Shelf opening device and automatic egg carton loading system for egg container transport trolleys

Abstract

To provide a shelf opening device that can automatically open folded shelves (return the folded state to the original state (rack state), which can automatically open the folded shelves.SOLUTION: A shelf opening device 1 according to the present invention comprises: a shelf opening unit 14 which is movable in the vertical direction on the rear side of a frame body; a shelf opening unit drive part 13; a slope forming part 15 provided on the shelf opening unit 14; a first preliminary opening part 17 which is inserted into the gap at the center bend in order to increase the opening state of the acute angle formed the folding shelf which is in a sloped state or cantilever state at the slope forming part 15; a second preliminary opening part 27 which is inserted into a position in contact with the front bottom surface (front shelf plate part 322f) across the hinge of the folding shelf; and an extrusion part 16 which pushes the folding shelf forward and places the folding shelf on a loading rail.SELECTED DRAWING: Figure 2C

Description

Technical Field

[0001] The present invention relates to a shelf opening device for a chicken egg container transport cart and an automatic chicken egg pack placement system. .

Background Art

[0002] In order to transport packs filled with chicken eggs to retailers such as supermarkets, transport racks are used. For example, there are transport roll boxes dedicated to chicken egg packs manufactured by Yoshida Elsys Co., Ltd., and raw egg carts (roll racks) manufactured by San-Young Manufacturing Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting a case for storing chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly storable in the depth direction.

[0003] In the transport rack of Patent Document 1, the back frame and the side frame are connected via hinges, and by folding all the shelf boards in the middle and folding them toward the back frame side, the side frame is folded toward the back frame side to become compact.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The operation of loading chicken egg packs onto the above transport rack was performed after returning (opening) the folded shelf boards of the transport rack. ​​However, once all the shelves were put back in place, the shelf directly above became an obstacle as we continued loading. Because a certain amount of space is required for loading, the loading and filling rate of the packs decreases. Sometimes, in order to increase the filling rate, the shelf directly above is left folded without being returned to its original position. This can be done manually, but if done by hand, there's a possibility of forgetting to put the shelf directly above it back in place. It is also conceivable that a robotic arm could automatically load egg cartons onto transport racks. However, if multiple shelves are not folded down but are in their original position, the robotic arm will not be able to perform the task. The shelf directly above is taking up space. As above, fold the shelf directly above without putting it back in place. Loading can be done while the shelves are folded, but manually returning the shelves to their original position will temporarily interrupt the work. This will cause interruptions, leading to a decrease in work efficiency. And, as far as the inventors know, there is no device that automatically returns the shelves of a transport rack to their original position. not present.

[0006] Therefore, the objective of the present invention is to automatically open the folding shelf (returning it from the folded state to its original state (shelf state)). The present invention provides a shelf opening device that can be returned to its original position. Furthermore, the folding shelves can be automatically opened in conjunction with the movement of the robotic arm used for placing the packages. We provide a shelf opening device that can do this. Furthermore, the egg container transport cart is automatically introduced into the shelf opening device, and after the packs are placed, the egg containers are removed from the shelf opening device. Automatic egg carton having an output feeding device, a shelf opening device (and a robotic arm) We provide mounting systems. [Means for solving the problem]

[0007] The shelf opening device of the present invention, The frame body forms the back, front and both sides, On the rear side of the frame body, there is a shelf opening unit (14) that is movable in the vertical direction, Shelf opening unit drive unit (13, 131) that drives the shelf opening unit (14) up and down. and, The inclined forming section (15, 151) provided in the shelf opening unit (14) (for example, suction The means) is a mounting rail for an egg container transport trolley (for example, a pair of rails facing each other). At one end (the far side opposite the near side), the folded position (P1) is in a folded state. The shelf (for example, a shelf folded in half with the hinge pointing upwards as the top of the fold), An inclined part (15, 15) that causes the mounting rail to be in an inclined state or lifted on one side. 1) and, In the inclined section (15, 151) of the folding shelf that is in an inclined or lifted state The sharp angle of opening formed by the bend is increased (from the initial 0 degrees, for example, from 10 degrees to 30 degrees) In order to widen it each time, a first preliminary opening (17) is inserted into the gap of the bend, With the first pre-opening section (17) wide open, the hinge of the folding shelf The position that contacts the bottom surface (front shelf) on the front side (front of the hinge position) with the hinge in between, or Inserted near the bottom surface (for example, below the bottom surface and with a gap of 2 cm or less from the bottom surface) The second spare opening (27) and The first and second preliminary opening sections (17, 27) maintain the folded open state, and the inclined shape After releasing the tilting action by the adult parts (15, 151) (after suction release), the folding shelf is moved forward. An extrusion section (16) for extruding and placing the folding shelf on the aforementioned mounting rail, It is equipped with.

[0008] The shelf opening device is provided with at least one corrective cleats on the shelf opening unit (14) A lamp (28) that abuts on at least one side frame of the chicken egg container transport cart or holds and corrects so that a pair of side frames are in a predetermined position relationship (a positional relationship in which the pair of side frames are perpendicular to the rear frame) with respect to the rear frame of the chicken egg container transport cart It may be provided with a correction clamp (28). A drive unit 282 for the correction clamp (for example, an air cylinder , an electric cylinder, etc.) for driving the correction clamp (28) may be provided. The correction clamp (28) may be configured to expand and contract from the outside of the side frame of the chicken egg container transport cart toward the side frame . The correction clamp (28) may be provided with a horizontally long rectangular contact portion . A part or all of the contact portion may be made of an elastic body.

[0009] The second preliminary release portion (27) is a rod-shaped pin (271) provided in the shelf release unit (14), and a position that contacts the bottom surface (front shelf plate portion) on the front side (more forward than the hinge position) sandwiching the hinge of the folding shelf or in the vicinity of contacting the bottom surface (for example, below the bottom surface and the gap from the bottom surface is within 2 cm). A drive unit for the pin (for example, an air cylinder, an electric cylinder, etc.) for driving the pin (271) may be provided. The second preliminary release portion (27) may be provided above or below the correction clamp (28). The second preliminary release portion (27) and / or the correction clamp (28) may be provided in front of the first preliminary release portion (17). The shelf opening device has a control unit, The control unit is

[0010] ​​Commands are given to the shelf opening unit drive unit (13, 131) and the shelf opening unit (14) Control the vertical movement, The inclined forming section (15, 151) is commanded to be in a folded state at the folded position (P1). The folding shelf is controlled to be in an inclined or partially raised position relative to the mounting rail. The first preliminary opening (17) is commanded to insert the (rod-shaped) object into the gap in the bend, The sharp angle of opening formed by the folding of a folding shelf in a tilted or partially lifted position. Control it to work, The second pre-opening section (27) is commanded, and the first pre-opening section (17) folds in the middle. With the acute angle of opening widened, the hinge of the folding shelf is sandwiched in front (hinge position) The position in contact with the bottom surface (front shelf) on the front side of the base (foreground shelf) or the vicinity in contact with the bottom surface (for example, By inserting (a rod-shaped object) below the bottom surface and within a gap of 2 cm from the bottom surface, the sharp Control the angle so that the open position of the corners is maintained. The extrusion unit (16) is commanded to push the folding shelf forward, and the aforementioned mounting rail The folding shelf may be controlled to be placed (opened or unfolded). The control unit commands the tilt forming unit to release the tilted state or cantilevered state. It controls the movement, and then commands the first pre-opening section (17) to insert it into the gap of the folding section. The release (returning the rod-shaped part to its origin position), and then a command is issued to the second pre-opening section (27), sharp The angle opening state is released (the rod shape is returned to the origin position), and the aforementioned acute angle opening is large. The front end of the folding shelf may be controlled to rest on the mounting rail.

[0011] The control unit, The egg carton transfer means (robot arm) transfers the folding shelf and / or egg cartons ( When stacking egg cartons (EP) on top of each other (for example, the top egg carton (E When stacking P), a command is given to the inclined forming section (15, 151) to set the folded position (P 1) The folding shelf, which is in the folded position in the middle, is tilted or lifted on one side relative to the mounting rail. The system may be controlled to tilt the folding shelf backward. For example, when stacking the top layer of egg cartons (EP), tilt the folding shelf backward. By doing so, space can be secured between the folding shelf and the egg carton below it. This reduces operational interference between the robot arm and the suction hand.

[0012] The control unit commands the straightening clamp drive unit, and the straightening clamp (28) moves By contacting or gripping at least one side frame of the egg container transport trolley, the chicken egg container A pair of side frames are in a predetermined positional relationship with respect to the rear frame of the transport trolley (with respect to the rear frame) The positional relationship between the opposing pair of side frames may be controlled to be perpendicular.

[0013] The extrusion portion (16) may be one or more. The end (161) may have an elastic member. The first pre-opening section (17) is a first support extending forward from the shelf opening unit (14) The column (171) and the second support that rotates in accordance with the rotation of the first support (171) in the direction of the column axis ( 172) It may have the following: The second support column (172) may be rod-shaped and may have an elastic member provided around it. The tip of the second support column (172) points vertically downward, and is inclined at the suction section (15, 151). Towards the folded state (hinge direction) of the folding shelf which is in the state or lifted on one side, second The tip of the support column (172) rotates 90 degrees around the axis of rotation and is inserted into the folding shelf which is in a folded state, Widen the sharp angle of the bend.

[0014] The shelf opening device contacts or grips the frame or part of the egg container transport trolley, The egg container transport cart may have a stopper or clamp to restrain its movement. The stopper is located on the rear frame, side frame, front frame and / or The shelf opening unit may be provided with the stopper or clamp at its tip. The stopper or clamp may be made of an elastic material. It may have, for example, an air cylinder or an electric cylinder. The shelf opening device detects a stop position of a part of the transport cart that is carrying egg containers. The system may have one or more stop position detection units (S2). The stop position detection unit is located on the egg container transport trolley. When this is detected, the control unit commands the stopper or clamp to transport the egg container. The trolley may be driven to a stop.

[0015] The shelf opening device has one or more detection units for detecting a predetermined position of the shelf opening unit (14). It may also be present. When the detection unit detects the vertical position of the shelf opening unit (14) At the same time, the control unit commands the shelf opening unit drive unit (13, 131) to start driving. Rui may stop. The shelf opening unit (14) is a folding shelf that is folded in the middle position (P1). The system may have one or more folding shelf detection units that detect the folding shelf. If detected, the control unit commands the shelf opening unit drive unit (13, 131) to drive You may start or stop the operation.

[0016] The shelf opening device determines whether the folding shelf is in an open state, and if it is in an open state. The system may have one or more shelf open detection units (S3) that detect the height position of the folding shelf. The control unit, after the operation of the extrusion unit, is in the state when the shelf open detection unit (S3) is open. The system may also be configured to output an alarm if the position of the aforementioned folding shelf is not detected.

[0017] Other shelf opening devices of inventions, The frame body forms the back, front and both sides, On the rear side of the frame body, there is a shelf opening unit (14) that is movable in the vertical direction, Shelf opening unit drive unit (13, 131) that drives the shelf opening unit (14) up and down. and, The inclined forming section (15, 151) provided in the shelf opening unit (14) (for example, suction The means) is a mounting rail for an egg container transport trolley (for example, a pair of rails facing each other). At one end (the far side opposite the near side), the folded position (P1) is in a folded state. The shelf (for example, a shelf folded in half with the hinge pointing upwards as the top of the fold), An inclined part (15, 15) that causes the mounting rail to be in an inclined state or lifted on one side. 1) and, The folding shelf, which is in an inclined or lifted state at the inclined forming section (15, 151), is positioned in front of the front An opening control unit (not shown) for releasing the folded state toward one side using a suction means or locking means. It includes (shown) and . The aforementioned opening control unit, The transfer means equipped with the suction means is commanded to form an inclined shape in the inclined section (15, 151) The flat surface of the folding shelf, which is in a state of being lifted or partially lifted, is attached to the suction means. The inclined forming portion (15, 151) is stopped from acting on the folding shelf, The transfer means equipped with the adsorption means is commanded to carry out the folding while the adsorption means is adsorbed. Move the tatami shelf forward and place each element (inclined forming part, suction means, transfer) onto the mounting rail. The means may be controlled. The adsorption means is comprised of means capable of negative pressure adsorption, magnetic adsorption, etc. The aforementioned opening control unit, A command is given to the transport means equipped with the aforementioned locking means, and the inclined forming section (15, 151) is inclined The locking part of the folding shelf (part of the front frame, the object to be locked) in a state of being lifted or partially lifted. The rod-shaped frame, etc., is secured by the aforementioned locking means (for example, hooked with a hook, grabbed with a chuck). fruit), The inclined forming portion (15, 151) is stopped from acting on the folding shelf, A command is given to the transport means equipped with the locking means, and the folding is in the state of being locked by the locking means. Move the tatami shelf forward and place each element (inclined forming part, locking means, transfer) onto the mounting rail. The means may be controlled. The shelf opening device includes a transfer means equipped with suction means and / or a transfer means equipped with locking means. It may have stages, and may be configured to use a transport means of another system by issuing commands to it. . The shelf opening device is for placing egg cartons (EP) onto the folding shelves of the egg container transport trolley. The robotic arm and its hand may be provided. The means may also serve as the transfer means. Before the operation of the suction or locking means, the folding shelf is tilted or cantilevered at the inclined forming section. By raising the position, a wider range of motion can be secured for the suction or locking means, and the egg carton and Contact can be suppressed. The tilting section fixes the folding shelf in place, preventing the initial position shift caused by deformation of the folding shelf. This eliminates issues such as the folding shelf tilting forward towards the vehicle, and provides more stable suction or locking. It is possible to do this.

[0018] Another invention of an automatic egg carton loading system is: The egg container transport cart (3) is automatically introduced into the shelf opening device (1), and egg cartons (EP) are loaded onto it. A feeding device (2) that leads out from the shelf opening device (1) after placement, the shelf opening device (1), and a robot It has an arm. [Brief explanation of the drawing]

[0019] [Figure 1] This is a schematic diagram showing the overall configuration of an automated egg carton loading system. [Figure 2A] This is an example of the configuration and operation of a shelf opening device. [Figure 2B] This is an example of the configuration and operation of a shelf opening device. [Figure 2C] This is an example of the configuration and operation of a shelf opening device. [Figure 2D] This is an example of the configuration and operation of a shelf opening device. [Figure 2E] This is an example of the configuration and operation of a shelf opening device. [Figure 2F] This is an example of the configuration of the shelf opening unit in Embodiment 1. [Figure 2G] This is an example of the configuration of the shelf opening unit in Embodiment 2. [Figure 3A] This is an example of the operation flow of an automated egg carton loading system. [Figure 3B] This is an example of the operation flow of a shelf opening device. [Figure 4A] This is an example of the configuration and operation of the shelf opening device of Embodiment 3. [Figure 4B] This is an example of the configuration and operation of the shelf opening device of Embodiment 3. [Figure 4C] This is an example of the configuration and operation of the shelf opening device of Embodiment 3. [Figure 5A] This is an example of the configuration and operation of the shelf opening device of Embodiment 4. [Figure 5B] This is an example of the configuration and operation of the shelf opening device of Embodiment 4. [Figure 5C] This is an example of the configuration and operation of the shelf opening device of Embodiment 4. [Modes for carrying out the invention]

[0020] (Embodiment 1) The automated egg carton placement system according to Embodiment 1 will be described below. Figure 1 shows the overall configuration of the automated egg carton loading system. The feeding device 2 has the second, third, and fourth folding shelves 322, 323, and 324 in a folded state. The egg container transport cart 3 is then automatically transported with the bottommost first folding shelf 321 open. The eggs are introduced into the shelf opening device 1, and after a predetermined number of egg cartons EP are loaded, they are discharged from the shelf opening device 1. The feeding device 2 is a conveying means such as a rail-type conveyor that moves the trolley (not shown). ) and a standby detection unit S1 which detects the standby position provided before sending to the shelf opening device 1 It has. When the egg container transport cart 3 reaches the position where it is detected by the standby detection unit S1, the transport means The system stops, and the egg container transport cart 3 is stopped in the waiting position. The egg container transport cart is placed on the shelf opening device 1. If there is no car 3, the chicken egg container will wait in the waiting position (or stay there without waiting). The container transport cart 3 is brought in. The shelf opening device 1 opens the egg carton transport cart 3. Once the predetermined number of eggs have been loaded, the egg container transport cart 3 is discharged from the shelf opening device 1 downstream in the transport direction. . The shelf opening device 1 uses a robotic arm (not shown) to open a predetermined number of egg cartons on the first folding shelf 321. After loading the EP, the second folding shelf 322 is automatically opened. Then the shelf opening device 1 opens the second After loading a predetermined number of egg cartons EP onto the folding shelf 322 with a robotic arm (not shown), The three-fold shelf 323 is automatically opened. The same applies to the automatic opening of the fourth-fold shelf 324. Details will be described later. do. The robot arm (not shown) is equipped with a suction part at the tip of the arm. The suction part (not shown) is a suction part Multiple egg cartons EP, transported by a belt conveyor (not shown), are held in place by suction on their upper surfaces. The eggs are transferred and loaded onto the first, second, third, and fourth folding shelves of the egg container transport trolley 3.

[0021] (Egg container transport cart) Next, we will explain the egg container transport trolley 3. Generally, egg container transport trolleys are commonly used in the market. The trolley is, for example, a transport trolley specifically designed for egg cartons manufactured by Yoshida Elsys Co., Ltd. as shown in the conventional technology. Lubox, a raw egg trolley (roll rack) manufactured by Sanei Seisakusho Co., Ltd., transporting as described in Patent Document 1 These are transport racks. A common component is the bottom frame, rear frame, and both side frames. It has a frame and a folding shelf (sometimes called a shelf board). As shown in Figure 2A, the egg container transport trolley 3 has a bottom frame 33 and a bottom frame that is L-shaped in side view. The rear frame 34 is fixed to the frame 33, and the rear frame 33 is foldable. The first side frame 31 and the second side frame (not shown) are connected by a hinge (not shown) The bottom frame 33 has wheels that rotate freely at each of its four corners.

[0022] The first side frame 31 has the first side plate 311 and the second side plate, with predetermined intervals between them from below. Board 312, third side board 313, and fourth side board 314 are in the width direction of the frame (the direction perpendicular to the vertical direction). It is provided in the direction from the surface toward the front. The first side plate 311, the second side plate 312, the third side plate 313, and the fourth side plate 314 are each The first mounting rail extends perpendicularly (approximately perpendicularly) from the base toward the interior of the egg container transport trolley 3. Rail 3111, second mounting rail 3121, third mounting rail 3131, fourth mounting rail 31 41 is provided. First side plate 311, second side plate 312, third side plate 313, fourth side plate 314 The second side frame (not shown) opposite each of these also has a similar opposing side plate and mounting rail. A rule will be established.

[0023] One of the folding shelves is attached to the rear end (the side of the rear frame 34) of the pair of opposing mounting rails. The ends are pivotally supported and rotatably connected, and the folding shelf has a hinge in its center (for example, the fourth The folding shelf 324 is configured to be foldable in the middle by its fourth hinge 3241). In Figure 2A, the first folding shelf 321 is open to the first mounting rail 3111, and chicken The egg cartons EP are already stacked in the predetermined number. Second folding shelf 322, third folding shelf 323 The fourth folding shelf 324 is in a partially folded state and is placed in the folded state position P1. The front and back ends of each folding shelf extend diagonally upwards. This allows for the placement of eggs. The movement of the EP in the rearward and frontward directions can be restricted. Also, the first pre-opening section, which will be described later... It can also function as a direction guide when inserting the second support column.

[0024] (Shelf opening device) The shelf opening device 1 consists of a frame that forms the rear section 12, the front section 11, and both sides (not shown). The main body 10 and the shelf opening unit 1 which is movable vertically on the back side 12 of the frame main body 10. 4 and the shelf opening unit drive unit 13 and drive belt 13 which drive the shelf opening unit 14 up and down. 1 (a toothed belt or chain may also be used) and a suction drive unit 1 provided in the shelf opening unit 14 It comprises a 5 and a suction pad 151 provided at its tip. The shelf opening unit 14 consists of a main frame 141 and a section provided in front of the main frame 141. It comprises a front frame 142. The main frame 141 includes a suction drive unit 15 and a first A preliminary opening section 17 is provided. Also, a clamp drives the rear fixing clamp 127. A drive unit 128 is provided.

[0025] The suction pad 151, which is driven forward by the suction drive unit 15, folds in the middle when it is in the folded position P1. By contacting the folding shelf in its current state, suction is applied, and it is pulled backward, creating an inclined state relative to the mounting rail. Hold Rui up on one side. In Figure 2A, the shelf opening unit drive unit 13 is positioned opposite the second folding shelf 322, The unit is stopped (the stopping position may be detected by a sensor not shown), and the suction drive unit 15 moves diagonally downward and forward. The suction pad 151 extends in one direction and adheres to the second folding shelf 322 (rear shelf board portion 322r) (see diagram). (The vacuum pump shown may be used for suction), and the suction drive unit 15 retracts (returns) diagonally upward and to the rear. This causes the second mounting rail 3121 to be in an inclined or partially lifted state.

[0026] The first preliminary opening section 17 is formed by the folding of the folding shelf in an inclined or partially lifted state. The acute angle of opening is increased (for example, from the initial 0 degrees to 10 degrees to 30 degrees). It is inserted into the gap in the bent part for this purpose. In Figures 2B and 2C, the first preliminary opening section 17 extends forward from the shelf opening unit 14. A first support column 171 and a second support column that rotates in accordance with the rotation of the first support column 171 in the direction of its axis. It has a second support column 172. The second support column 172 is rod-shaped and may have an elastic member provided around it. The tip of the second support column 172 points vertically downward at the origin position. During the preliminary release operation, The second folding shelf 322, which is in a tilted or partially lifted state due to the movement of the pull pad 151, is folded in half. In this state (towards the direction of the second hinge 3221), at least a portion of the second support column 172 The tip of the second folding shelf 322 rotates 90 degrees in accordance with the rotation of the first support column 171, resulting in a folded state. It is inserted, and the sharp angle of the folding mechanism opens wide. At this time, the front of the second folding shelf 322 The position of the front end 3222 moves from the back to the front, and contacts the second mounting rail 3121. It is floating without being touched. On the side of the second support column 172 (the surface that contacts the bottom surface of the front shelf board portion 322f of the second folding shelf 322) An inclined surface 173 is provided. The acute angle of the bend corresponds to the setting of the inclination angle of this inclined surface. The angle can be set.

[0027] The second spare opening section 27 is provided in front of the main frame 141 of the shelf opening unit 14. The front frame 142 has a rod-shaped pin 271, and the pin 271 extends from the origin position. It is equipped with a pin drive unit 272 that returns (retracts) the pin to the origin position (see Figure 2F). In Figures 2B and 2C(a), pin 271 is located on the second hinge 3 of the second folding shelf 322. It extends and is inserted into a position where it contacts the bottom surface on the front side (front shelf plate portion 322f), with 221 in between.

[0028] In the state transition diagram (b) of Figure 2C, first, the suction pad 151 moves to the second folding shelf 322 (back It detaches from the surface shelf portion 322r). In this embodiment, suction is stopped and the suction pad 151 returns to the origin. Returning to its original position, the suction pad 151 is shown with a dashed line. Next, the first support column 171 The first support 171 and the second support 172 rotate in the reverse direction, returning them to their original positions. Support column 172 is shown by a dashed line. As shown in state transition diagram (c), the front side of the second folding shelf 322 The bottom surface (front shelf portion 322f) slides while being supported along the pin 271, and the front tip 32 22 falls from its floating state and comes into contact with the second mounting rail 3121. Next, retract pin 271 and return it to its origin position.

[0029] In Figure 2D, the extrusion section 16 is in an open state with the first and second preliminary opening sections 17 and 27 folded in the middle. The tilting action of the suction pad 151 is released for the second folding shelf 322, which has become larger. After (after suction release), the second folding shelf 322 is pushed forward from the shelf opening unit 14 side, The second folding shelf 322 is placed flat on the second mounting rail 3121. At this time, the second folding shelf 3 The front end 3222 of 22 moves in a sliding manner while in contact with the second mounting rail 3121. This is preferable. In Figure 2E, the second folding shelf 322 is placed flat on the second mounting rail 3121. This indicates. The extrusion portion 16 may be one or multiple. The tip 161 of the extrusion portion 16 is an elastic portion. It has material. The extrusion section 16 is composed of, for example, an air cylinder, an electric cylinder, etc.

[0030] The shelf release device 1 determines whether the folding shelf is in an open state, and whether the folding shelf is in an open state. It has one or more shelf open detection units S3 that detect the height position of the shelf (at least one). . In Figure 2E, the shelf open detection unit S3 extends forward from the upper end of the rear portion 12. The system then detects the presence and distance of the folding shelf below. The shelf open detection unit S3 detects when the folding shelf is partially closed. In this state, it is not detected when it is folded to the back, but when it is opened flat, It is configured to detect the noise.

[0031] The shelf opening device 1 stops and discharges the incoming egg container transport cart 3, performs a preliminary opening operation, It has a control unit (not shown) that controls the opening operation. The control unit commands the shelf opening unit drive unit 13 to control the vertical movement of the shelf opening unit 14. The control unit also commands the suction drive unit 15 to keep the folded state in the folded position P1. The folding shelf is controlled to be tilted or raised on one side relative to the mounting rail. Furthermore, the control unit commands the first preliminary opening section 17 to insert (the rod-shaped second support column 172) into the gap of the bend. By inserting it, the folding shelf is formed in a fold in a tilted or lifted position. The system controls the opening to be as sharp as possible. Furthermore, the control unit commands the pin drive unit 272 to open the folding mechanism via the second support column 172. When it is enlarged, it touches the bottom surface (front shelf) on the front side, with the hinge of the folding shelf in between. By inserting pin 271 into the position, the system controls the mechanism to maintain an acute-angled opening. Furthermore, the control unit commands the extrusion unit 16 to push the folding shelf forward from the rear side, and the mounting rail Control the system to place a folding shelf on the rack. The control unit, after the operation of the extrusion unit 16, checks the state of the folded shelf (position of the shelf open detection unit S3 when it is open) An alarm may be issued if no object is detected.

[0032] The shelf opening device 1 contacts or grips the frame of the egg container transport trolley 3, thereby transporting the egg containers It is preferable to have a stopper or clamp to restrain the movement of the transport trolley 3. In Figure 1, a pair of clamps 121 (also called the first stopper) are provided on both sides. In Figure 2A, the second stopper 122 is provided on the front part 11, and the third A stopper (not shown) is provided on the rear part 12. A pair of clamps 121, a second stopper P122, the third stopper (not shown), has its tip made of an elastic material, and is used in egg containers. It contacts the frame of the transport trolley 3. A pair of clamps 121, a second stopper 122, and a third The drive unit that drives the stopper (not shown) is, for example, an air cylinder, an electric cylinder, etc. be. In Figure 1, the shelf opening device 1 or the feeding device 2 is connected to the egg container transport cart 3 being transported. It has one or more stop position detection units S2 that detect a part of the components. When the egg container transport cart 3 is detected, the control unit (not shown) controls the pair of clamps 121, second The stopper 122 and the third stopper (not shown) are commanded to extend each element to form the egg container transport platform. It is brought into contact with the frame of car 3, and its movement is fixed.

[0033] A pair of clamps 121 provide relative support between the shelf opening unit 14 and the egg container transport trolley 3. To fix the movement. The pair of clamps 121 may be provided on the shelf opening unit 14. They may also be provided on both sides of the frame body 10.

[0034] The shelf opening unit 14 uses a robotic arm to place egg cartons EP at the back of the top shelf of each folding shelf. A movable pack guide 181 is provided to prevent the load from shifting during loading. Unit 181 is driven by an air cylinder or an electric cylinder, ensuring stable stacking of egg cartons. It contributes to improving sexual performance.

[0035] The shelf opening device 1 has one or more detection units that detect a predetermined position of the shelf opening unit 14. This is preferable. When the detection unit detects the vertical position of the shelf opening unit 14, the control unit opens the shelf. A command is sent to the release unit drive unit 13 to start or stop the drive. In another embodiment, shelf opening The release unit 14 includes a folding shelf detection unit that detects the folding shelf in a folded state at the folded state position P1. It may have one or more of these. When the folding shelf detection unit detects a folding shelf, the control unit opens the shelf. The unit drive unit 13 may be commanded to start or stop the drive.

[0036] (Operation Flow) Figure 3A shows a series of operations. First, the conveyor operation of the feeding device 2 is started (#1). The items are then fed into the shelf opening device 1. The egg container transport cart 3 (also called cart 3) is detected by sensor S2 (#2). Next, Drive the stopper (not shown) (#3). Stop the conveyor and move the trolley 3 with the stopper (not shown). Stop (#4). Next, lower the shelf opening unit 14 located above to the designated position (# 5). A pair of rear fixing clamps 127 (see Figure 2F) are attached to the rear frame of the trolley 3 from the side. Then the relative movement between the shelf opening unit 14 and the trolley 3 is fixed (#6). Next, the robot A Stack the egg cartons EP on the first folding shelf (#7). The specified number of egg cartons on the first folding shelf. Once the stacking is complete, the shelf opening operation will be performed (#8). This operation will be described later. The folding shelf is opened, the shelf opening detection unit S3 detects the shelf height, and determines whether there is an abnormality in the shelf height. (#9) If there is no abnormality, the presence or absence of remaining folding shelves will be checked (#10). If there are any remaining items, stacking will continue. Once all the folding shelves are filled (when there are no remaining shelves) If so, proceed to the operation of unloading trolley 3 (#11). The clamp and stopper are released (#12). The conveyor is driven and trolley 3 is unloaded. #13). Check if there is a waiting trolley 3 (#13). If trolley 3 is waiting If the trolley 3 is not present, the process is terminated.

[0037] Figure 3B shows the shelf opening operation. First, the suction pad 151 moves forward towards the folding shelf (#801), and the folding shelf on the back side... Adhesion occurs (#802). Suction pad 151 retracts to the intermediate position (#803). First To facilitate operation using the auxiliary opening section 17. Operation of the first pre-opening section 17 (rotational entry of the second support column 172) and the second pre-opening section 27 The action (extension of pin 271) is performed (#804). The folding mechanism opens wider. The suction of the pull pad 151 is released (#805). First preliminary opening section 17 (second support column 172 The pin returns to its home position, followed by the second spare opening section 27 (pin 271) returning to its home position (#806). Next, the extrusion unit 16 moves forward to a predetermined position (#807), and then moves backward (#808 ). Return the rear fixing clamp 127 (#809), and check the shelf height with the shelf open detection unit S3. Ru (#810). If the shelf height is normal, the second shelf will be loaded (#811), and the shelf opening unit 14 Move it to the position of the third folding shelf (#812). Do the same for the third and fourth shelves as for the second shelf. Once the process is complete and the fourth level is finished, the shelf release unit 14 is moved back to the origin. If the shelf height is abnormal, stop loading (#820) and manually open the folding shelves. Determine whether it should be done by a person (#821). If it is determined that it should be done by a person, then a person will adjust the folding position of the folding shelf. The system is then manually released or corrected (#822), the abnormality is cleared, and operation is resumed (#823). ). If it is determined that the shelf will not be opened by a person, the device will be operated to remove the item from device 1 (#8 twenty four).

[0038] (Embodiment 2) The automatic egg carton placement system according to Embodiment 2 will be described. Shelf opening in Embodiment 2 In addition to the configuration of Embodiment 1, the device further includes a mechanism for straightening the side frame of the trolley 3. It is equipped with a corrective clamp 28. Figure 2G shows only one of the corrective clamps 28, but this In this embodiment, there is another straightening clamp in an opposing position, and a pair of straightening clamps It makes up the group.

[0039] A pair of straightening clamps 28 are attached to a pair of left and right side frames of the egg container transport trolley 3 from both sides. A pair of left and right side frames are in contact with the rear frame of the egg container transport trolley 3, The left and right side frames are adjusted so that they are perpendicular to the frame. This prevents the left and right side frames from spreading out as you move forward. A pair of straightening clamps 28 are provided in front of the main frame 141 of the shelf opening unit 14. The frame 142 has a horizontally elongated rectangular contact portion 281, and the contact portion 281 is positioned from the origin. It includes a drive unit 282 for corrective clamping that advances or returns (retracts) to the origin position. The straightening clamp 28 is attached to the side frame of the egg container transport trolley 3 from the outside to the side frame. The contact portion 281 is configured to advance toward the other side. The surface layer of the contact portion 281 is made of an elastic material. This is achieved, and by contacting the side frame, it corrects the distortion of the side frame. The straightening clamp 28 is positioned upward relative to the second pre-opening portion 27. The release section 27 and the straightening clamp 28 are positioned in front of the first pre-opening section 17. . The control unit commands the drive unit 282 for the straightening clamp to operate the pair of contact parts 2 of the straightening clamp 28. 81 contacts a pair of side frames of the egg container transport trolley 3, thereby the egg container transport trolley 3 A pair of side frames are positioned perpendicular to the rear frame (effectively vertical) Control the positional relationships so that they are direct (including direct) relationships.

[0040] (Operation Flow) A description of an operation different from Embodiment 1 will be given. First, the conveyor operation of the feeding device 2 is started (#1). The items are then fed into the shelf opening device 1. The egg container transport cart 3 (also called cart 3) is detected by sensor S2 (#2). Next, Drive the stopper (not shown) (#3). Stop the conveyor and move the trolley 3 with the stopper (not shown). Stop (#4). Next, lower the shelf opening unit 14 located above to the designated position (# 5). A pair of rear fixing clamps 127 (see Figure 2F) are attached to the rear frame of the trolley 3 from the side. This fixes the relative movement between the shelf opening unit 14 and the trolley 3 (#6). Next, the robotic arm loads the egg cartons EP onto the first folding shelf (#7). Once the required number of items have been stacked on a folding shelf, the shelf is opened (#8).

[0041] Next, we will demonstrate the shelf opening operation. I will now explain the differences from the embodiment. First, the contact portions 281 of the pair of straightening clamps 28 are placed against the side frames of the trolley 3 on both sides. The distortion of the face frame is corrected. Next, the suction pad 151 moves forward towards the folding shelf. (#801), attaches to the folding shelf on the back side with suction (#802). Suction pad 151 is in the middle position. It retracts to this point (#803). This facilitates operation by the first pre-opening section 17. Operation of the first pre-opening section 17 (rotational entry of the second support column 172) and the second pre-opening section 27 The action (extension of pin 271) is performed (#804). The folding mechanism opens wider. The suction of the pull pad 151 is released (#805). First preliminary opening section 17 (second support column 172 The pin returns to its home position, followed by the second spare opening section 27 (pin 271) returning to its home position (#806). Next, the extrusion section 16 moves forward to a predetermined position (#807), and then the straightening clamp 28 ( The contact portion 281) returns to the origin, and at a timing that partially overlaps with this return to the origin, or before that timing Then the extrusion section 16 retracts (#808). The rear fixing clamp 127 is returned ( #809) The shelf height is checked by the shelf open detection unit S3 (#810).

[0042] (Embodiment 3) The automated egg carton placement system according to Embodiment 3 will be described. Shelf opening in Embodiment 3 The device is similar to the shelf opening device 1 of Embodiment 2, but the extrusion section 16 and the first pre-opening The device may or may not be equipped with a discharge section 17 and a second spare opening section 27. The robot arm 50 is equipped with a suction means 51 at the hand at its tip. 0 uses the suction means 51 to suction the top surface of the egg carton, and the egg carton is attached to the folding shelf and egg carton This is a means of transporting egg cartons for stacking egg cartons on top of a container.

[0043] In response to a command from the opening control unit (not shown), the suction pack is driven forward by the suction drive unit 15. The T151 contacts and attracts the folding shelf, which is in a folded position, and pulls it backward. Then, the mounting rail is tilted or raised to one side. In Figure 4A, the suction drive unit 15 extends diagonally downward and forward, and the suction pad 151 is in the second folding position. It attaches to shelf 322 (rear shelf section) (it may also be sucked by a vacuum pump not shown), suction drive unit As 15 retracts (returns) diagonally upward and to the rear, it becomes inclined relative to the second mounting rail 3121. To put it in a position that is either upright or lifted on one side. Next, the release control unit commands the robot arm 50, which is equipped with a suction means 51, to perform suction drive. The second folding part is in an inclined or lifted position due to part 15 and the suction pad 151. The flat surface of shelf 322 (front shelf plate portion 322f) is attached by the suction means 51. Next, the opening control unit uses the suction pad 151 to fix the second folding shelf 322 by suction. Stop. The suction pad 151 returns to its original position. Next, as shown in Figure 4B, the opening control unit is connected to the robot arm 5 equipped with a suction means 51. A command is issued to 0, causing the second folding shelf 322, which is being held in place by the suction means 51, to move forward. Next, as shown in Figure 4C, the second folding shelf 322 is placed on the mounting rail 3121. Then, the robot arm 50 detaches the suction means 51 from the second folding shelf 322, and the second folding shelf 32 Egg cartons are loaded onto the top of item 2 using the suction means 51.

[0044] (Embodiment 4) The automatic egg carton placement system according to Embodiment 4 will be described. Shelf opening in Embodiment 4 The device is similar to the shelf opening device 1 of Embodiment 2, but the extrusion section 16 and the first pre-opening The device may or may not be equipped with a discharge section 17 and a second spare opening section 27. The robot arm 50 is equipped with a suction means 51 and a hook 54 at the hand at its tip. The arm 50 uses the suction means 51 to suction the top surface of the egg carton EP and folds the egg carton. This is a means for transporting egg cartons to stack egg cartons on shelves and egg cartons.

[0045] In response to a command from the opening control unit (not shown), the suction pack is driven forward by the suction drive unit 15. The T151 contacts and attracts the folding shelf, which is in a folded position, and pulls it backward. Then, the mounting rail is tilted or raised to one side. In Figure 5A, the suction drive unit 15 extends diagonally downward and forward, and the suction pad 151 is in the second folding position. It attaches to shelf 322 (rear shelf section) (it may also be sucked by a vacuum pump not shown), suction drive unit As 15 retracts (returns) diagonally upward and to the rear, it becomes inclined relative to the second mounting rail 3121. To put it in a position that is either upright or lifted on one side. Next, the release control unit commands the robot arm 50 equipped with the hook 54, and the suction drive unit The second folding shelf is in an inclined or partially lifted position due to 15 and the suction pad 151. The rod-shaped frame 3224 at the tip of the front shelf section 322f of 322 is hooked with the hook 54. Next, the opening control unit uses the suction pad 151 to fix the second folding shelf 322 by suction. Stop. The suction pad 151 returns to its original position. Next, as shown in Figure 5B, a command is given to the robot arm 50 to hook it with the hook 54. Move the second folding shelf 322 forward, and place the second folding shelf 322 on the rack as shown in Figure 5C. Place it on top of the 3121. Then, the robot arm 50 hooks from the second folding shelf 322. Remove 54 and load the egg cartons EP onto the second folding shelf 322 using the suction means 51.

[0046] In an alternative embodiment, instead of the hook 54, the robot arm 50 has a gripping means in its hand. It is equipped with a gripping means that grasps the rod-shaped frame 3224 at the tip of the front shelf portion 322f. It may be composed of such elements.

[0047] In the above embodiments 1, 2, 3, and 4, the control unit and / or open control unit are processors It is realized through the collaboration of hardware such as storage and memory, and programs that describe the control content. It may be implemented using a combination of dedicated circuits and firmware, or it may be implemented using the cloud. This can be implemented using on-premise servers or general-purpose computers. The control unit and / or open control unit are connected to the feeding device, the shelf opening device, and the robot arm. A series of movements can be controlled, with separate controllers controlling each one, and each controlling the necessary data. Data and commands may be communicated. The robotic arm can be a multi-axis robot, a SCARA robot, or a collaborative robot. . Once a predetermined number of egg cartons are stacked on the first folding shelf, the shelf opening device 1 automatically opens the second folding shelf. It is dynamically released. Once the robotic arm has loaded a predetermined number of egg cartons onto the second folding shelf, The third folding shelf is automatically opened by the shelf opening device 1. The robot arm moves to the third folding shelf. Once a predetermined number of egg cartons have been loaded, the fourth folding shelf is automatically opened by the shelf opening device 1. This is how the series of movements are controlled. In the above embodiment, the inclined forming section (15, 151) is a suction drive section 15 and a suction pad It was composed of 151, but there may be one or more of these. Also, the inclined forming part is This configuration is not limited to this one; for example, by using means to clamp the sides of the folding shelf and tilt them. That's good too. [Explanation of Symbols]

[0048] 1 Shelf opening device 10 Frame body 11 Front part 12 Back section 121 Clamp (Pair of side clamps) 122 Second stopper (second clamp) 127 Rear mounting clamp (a pair of clamps) 13 Drive unit 131 Drive belt (or toothed belt) 14 Shelf Opening Unit 15 Suction drive unit 151 Suction Pads 16 Extrusion section 161 Extrusion tip elastic part 17 First Reserve Opening Section 27 Second Reserve Opening 28. Correction clamp 2. Feeding device 3. Egg container transport cart 31 First side frame (a pair of side frames) 311 First side plate 312 Second side plate 313 Third side plate 314 Fourth side plate 3111 First mounting rail 3112 Second mounting rail 3113 Third mounting rail 3114 Fourth mounting rail 321 First Folding Shelf 322 Second Folding Shelf 3224 Rod-shaped frame 323 Third Folding Shelf 324 Fourth Folding Shelf 50 robotic arms 51 Adsorption means 54 hooks S1 First Sensor S2 Second Sensor S3 Third Sensor EP Egg Pack

Claims

1. A shelf opening mechanism for automatically opening the folding shelves of an egg container transport trolley, A shelf open detection unit that detects whether the folding shelf is in an open state and the height position of the folding shelf when it is open, A shelf opening means comprising a control unit that controls the shelf opening means and outputs an alarm if the folding shelf is not opened properly after the automatic opening operation of the folding shelf.

2. The shelf opening means described in claim 1, It has a robotic arm that places egg cartons onto an egg container transport trolley, If the folding rack is not properly opened after the opening operation, the loading of egg cartons will be stopped. Automatic egg carton loading system.

3. The shelf opening means described in claim 1, A feeding mechanism that automatically transports and introduces an egg container transport cart with the bottom folding shelf open and the other folding shelves in a partially folded state, and then leads out the cart after a predetermined number of egg cartons have been loaded. A stop position detection unit that detects the egg container transport trolley sent by the aforementioned feeding means, When the stop position detection unit detects the egg container transport trolley, means for fixing the egg container transport trolley, A robotic arm for placing egg cartons onto the egg container transport trolley, Prepare Automatic egg carton loading system.

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