurality of eggs stored in an open tray without a lid, and a tray lifting part that lifts the open tray. The tray lifting part is a tray suction part in which the egg suction part is provided inside, and sucks and lifts a part of the upper surface of the open tray (preferably, a part or all except the peripheral upper surface part and the egg placement part). The tray suction part has a part or all of the tray suction part may be in contact with the upper surface of the open tray, or may not be in contact.

[0010] According to the above configuration, since the eggs are sucked by the egg suction part, the weight of the eggs can be reduced from the suction target of the tray suction part. Therefore, the tray suction part can lift the open tray with a relatively small suction force. In this way, the egg suction part sucks the eggs stored in the open tray, and the tray suction part sucks the open tray, so that the eggs and the open tray can be stored in the transport container. As a result, when the open tray containing eggs is stored in the transport container, the gap between the open tray and the inner wall of the transport container can be made smaller than before, and the breakage of the eggs on the open tray can be suppressed. Moreover, the eggs sucked by the egg suction part may float (that is, separate) from the open tray. Also, the distance between the floating eggs and the upper surface of the open tray may be relatively small. Thereby, even if the eggs fall from the egg suction part, the breakage of the eggs can be suppressed.

[0011] ;

[0012]

[0013] The tray suction part is at a position where it does not buffer with the egg adsorption part, and when viewed in the lifting direction of the tray suction part, it does not protrude outside the outer edge of the open tray, and is located in a notch provided on the outer periphery of the open tray. It may have a hooking part that is hooked on the end of the notch part to hold the open tray. When viewed in the lifting direction, the hooking part does not protrude outside the outer edge of the open tray, and is inserted and arranged within the opening area of a notch provided on the outer periphery of the open tray, and is moved in the tray center direction or in a direction perpendicular to the tray center direction for hooking, and may perform an operation of returning to the origin (opening) during opening.

[0014] The hooking part may have legs including claws, and hook the legs on the notch part in the tray center direction to hold the open tray. The hooking part may have a pair of legs including claws with their backs facing each other, and spread the legs in a direction perpendicular to the tray center direction within the notch part for hooking. According to the above configuration, the open tray is adsorbed by the tray suction part and also held by the hooking part. Thereby, the open tray can be more reliably stored in the transport container. The tray suction part may have a hole blocking part that blocks at least a part of a notch provided on the outer periphery of the open tray.

[0015]

[0016]

[0017] According to the above configuration, at least a part of a notch provided on the outer periphery of the open tray (generally, a notch for finger insertion provided on the open tray so that a person can hold it by hand) is blocked by the hole blocking part. Thereby, the adsorption of the open tray by the tray suction part is made more ​​​​​​​​​​It can be made stable.

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

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

[0020] According to the above configuration, it is possible to suppress the occurrence of a gap between the tray suction unit and the open tray. This allows the suction of the open tray by the tray suction unit to be made more stable.

[0021] The aforementioned holding portion is the pressure within the space formed by the tray suction portion and the open tray. It has a pressure sensor that detects pressure, A first attachment / detachment mechanism that performs the suction and detachment of the open tray by the tray suction unit, When the pressure detected by the pressure sensor is below a predetermined value, the open tray is transported. The system may further include a control unit that controls the first attachment / detachment mechanism so that it detaches into the container. do not have.

[0022] According to the above configuration, the pressure in the space formed by the tray suction section and the open tray is If the pressure is detected by the pressure sensor and is below a predetermined value, the tray suction unit It is determined that sufficient suction has been performed (i.e., the open tray has been attracted to the tray suction section). The control unit controls the first detachment mechanism to detach the open tray into the transport container. This ensures that the open tray is reliably adsorbed by the tray suction unit.

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

[0024] According to the above configuration, the egg adsorption unit adsorbs and detaches the egg, and the tray suction unit releases the tray. The adsorption and detachment of the object can be achieved by a single attachment / detachment mechanism. This allows for the storage device to be used. Compared to cases where the dome has multiple attachment / detachment mechanisms, the cost of the hand for the storage device can be reduced.

[0025] The storage device hand has a second attachment / detachment mechanism that performs the attachment and detachment of eggs by the egg adsorption part. You may have even more.

[0026] According to the above configuration, the first attachment / detachment mechanism performs the suction and detachment of the open tray by the tray suction unit. Then, the second attachment / detachment mechanism performs the attachment and detachment of eggs by the egg adsorption part. This opens the door. The adsorption and detachment of the ray and the adsorption and detachment of the egg can be controlled individually, and the egg and open tray This allows for more stable transport.

[0027] The hand for the storage device of the present invention is An egg adsorption unit that adsorbs multiple eggs contained in an open tray without a lid, It has a lifting part that lifts the open tray, The aforementioned gripping portion is a pair of gripping members that grip both sides of the open tray, and the open tray When the tray is placed inside the transport container and the open tray is removed, the length in the width direction is the length of the open tray It is longer than the widthwise length of the ray, and shorter than the widthwise length of the inner wall of the transport container. It has the pair of gripping members mentioned above.

[0028] According to the above configuration, the egg adsorption part adsorbs the eggs contained in the open tray, and the holding part is the open tray Lift the tray. After the open tray is placed inside the transport container, detach the open tray. When this happens, the width of the upper part is longer than the width of the open tray, and the transport container It is shorter than the width of the container. Therefore, the difference between the width of the transport container and the width of the open tray is relatively small. Even in such cases, when the upper part detaches from the open tray, the transport container will not be damaged. The open tray can be placed inside the transport container. That is, when the open tray is stored in the transport 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 aforementioned support part is, The hand body connected to the storage device, The depth of the hand body, which is installed on the hand body and perpendicular to the width direction of the hand body A first actuator capable of rotating the pair of gripping members with an axis parallel to the direction as the axis of rotation, It is acceptable to have it.

[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 inward on an axis parallel to the direction, the release mechanism By making contact with Ray, it becomes possible to grasp both sides of the open tray.

[0031] The aforementioned support part is, The hand body connected to the storage device, Installed on the hand body, between the pair of gripping members in the width direction of the hand body It may also have a second actuator that can expand or contract the distance.

[0032] The egg adsorption section has adsorption members that adsorb one egg, and the number of adsorption members is equal to the number of eggs that can be accommodated in the open tray. It's fine to have many. The aforementioned suction member may be a bellows-shaped suction pad.

[0033] According to the above configuration, one egg is adsorbed by one adsorption member. As a result, the egg This allows for more stable transport.

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

[0035] Even if the robot arm is composed of a vertical articulated robot and a horizontal articulated robot, That's fine.

[0036] The storage system of the present invention is The above-mentioned storage device, A first loading unit for loading empty transport containers into the storage device, A second loading section for loading the open tray containing the eggs into the storage device, The device includes an unloading section for unloading the transport container in which the open tray containing the eggs is stored. ru. [Effects of the Invention]

[0037] When the open tray containing the eggs is placed in the transport container, the relationship between the open tray and the inner wall of the transport container The gap can be made smaller than before, which helps to prevent damage to eggs on the open tray. [Brief explanation of the drawing]

[0038] [Figure 1] This is a schematic diagram showing a storage system, which is one embodiment of the system. [Figure 2] This is a schematic diagram showing a hand for a storage device of the first embodiment. [Figure 3] This is a schematic diagram showing the back side of the storage device hand of the first embodiment. [Figure 4] This is a schematic diagram showing an example of an open tray. [Figure 5] This flowchart shows the suction and detachment operations of an open tray containing eggs. [Figure 6] This is a schematic diagram showing the hook portion of the storage device hand of the second embodiment. [Figure 7] This is a schematic diagram showing the positional relationship between the hook and the open tray when viewed in the -z direction. [Figure 8] This is a schematic diagram showing the hook portion of the storage device hand of the second embodiment. [Figure 9] This is a schematic diagram showing the state in which the egg adsorption part of the storage device hand of the third embodiment has adsorbed an egg (not shown). [Figure 10] This is a schematic diagram showing a state in which a pair of gripping members grip an open tray in a storage device hand of the third embodiment. [Figure 11] This is a schematic diagram showing the extended state of the cylinder of the second actuator in the hand for the storage device of the third embodiment. [Figure 12] This is a schematic diagram showing the state in which the cylinder of the first actuator is retracted in the hand for the storage device of the third embodiment. [Figure 13] This is a schematic diagram showing a hole-blocking portion included in the tray suction section of a storage device hand according to another embodiment. [Figure 14] This is a schematic diagram showing the outer edge portion of a hand for a storage device according to another embodiment, which follows the outer shape of the open tray. [Modes for carrying out the invention]

[0039] (Overview of the storage system) An overview of a storage system, which is one embodiment of the present invention, will be described with reference to Figure 1. This is a schematic diagram showing a storage system that is one embodiment. As shown in Figure 1, the storage system M1 consists of a storage device 11, a first loading section 13, an intermediate conveyor 15, a second loading section 17, and a first conveyor. It includes a conveyor 19, an unloading section 21, a second conveyor 23, and a third conveyor 25. Storage system 1 is provided with a management system that oversees and manages storage system 1. It is controlled by the control unit 10. The storage system 1 is controlled by individually provided control units. The main control unit 10 and individual control units may include, for example, dedicated circuits, firmware, and Alternatively, a combination of hardware such as a processor and memory and a program that defines the control procedure. It may be implemented using a combination configuration.

[0040] The storage device 11 includes a robot arm 12 and a storage device hand 14. The arm 14 is located at the tip of the robot arm 12. The storage device 11 contains the eggs. The open tray (hereinafter referred to as the open tray containing eggs) is placed inside the transport container 100. (i) is a tray without a lid and with an open top, and as an example, it is made of pulp. molded trays, paper trays made from paper, PET trays made from plastic This is a Ray. In this embodiment, the transport container 100 is a cardboard box, but is not limited to this. It may be any container, such as a plastic container. Details of the storage device hand 14 will be described later. do.

[0041] The first loading section 13 includes a roller conveyor and the like, and stores empty transport containers 100 in a storage device 1 Transport to 1. Although not shown in the diagram, in this embodiment, a box-making machine is located upstream of the first loading section 13. The first loading section 13 is positioned and continues to the box-making machine. Therefore, the assembled empty cardboard boxes are placed in the waiting positions 13a and 13b below the storage device 11. The first receiving section 13 transports the cardboard boxes to the waiting positions 13a and 13b, The cardboard boxes are transported to the intermediate conveyor belt 15.

[0042] The intermediate conveyor 15 is adjacent to the first loading section 13 and includes the 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 a light sensor, but Not limited. The intermediate conveyor 15 includes a holding portion 15a. The holding portion 15a is the transport container 10 It contacts the flap 0a to suppress the movement of the transport container 100a. Although not shown in the diagram, The intermediate conveyor 15 is on the opposite side of the pressing portion 15a (facing the pressing portion 15a in the y-direction) The position includes one additional retaining part. This retaining part is located upstream of the transport container 100a. It contacts the flap of a certain transport container 100b to suppress the movement of the transport container 100b. The second loading section 17 includes a belt conveyor and the like, and the egg-filled open trays are stored in a storage device 11 The eggs are transported to the destination. Although not shown in the diagram, in this embodiment, the eggs are released upstream of the second loading section 17. An egg-filling device that packs eggs into trays is located there, and the second loading section 17 is continuous with the egg-filling device. Downstream from the second loading section 17, the first conveyor 19 is located. The second loading section 17 is for eggs. The open trays are then transported to the first conveyor belt 19.

[0043] The first conveyor 19 includes a second detection sensor (not shown). The second detection sensor (not shown) is The second detection sensor detects whether the open tray containing eggs has reached the first conveyor belt 19. (Illustration not shown) For example, it may be a load sensor or an optical sensor, but is not limited to these. stomach. The control unit 10 detects when the open tray containing eggs is on the first conveyor 19 via a second detection sensor (not shown). Once it is detected that the egg has reached the top, it is determined whether the open tray containing the eggs is defective. (Example) The control unit 10 uses a third detection sensor (not shown) to detect if the eggs in the open tray are damaged. Are the eggs not contained in all rows of the open tray (or are the eggs contained in several rows of the open tray)? It determines whether it is housed in the third detection sensor (not shown). For example, a load sensor The sensor may be an optical sensor, image sensor, or ultrasonic sensor, but is not limited to these. When the control unit 10 determines that there are no defects in the open tray containing eggs, it controls the storage device 11, and the eggs The open tray is lifted and stored in the transport container 100 on the intermediate conveyor 15.

[0044] The second conveyor belt 23 is normally (initial state) facing upwards (in the z direction). In Figure 1, The second conveyor belt 23b is facing upwards. The control unit 10 detects a defect in the open tray containing eggs. If it is determined that there is a second conveyor, the second conveyor 23 is lowered. In Figure 1, the second conveyor 23a is It is in a lowered state. When the second conveyor 23 lowers, the control unit 10 controls the first conveyor 19 Then, the second conveyor 23 is activated to transport the open trays containing eggs to the third conveyor 25. When the open tray containing eggs is transported to the third conveyor 25, the control unit 10 will then move to the second conveyor 2 Raise 3 again.

[0045] The control unit 10 determines whether a predetermined number of open trays containing eggs are stored in the transport container (i.e., the transport container The control unit 10 detects whether the storage device 11 is full. For example, the control unit 10 determines the number of times the storage device 11 has stacked the items. The system counts the number of items, and when that count reaches a predetermined number of times, the transport container is full. If it is determined that the count does not reach the predetermined number of times, it is determined that the transport container is not full. The storage device 11 will not accept eggs until the control unit 10 detects that the transport container is full. The open tray is stored inside the transport container 100. The control unit 10 determines when the transport container is full. When this is detected, the intermediate conveyor 15 transports the transport container to the discharge section 21. The storage device 11 places an empty open tray that does not contain eggs into the top surface of the transport container where eggs are stored. It is also acceptable to place it on the open tray. The empty open tray is on the top of the open tray containing eggs. It acts as a lid, preventing damage to the eggs. The discharge section 21 is adjacent to the intermediate conveyor 15 and includes a roller conveyor, etc. (Figures are omitted.) In this embodiment, a scale is placed downstream of the discharge unit 21, and the open tray containing eggs The weight of the stored transport container is measured and adjusted as needed. Downstream of the scale is a seal A box machine is positioned, and a palletizer is positioned downstream of the box sealing machine. The discharge section 21 is continuous to the scale. Then, the transport container containing the open trays of eggs is transferred to the scale.

[0046] (First Embodiment) Next, a first embodiment of the storage device hand 14 will be described with reference to Figure 2. Figure 2 This is a schematic diagram showing a hand for a storage device according to the first embodiment. The storage device hand 14 includes an arm connection part 140, an egg suction part 141, a holding part 143, and a handle. It includes a lucender 146, a first detachment mechanism 145, and a second detachment mechanism 147. The robot arm 12 is attached to the arm connection part 140.

[0047] The egg adsorption portion 141 and the holding portion 143 will be described with reference to Figure 3. Figure 3 shows the first embodiment. A schematic diagram showing the back side of the storage device hand 14 (i.e., a view of the storage device hand 14 in the z direction). The upper part 143 is a box-shaped tray suction section 149 that does not have a bottom (i.e., is open). , and pressure sensor 151. The tray suction section 149 includes a rectangular outer edge 153. The suction section 149 is sized so that its outer edge 153 can contact the outer edge of the open tray. Details of the open tray will be described later. The pressure sensor 151 is detected by the pressure inside the tray suction section 149. It detects force. The installation location of the pressure sensor 151 is not limited to the example shown in Figure 3. Multiple egg adsorption units 141 are provided inside the tray suction unit 149. Each egg adsorption unit 141 is It includes a bellows-shaped suction pad, and one egg suction part 141 suctions one egg. Egg suction The number of sections 141 is equal to the number of eggs that can be accommodated in the open tray. The egg adsorption section 141 is open It is positioned to correspond to the positions where the eggs are arranged on the tray. In this embodiment, as an example, x An open tray is used, which can hold 8 eggs in the direction and 5 eggs in the direction of the y, and has 40 egg adsorption sections 14 A value of 1 is provided.

[0048] The open tray will be described with reference to Figure 4. Figure 4 shows the open tray in this embodiment. An example is shown. The open tray 102 has an egg placement section 104, a peripheral section 106, and a notched section 1 Includes 08. The open tray 102 does not have a lid. The egg placement section 104 includes a plurality of recesses, 1 One egg is placed in each recess. The peripheral portion 106 surrounds the egg placement portion 104. It is provided and includes a flat portion. The outer edge 153 of the tray suction portion 149 is of the open tray 102 It contacts the flat portion of the peripheral edge 106. The notch 108 is open to the peripheral edge 106. This is a recess that faces towards the center of I102 (towards the center of the tray), and a human finger can be inserted into it. It forms a space. The open tray 102 can be held by a person by inserting their finger into the notch 108. It is portable. For example, the open tray 102 has two on one short side and on the other short side It has one notch 108. Note that the open tray shown in Figure 4 is just one example, and the egg tray The number of recesses in section 104 and the location and / or number of notches 18 are not limited to these. do not have.

[0049] Returning to Figure 2, the tool changer 146, the first detachment mechanism 145, and the second detachment mechanism 147... Let me continue the explanation. The egg adsorption part 141 and the holding part 143 are connected via the tool changer 146. It is then attached to the robot arm 12. Another egg-sucking part is connected by the tool changer 146. It becomes possible to install 141 sets. This allows for different numbers of eggs to be accommodated. This enables the realization of a storage device handle 14 that can accommodate various open trays. The first attachment / detachment mechanism 145 performs the suction and detachment of the open tray among the open trays containing eggs. The first detachment mechanism 145 includes the first piping 155 and the first piping connection part 157. 155 is connected to the first vacuum blower (not shown). The first piping connection part 157 is connected to the first piping 155 is connected to the tray suction section 149. The first vacuum blower (not shown) has a switching valve, Switches between suction and exhaust of air in the first piping 155 and the tray suction section 149. When the blower (not shown) draws in air, the pressure inside the tray suction section 149 decreases, and the tray opens. I102 is attracted to the tray suction section 149. The first vacuum blower (not shown) exhausts the air. As a result, the pressure inside the tray suction section 149 increases, and the open tray 102 is pushed out of the tray suction section 149. It detaches.

[0050] The second detachment mechanism 147 performs the adsorption and detachment of eggs from the open tray containing eggs. Since the attachment mechanism 147 has the same configuration as the first attachment mechanism 145, there is no difference from the first attachment mechanism 145. I will only explain the points that are relevant. The second detachment mechanism 147 is connected to the second pipe 161 and the second pipe connection part 16 Includes 3. The second pipe 161 is connected to the second vacuum blower (not shown), and the second pipe connection part 1 63 connects the second pipe 161 to the egg adsorption section 141. The second vacuum blower (not shown) is cut It has a valve that switches between drawing in and exhausting air in the second pipe 161. The egg adsorption part 141 is for eggs When the second vacuum blower (not shown) sucks in air while in contact with the egg, the egg is attached to the egg adsorption part 141. It adheres to the egg. When the second vacuum blower (not shown) exhausts the air, the egg is removed from the egg adsorption part 141. Let go.

[0051] (Adsorption / detachment operation of an open tray containing eggs) The suction and detachment operations of the open tray containing eggs will be explained further with reference to Figure 5. Figure 5 is a flowchart showing the suction and detachment operations of an open tray containing eggs. For example, 10 initiates the process shown in Figure 5 by a startup command from the administrator of storage system 1. do. When the control unit 10 starts the process shown in Figure 5, the first vacuum blower (not shown) and the second vacuum blower... S10 starts drawing in air from the (not shown) unit. Subsequently, the control unit 10 starts the first detection sensor S15b detects that the transport container 100 has arrived on the intermediate conveyor 15 (S1 2) Next, the control unit 10 detects, based on the second detection sensor (not shown), that the open tray containing eggs is the The control unit 10 then detects that the object has arrived on the conveyor belt 19 (S14). A detection sensor (not shown) is used to determine if there are any defects in the open tray containing the eggs (S16). If the control unit 10 determines that there is a defect in the open tray containing eggs (S16: No), the second control unit The conveyor belt 23 is lowered, and the open trays containing defective eggs are transported to the third conveyor belt 25 (S2 0), return to S14. Meanwhile, the control unit 10 determines that there are no defects in the open tray containing the eggs. (S16:Yes), move the storage device hand 14 above the open tray containing the eggs and The suction of the open tray is initiated (S18).

[0052] Next, the control unit 10 determines that the pressure measured by the pressure sensor 151 is below a predetermined value. Determine if (S22). The pressure measured by the pressure sensor 151 is below a predetermined value. If it is determined that (S22:Yes), the egg is adsorbed onto the egg adsorption unit 141 and the open tray is closed. The system determines that the Ray suction unit 149 has attracted the material and proceeds to S24. Meanwhile, the control unit 10 determines the pressure If the pressure measured by sensor 151 is determined to be not below a predetermined value (S22:N o) At least one of the egg and the open tray is sucked into the egg adsorption unit 141 or the tray suction unit 149 If it is determined that the device is not installed, an error will be notified, for example, by sounding an alarm (S26). Then, the process ends. When the control unit 10 moves to S24, it moves the storage device hand 14 to the intermediate control. Move the eggs and open trays into the transport container 100, which is on the conveyor belt 15. Stored in (S24). Specifically, the control unit 10 controls the first vacuum blower (not shown) and the second Each of the switching valves in the vacuum blower (not shown) switches between air intake and air exhaust.

[0053] Next, the control unit 10 determines whether the transport container 100 is full (S28). For example, The control unit 10 counts the number of times the open tray containing eggs is stacked, and when this count is found to be a predetermined value The system determines if the count has reached a predetermined value, and if so, the transport container 100 is full. It is determined that (S28: Yes), and if it is less than the predetermined value, the transport container 100 is not full. It is determined that (S28: No). If it is determined that transport container 100 is not full (S28: No), return to S14 and perform the suction and detachment operations of the open tray containing eggs (S14~S24). The process is repeated until it is determined that the transport container 100 is full. If determined (S28: Yes), the control unit 10 transports the transport container 100 to the unloading unit 21. Next, the control unit 10 counts up the box counter by 1 (S30). Determine if the count of the box counter is a predetermined value (S32). If it is determined that (S32: No), the process returns to S12, and the count continues until the number reaches a predetermined value. Then steps S12 to S30 are repeated. The control unit 10 determines that the box counter count is at a predetermined value. If the determination is made (S32:Yes), the process will terminate.

[0054] In S22, the control unit 10 uses the pressure measured by the pressure sensor 151 as a basis Then, it is determined whether the egg and the open tray have been adsorbed to the egg adsorption unit 141 and the tray suction unit 149. However, this is not the only example. For example, the pressure inside the second pipe 161 can be measured by a pressure sensor (not shown). Therefore, it is also possible to detect the pressure value and determine whether the egg has been adsorbed onto the egg adsorption unit 141 based on that pressure value. No.

[0055] (Effects and Benefits) According to the first embodiment, since the egg is adsorbed by the egg adsorption unit 141, the tray suction unit 1 49 does not need to hold the eggs; it is sufficient to hold the open tray 102. Open tray 10 Since 2 is lighter than an egg, the tray suction unit 149 uses a relatively small suction force. Suction becomes possible. In addition, the first attachment / detachment mechanism 145 performs suction and detachment of the open tray 102. The second attachment / detachment mechanism 147 performs the suction force of the first attachment / detachment mechanism 145 in order to adsorb and detach the eggs. It can be adjusted to a size suitable for the weight of the open tray, and the suction of the second detachment mechanism 147 The force can be adjusted to a size appropriate for the weight of the eggs. This allows the open tray 102 This allows the eggs to be stored more securely within the transport container 100.

[0056] (Second embodiment) Next, a second embodiment of the hand for the storage device will be described. Storage device of the second embodiment The user hand 14a is similar to the first embodiment in that the tray suction part 149 has a hook part 200. It differs from the storage device hand 14. Other configurations of the storage device hand 14a are as in the first embodiment. Since it is similar to [another example], the explanation will be omitted.

[0057] The hook portion 200 will be described with reference to Figures 6 to 8. Figure 6 shows the storage of the second embodiment. This is a schematic diagram showing the hook portion 200 in the device hand 14a. In Figure 6, egg E is egg sucker It is in a state of being adsorbed to the attachment part 141 (the same is true in Figure 8). The hook part 200 is attached to the tray. It is installed inside the pull section 149. For illustrative purposes, the tray suction section 149 is not shown in Figure 6. This is an abbreviated representation, showing only a portion of the tray suction unit 149 as viewed in the -x direction. The hook portion 200 is positioned so that it fits inside the notch portion 108 of the open tray 102. It is positioned inside the suction part 149. This will be explained in detail with reference to Figure 7. Figure 7 shows the hook part This shows the positional relationship between 200 and the open tray 102 when viewed in the -z direction. Figure 7 explains... Due to circumstances, the components other than the hook portion 200 of the storage device hand 14a (tray suction portion 149, etc.) The illustration is omitted. As shown in Figure 7, the hook portion 200 is the opening tray 102 It is positioned to fit within the opening area of ​​the notch 108, and the peripheral edge 106 of the open tray 102 It does not extend beyond the outer edge D. In other words, the hook portion 200 is the tray suction portion 149 When viewed from the lifting direction (when the tray suction part 149 is viewed in the z direction), the outer edge of the open tray 102. It must not extend beyond point D.

[0058] Returning to Figure 6, let's continue the explanation. The hook portion 200 consists of a pair of legs (202a, 202b) and It has a solenoid valve 204. Each leg (202a, 202b) has a claw (206a, 206b) The encapsulation is performed so that the claws (206a, 206b) face each other (i.e., back to back). The solenoid valve 204 switches the power supply ON / OFF, which controls the legs (202a, 202b) Opens and closes. Note that in Figure 6, the wiring and other components for energizing the solenoid valve 204 are not shown. Figure 6 shows the legs (202a, 202b) in the open position, and Figure 8 shows the legs (202a, 202 b) shows the closed state. As shown in Figure 6, the legs (202a, 202b) are shown in Figure 8. From the closed state, the direction toward the center of the open tray 102 (-x direction) is perpendicular to the direction toward the center of the open tray 102. With respect to the direction parallel to the direction (y-direction), the claws (206a) move in directions that move away from each other. The 206b) catches on the notch 108, and the hook 200 grips the open tray 102. To hold.

[0059] (Effects and Benefits) According to the second embodiment, the open tray 102 is attracted to the tray suction unit 149 and It is then gripped by the hook portion 200. That is, the open tray 102 is held by the tray suction portion 149 and Both hooks 200 allow the contents to be transferred into the transport container 100. This opens the tray 102 can be stored more stably inside the transport container 100.

[0060] (Third embodiment) Next, we will explain the differences between the third embodiment of the storage device hand and the first embodiment. Figure 9 is a schematic diagram showing the storage device hand 14b of the third embodiment. The arm 14b has a holding portion 300 and an egg adsorption portion 303. The holding portion 300 is connected to the arm Attachment part 301, support part 305, hand body 307, tool changer 308, first actuary Eta 309, second actuator 311, joining member 313, pair of gripping members 315, and Includes slide base 317. The arm connection part 301 is installed on the upper surface of the hand body 307, and the robot arm 12 is attached to it. It can be attached. The egg adsorption part 303 is attached to the support part 305. The support part 305 is attached to the shaft 306 The shaft 306 is attached to the lower surface of the hand body 307. Figure 9 shows, as an example, Fifty-four egg-adsorbing parts 303 are installed, nine in the x direction and six in the y direction (not shown). A tool changer 308 is mounted on the top surface of the main body 307. 308 makes it possible to attach another set of egg-adsorbing parts 303. This allows, A storage device handle 14b is implemented that can accommodate various open trays with different egg capacity. It can be expressed. The first actuator 309 is joined by inserting bolts or the like into joining holes A and B. The joint member 313 is attached to the slide base 31. Mounted on top of 7, the slide base 317 is attached to the second actuator 311. The gripping member 315 is attached to the slide base 317 by inserting a bolt or the like into the joining hole C. It is attached to the gripping member 315, which has an angle greater than 90° and less than 180° (for example). It includes two flat plates 315a and 315b with an angle of 160°. Alternatively, it may be constructed by bending a single flat sheet.

[0061] Refer to Figures 9-12 to continue the explanation of the operation of the storage device hand 14b. In section 12, the illustration of the egg is omitted for explanatory purposes. The storage device hand 14b is initially It adsorbs the egg. Figure 9 shows the state in which the egg adsorption part 303 has adsorbed the egg. As shown in Figure 9, When an egg is being held, the flat plates 315a of the pair of gripping members 315 are perpendicular to the hand body 307. Regarding the direction (z-direction), it is facing outwards (away from the open tray 102).

[0062] The storage device hand 14b grasps the open tray 102 once the egg suction is complete. (Figure) Figure 10 shows the state in which the pair of gripping members 315 grip the open tray 102. As shown, the cylinder 309a of the first actuator 309 extends, and the gripping member 3 on the right side of the paper 15 rotates clockwise around the joint hole C as the axis of rotation, and the gripping member 315 on the left side of the paper joins. It rotates counterclockwise around hole C as the axis of rotation. As a result, each flat plate 315a moves to the hand body 3 With respect to the direction perpendicular to 07 (z-direction), the inward direction (direction toward the center of the hand body 307) This causes each flat plate 315a to contact the peripheral edge 106 of the open tray 102, and the open tray The first actuator 309 grasps Ray 102. In this way, the first actuator 309 is the hand body 307 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 axis of rotation. The pair of gripping members 315 are rotatable. Note that the open tray 102 is soft and easily compressed when force is applied, therefore in Figure 10, The flat plate 315a of the holding member 315 is positioned inward (hand body 30) of the peripheral edge 106 of the open tray 102 It is being compressed in the direction toward the center of 7. Also, in Figure 10, the open tray 102 is bending - It is curved in the z direction. However, Figure 10 is just one example, and the flat plate 315a of the gripping member 315 Without compressing the peripheral edge 106 of the open tray 102, the peripheral edge 10 of the open tray 102 The outer edge (6) may be grasped, and the open tray 102 does not need to be curved.

[0063] Once the gripping of the open tray 102 is complete, the storage device hand 14b moves into the transport container. Move and place the open tray 102 into the transport container. Next, the storage device hand 14b, The cylinder 311a of the second actuator 311 is extended. Figure 11 shows the second actuator This shows the extended state of cylinder 311a of the 311. As described above, the second actuator 311 is joined to the slide base 317, and the slide base 317 is joined to the gripping member 315 They are joined. When the cylinder 311a of the second actuator 311 extends, the right side of the paper The slide base 317 and gripping member 315 move in the -x direction, and the slide base on the left side of the paper The gripping member 315 moves in the x direction, widening the distance between the pair of gripping members 315. Furthermore, as shown in Figure 11, each flat plate 315a of each gripping member 315 is attached to the hand body 3 With respect to the direction perpendicular to 07 (z-direction), the inward direction (direction toward the center of the hand body 307) It maintains its facing position.

[0064] Next, the storage device hand 14b moves the cylinder 309a of the first actuator 309. It shrinks. Figure 12 shows the cylinder 309a of the first actuator 309 in a retracted state. As shown in Figure 12, the first actuator 309 controls each flat plate 31 of each gripping member 315. Until 5a is parallel to the direction perpendicular to the hand body 307 (z-direction), the cylinder 30 The 9a is retracted. When the retraction of cylinder 309a is complete, the storage device hand 14b moves the egg The suction by the suction unit 303 is released, the eggs are placed on the open tray 102, and moved out of the transport container. However, Figure 12 is just one example, and the flat plate 315a of the gripping member 315 is attached to the hand body 3 The direction perpendicular to 07 (z-direction) is not parallel but inward by a predetermined angle (hand body 30 It's okay if it's facing the direction towards the center of 7.

[0065] (Effects and Benefits) According to the third embodiment, the drive of the first actuator 309 and the second actuator 311 The pair of gripping members 315 grip the open tray 102 through movement. Do 14b is the width direction of the storage device hand 14b (the longitudinal direction of the hand body 307, x direction) The length can be adjusted to be smaller than the width of the transport container. More specifically, each The spacing of the gripping members 315 (d1 in Figure 10, d2 in Figure 11, d3 in Figure 12) is within the inner wall of the transport container. It can be made smaller than the width. This allows the storage device hand 14b to move into the inside of the transport container. When opening the container, and when moving it outside the transport container, the container will not be damaged. 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 It has a detachment mechanism 147, but one detachment mechanism that attaches and detaches the open tray 102 and the eggs. It may also be considered to have [a certain characteristic].

[0067] (2) In the first embodiment, the tray suction unit 149 is provided on the outer circumference of the open tray 102. It may also have a hole-closing portion 400 that closes at least a part of the cut-out portion 108. Figure 1 Figure 3 shows an example of the hole-blocking portion 400. The hole-blocking portion 400 is the notch portion 108 of the open tray 102. It is provided inside the tray suction section 149 to correspond to the position. The hole blockage section 400 is, for example, It may be formed from sponge. Note that in Figure 13, there is one hand for the storage device. When the detachable mechanism 401 is provided, a hole-blocking portion 400 is provided, but two detachable mechanisms 145, A hole-blocking portion 400 may be provided in the storage device hand 14 having 147. As described above, the open tray 102 has a notch 108 formed therein. Therefore, When the outer edge 153 of the tray suction section 149 is brought into contact with the peripheral edge 106 of the open tray 102, A gap may form between the outer edge 153 and the notch 108, which could weaken the suction force. In contrast, by providing a hole-blocking portion 400 in the tray suction portion 149, the notch portion 108 This reduces the gaps and enables more stable suction from the tray suction unit 149.

[0068] (3) In the first embodiment, the tray suction portion 149 has a rectangular outer edge portion 153, However, this is not limited to this, and as shown in Figure 14, it has an outer edge portion 500 that follows the outer shape of the open tray. That is also acceptable. Note that in Figure 14, the case where the storage device hand has one detachment mechanism 401. The outer edge portion 500 is provided, but the storage device handle has two detachable mechanisms 145 and 147. In D14, an outer edge portion 500 may be provided on the tray suction portion 149. By providing this, the gap caused by the notch 108 can be reduced, and the tray suction section 14 It can achieve more stable suction than the 9.

[0069] (4) In the second embodiment, the hook portion 200 has one leg including a claw, and the leg Move the open tray 102 toward the center (towards the center of the tray) to access the notch 208 You can also hook it onto the tray and grip the open tray.

[0070] (5) In the third embodiment, the storage device hand 14b is the first actuator 309 It has both the and the second actuator 311, but it has either one or does not have the other. That is also acceptable. In this case, when the storage device hand 14b moves into the transport container, When moving to the outside of the transport container, the distance between each gripping member 315 is greater than the width of the inner wall of the transport container. It is preferable for it to be smaller. Furthermore, in the third embodiment, the flat plate 315a of the gripping member 315 is of the open tray 102 Move to the notch 108, contact the notch 108, and grasp the open tray 102. You can do that. [Explanation of Symbols]

[0071] 1. Storage System 10 Control Unit 12 Robot Arms 13. First Loading Area 14 Hand for storage device 17. Second Loading Area 21. Loading section 102 Open Tray 108 Notch 141 Egg adsorption part 143 Lifting part 145 First detachment mechanism 147 Second detachment mechanism 149 Tray suction section 151 Pressure Sensor 153 Outer edge 200 Hook part 300 Lifting part 303 Egg adsorption part 307 Hand unit 309 First Actuator 311 Second Actuator 315 Gripping member 400 Hole blocking area 500 Outer edge

Claims

1. An egg adsorption unit that adsorbs multiple eggs contained in an open tray without a lid, It has a lifting part that lifts the open tray, The aforementioned support part is, The open tray has a pair of gripping members that contact the notches on both sides of the open tray and grip both sides of the open tray, and place the open tray inside the transport container, The pair of gripping members contact the notches on both sides of the open tray, compressing the open tray and causing it to curve downwards in a convex shape, thereby gripping both sides of the open tray. Hand for storage device.

2. The storage device has a mechanism for adjusting the widthwise length of the hand for the storage device to be smaller than the widthwise length of the transport container, and the distance between the pair of gripping members is adjusted to be smaller than the width of the inner wall of the transport container. A hand for a storage device according to claim 1.

3. The aforementioned support part is, The hand body connected to the storage device, A first actuator is installed on the hand body and is capable of rotating the pair of gripping members with an axis of rotation parallel to the depth direction of the hand body and perpendicular to the width direction of the hand body as the axis of rotation, A second actuator is installed on the hand body and is capable of expanding or contracting the distance between the pair of gripping members in the width direction of the hand body, A hand for a storage device according to claim 1 or 2, having the following features.

4. A robotic arm and A storage device comprising a storage device hand according to any one of claims 1 to 3, which is provided at the tip of the robot arm.

5. The storage device according to claim 4, A first loading unit for loading empty transport containers into the storage device, A second loading section for loading the open tray containing the eggs into the storage device, A storage system comprising: an unloading section for unloading the transport container in which the open tray containing the eggs is stored.

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