Egg container loading system

Abstract

To provide an egg container loading system with a layout that takes into consideration a work area, a cart waiting area, a shipping area, and movement lines of carts and workers.SOLUTION: A system 1 comprises: a first egg container transport device 72a having a first waiting area W1 where egg containers are located; a first multi-axis robot arm 21a having a first suction gripper 212a that grips the egg containers in the first waiting area W1, and transferring the gripped egg containers to a shelf; a first bogie pusher 34 that transports a bogie 8 from a first bogie transfer device 30, which faces the first multi-axis robot arm 21a, to a first loading section 38, which is close to the first multi-axis robot arm 21a, along a first transfer line L1; and a first trolley discharge device 36 for transporting a trolley 8a from the first loading section 38 to a trolley discharge section 39 along the first discharge line L11.SELECTED DRAWING: Figure 1A

Description

Technical Field

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

Background Art

[0002] For transporting egg containers (also referred to as "egg packs") filled with eggs to retailers such as food supermarkets, transport racks are used. For example, there are dedicated transport roll boxes for chicken egg packs manufactured by Yoshida Elsys Co., Ltd., and roll racks manufactured by San-Ei Seisakusho Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for storing chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. For transporting egg containers (also referred to as "egg packs") filled with eggs to retailers such as food supermarkets, transport racks are used. For example, there are dedicated transport roll boxes for chicken egg packs manufactured by Yoshida Elsys Co., Ltd., and roll racks manufactured by San-Ei Seisakusho Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for storing chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. For transporting egg containers (also referred to as "egg packs") filled with eggs to retailers such as food supermarkets, transport racks are used. For example, there are dedicated transport roll boxes for chicken egg packs manufactured by Yoshida Elsys Co., Ltd., and roll racks manufactured by San-Ei Seisakusho Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for storing chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. For transporting egg containers (also referred to as "egg packs") filled with eggs to retailers such as food supermarkets, transport racks are used. For example, there are dedicated transport roll boxes for chicken egg packs manufactured by Yoshida Elsys Co., Ltd., and roll racks manufactured by San-Ei Seisakusho Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for storing chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. For transporting egg containers (also referred to as "egg packs") filled with eggs to retailers such as food supermarkets, transport racks are used. For example, there are dedicated transport roll boxes for chicken egg packs manufactured by Yoshida Elsys Co., Ltd., and roll racks manufactured by San-Ei Seisakusho Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for storing chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction. For transporting egg containers (also referred to as "egg packs") filled with eggs to retailers such as food supermarkets, transport racks are used. For example, there are dedicated transport roll boxes for chicken egg packs manufactured by Yoshida Elsys Co., Ltd., and roll racks manufactured by San-Ei Seisakusho Co., Ltd. Further, Patent Document 1 describes a transport rack for transporting an egg container for storing chicken eggs. The above transport rack has a plurality of shelves that can be folded, and is designed to be compactly stored in the depth direction.

[0003] Patent Document 2 describes a shelf opening device that can automatically open a folding shelf (return the folded state to the original state (shelf state)). In FIG. 2A, egg containers are vertically arranged on the back side of the shelf. In FIG. 1, an example of a cart moving in one direction is described. Patent Document 2 describes a shelf opening device that can automatically open a folding shelf (return the folded state to the original state (shelf state)). In FIG. 2A, egg containers are vertically arranged on the back side of the shelf. In FIG. 1, an example of a cart moving in one direction is described. Patent Document 2 describes a shelf opening device that can automatically open a folding shelf (return the folded state to the original state (shelf state)). In FIG. 2A, egg containers are vertically arranged on the back side of the shelf. In FIG. 1, an example of a cart moving in one direction is described.

[0004] Patent Document 3 describes that, as shown in paragraph 0032, FIGS. 6, and 7 of the specification, a folding shelf board is unfolded by the gripping portion (11) of the robot arm (2). Patent Document 3 describes that, as shown in paragraph 0032, FIGS. 6, and 7 of the specification, a folding shelf board is unfolded by the gripping portion (11) of the robot arm (2).

[0005] Patent Document 4 discloses a transfer device for an egg pack that sends the egg pack on a transport unit to an assembly location for boxing. The transfer device includes a shaft that reciprocates between the transport unit side and the assembly location side, a main arm that is integrally provided on this shaft and moves the egg pack from the transport unit to the assembly location, and a sub-arm that uses the movement of the shaft to move the main arm to a position where it does not interfere with the egg pack. Patent Document 4 discloses a transfer device for an egg pack that sends the egg pack on a transport unit to an assembly location for boxing. The transfer device includes a shaft that reciprocates between the transport unit side and the assembly location side, a main arm that is integrally provided on this shaft and moves the egg pack from the transport unit to the assembly location, and a sub-arm that uses the movement of the shaft to move the main arm to a position where it does not interfere with the egg pack. Patent Document 4 discloses a transfer device for an egg pack that sends the egg pack on a transport unit to an assembly location for boxing. The transfer device includes a shaft that reciprocates between the transport unit side and the assembly location side, a main arm that is integrally provided on this shaft and moves the egg pack from the transport unit to the assembly location, and a sub-arm that uses the movement of the shaft to move the main arm to a position where it does not interfere with the egg pack. Patent Document 4 discloses a transfer device for an egg pack that sends the egg pack on a transport unit to an assembly location for boxing. The transfer device includes a shaft that reciprocates between the transport unit side and the assembly location side, a main arm that is integrally provided on this shaft and moves the egg pack from the transport unit to the assembly location, and a sub-arm that uses the movement of the shaft to move the main arm to a position where it does not interfere with the egg pack. Evacuation means are provided to move the items away. At the collection point, regulations are in place to prevent egg cartons from floating up. A control member is provided. Patent document 5 describes a pressing mechanism that pushes the peripheral wall of an egg carton and sends it to an assembly area. The document discloses a transfer unit comprising a component 7 and a pressing member 8 that holds down the top surface of an egg carton. A width-regulating member is installed in the area to prevent misalignment when egg cartons are pressed and moved. It's being kicked. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Utility Model Registration No. 3209255 Publication [Patent Document 2] Patent No. 6684511 [Patent Document 3] Patent No. 6807091 [Patent Document 4] Japanese Patent Publication No. 2018-030631 [Patent Document 5] Japanese Patent Publication No. 2016-124601 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] The following are some of the issues that cannot be resolved by the above-mentioned patent documents. (1) In Patent Document 2, when the top shelf is placed horizontally instead of vertically, the back of the shelf is folded There is a possibility that the bottom of the shelf in place may come into contact (interfere) with the hand portion of the robot arm. (2) Not only the unidirectional movement of the trolley disclosed in Patent Document 2, but also the work area and trolley waiting area A layout that takes into account the area, shipping area, trolleys, and worker movement is required. (3) Multiple types of egg containers may be transported from the upstream side by a conveyor belt. In some cases, workers manually loaded the eggs. Various types of egg containers were being transported. Even if loading is done manually, there is a demand to enable loading from the equipment side. (4) There are various types of trolleys (roll inners), with differences in height, width, depth, protrusions and beams (f There are differences in shape, such as the position of the frame. Therefore, various types of trolleys are transported by a single trolley transport device. It is difficult to do so. (5) When shelf deployment is performed by a robot arm as in Patent Document 3, the shelf board is first picked up and then deployed. However, depending on the distortion or deformation of the roll inner, suction may fail, or suction may detach during deployment. This is a concern because it could occur due to the payload capacity of the robot arm and the movement within the trolley (roll inner). Due to space limitations and other constraints, the robot arm's hand section will have an additional suction mechanism. Adding large mechanical structures is difficult. (6) In Patent Documents 4 and 5, the egg cartons that have been transported parallel to the longitudinal direction of the egg cartons In contrast, the eggs are pushed out from the sides of the egg carton and collected at the collection point, but along the length of the egg carton The regulating member needs to be changed accordingly, making the switching operation complicated. A cylinder is used as the pressing means. When used (Patent Document 5), the next egg carton is transported to the extrusion position while the carton is being returned to its home position. It is not possible to do so. Patent Document 4 shows that even if the next egg carton is placed there the extrusion part will not interfere. The machine retracts upwards and returns to its starting position, but the time it takes to return to the starting position is used for the next push. do not have.

[0008] Therefore, the first objective of the present invention is to provide a trolley that can accommodate various types of trolleys (roll inners). We provide an egg loading device and an egg container loading system equipped with it. The second objective is to provide a trolley fixing device that can suppress failures in shelf opening (unfolding), and an egg container equipped with it. We provide loading systems. A third object is to provide a loading control device compatible with various egg containers and an egg container loading system including the same. A stem is provided. A fourth object is to provide an egg container loading system having a layout that takes into account the work area, the trolley waiting area, the shipping area, the flow lines of the trolley and the operator, etc. A fifth object is to provide a sorting and conveying device that sorts egg containers conveyed from the upstream side from the main conveying device to the loading waiting area of the egg container conveying device, and an egg container loading system including the same.

Means for Solving the Problems

[0009] In the present invention, the egg container is filled with predetermined eggs. The egg container loading system (1) of the present invention has a first egg container conveying device (72a) having a first waiting area (W1) for one egg container or two or more egg containers (P) arranged in parallel (arranged in parallel in the longitudinal direction), a first multi-axis robot arm (21a) having a first adsorption gripping portion (212a) for gripping the egg container in the first waiting area (W1), and transferring the gripped egg container to at least one shelf (which may be a folding shelf or not) of the first egg container transport trolley (8, (hereinafter, may be simply referred to as "trolley")), a first trolley loading device (30) for conveying the first egg container transport trolley (8) (in a state where the lowermost shelf board is unfolded) to the side of the first multi-axis robot arm (21a) (to the loading position of the egg container), <0;000103>[[ID=]39]]and <00001;09>a first trolley extrusion device (34) provided on the first trolley loading device (30), which conveys the first egg container transport trolley (8) along a first loading line (L1) (linear) toward a first loading portion (38) (loading position) that is proximal to the first multi-axis robot arm (21a), ​​​​​​​​​​​​​​​​​The first trolley extrusion device (34) that sends the material, The first egg container transport trolley (8a) is moved from the first loading section (38) (the first loading rail It is a direction that intersects (L1) at a 90° angle (effectively, any direction that intersects at a 90° angle is acceptable). ) First trolley unloading device that transports to the trolley unloading section (39) along the first unloading line (L11) ( 36) and are provided. The first waiting area (W1) of the first egg container transport device (72a) and the first multi-axis robot The arm (21a) and the first loading section (38) are connected to the first multi-axis robot arm (21 a) The main axis (AR) may be arranged in an L-shape (L-shaped layout). Furthermore, the first standby area (W1), the first multi-axis robot arm (21a), and the first loading unit (38) The first trolley loading device (30) moves the main axis (AR) of the first multi-axis robot arm (21a) They may be arranged in an L-shape as the starting point. The first standby area (W1) of the first egg container transport device (72a) is the first multi-axis robot The first multi-axis robot is positioned between the arm (21a) and the first loading section (38). The arm (21a), the first standby area (W1), and the first loading section (38) are arranged in a straight line. It may also be the first multi-axis robot arm (21a), first standby area (W1) The first loading section (38) and the first trolley loading device (30) may be arranged in a straight line. Furthermore, the first multi-axis robot arm (21a), the first standby area (W1), and the first loading The first loading section (38), the first trolley loading device (30), and the trolley unloading section (39) are located in the first loading section (38). They may be arranged in a T-shape as the starting point (T-shaped layout). The travel distance of the hand section (211) and the suction gripping section (212) is shortened, and the loading processing time is reduced. It can be shortened.

[0010] The egg container loading system (1) further includes: One egg container or two or more egg containers arranged in parallel (parallel to each other in the longitudinal direction) (P) A second egg container transport device (72b) having a second waiting area (W2) and The second suction gripping part (212b) has a second suction gripping part (212b) for gripping the egg container (P) in the second waiting area (W2). and at least one shelf (whether a folding shelf or not) of the second egg container transport cart (8) A second multi-axis robotic arm (21b) transfers the grasped egg container (P) to the second multi-axis robotic arm (21b). and, (With the bottom shelf extended) The second egg container transport trolley (8) is connected to the second multi-axis robot Second trolley loading device (40) that transports the egg containers towards the loading arm (21b) (to the egg container loading position) and, The second trolley pushing device (44) provided in the second trolley loading device (40), The second egg container transport cart (8) is located near the second multi-axis robot arm (21b). The transport is carried along the (straight) second loading line (L2) toward the loading section (48) (loading position). The second trolley extrusion device (44) that sends the material, The second egg container transport trolley (8b) is moved from the second loading section (48) (the second loading rail It is in a direction that intersects (L2) at a 90° angle (effectively, any direction that intersects at a 90° angle is acceptable). ) The second trolley unloading unit transports the trolley to the trolley unloading section (39) along the second unloading line (L21). It includes (46) and The second waiting area (W2) of the second egg container transport device (72b) and the second multi-axis robot The arm (21b) and the second loading section (48) are connected to the second multi-axis robot arm (21 The main axis (AR) of (b) may be used as the starting point and arranged in an L-shape (L-shaped layout). Furthermore, a second standby area (W2), a second multi-axis robot arm (21b), and a second loading section (48) The second trolley loading section (40) raises the main axis (AR) of the second multi-axis robot arm (21b). They may be arranged in an L-shape as points. The second standby area (W2) of the second egg container transport device (72b) is the second multi-axis robot The arm (21b) is positioned between the arm (21b) and the second loading section (48), and the second multi-axis robot The arm (21b), the second standby area (W2), and the second loading section (48) are arranged in a straight line. It may also be the second multi-axis robot arm (21b), second standby area (W2) The second loading section (48) and the second trolley loading device (40) may be arranged in a straight line. Alternatively, the second multi-axis robot arm (21b), the second standby area (W2), and the second multi-axis robot arm (21b), standby area (W2), the second multi-axis robot arm (21b), The loading section (48), the second trolley loading device (40), and the trolley unloading section (39) are located in the second loading section (48). They may be arranged in a T-shape starting from this point (T-shaped layout). The travel distance of the hand section (211b) and the suction gripping section (212) is shortened, reducing the loading processing time. This allows for a reduction in time.

[0011] The egg container loading system (1) is, The first egg container transport trolley (8a) and / or the second egg container transport trolley (8a) that have been loaded. b) From the trolley discharge section (39) parallel to the first and second loading lines (L1, L2) Even if it is equipped with a trolley delivery device (391) that delivers along the delivery line (L3) where it is positioned good. The delivery line (L3) is located between the first and second input lines (L1, L2). It is preferable to do so. The closer the end of the first and second loading sections (30, 40) and the end of the delivery line (L3) are, Work efficiency can be improved. For example, the movement path of the trolley (8) can be made U-shaped, and the loading By placing the loading and unloading areas next to each other, work efficiency is improved, and by combining the U-shaped and mountain-shaped traffic flow... By streamlining the workflow (standardizing the loading and unloading process), we can reduce the required space and costs while improving processing capacity. It can be done.

[0012] The trolley unloading section (39) and the delivery line (L3) may be used for both purposes, as in another embodiment. The trolley unloading section and the delivery line may be provided separately. For example, the first egg container transport trolley (8a) is taken from the first loading section (38) to the first transport In a direction that intersects the entry line (L1) at a 90° angle (effectively any direction that intersects at a 90° angle is acceptable) And, along the third discharge line moving away from the second loading section (48), to the trolley discharge section. It may be equipped with a third trolley unloading device for transporting, and / or the second egg container transport platform. The vehicle (8b) is moved from the second loading section (48) to the second delivery line (L2) at a 90° angle. The direction (it is sufficient if the direction intersects at a substantially 90° angle) and the first loading section (38) It is equipped with a fourth trolley discharge device that transports the trolley to the trolley discharge section along the fourth discharge line in a direction away from the front. It's fine if you do that.

[0013] The first loading line (L1), the first loading section (38), and the first multi-axis robot arm. (21a) The first waiting area (W1), the first discharge line (L11), The second loading line (L2), the second loading section (48), and the second multi-axis robot arm. (21b) The second waiting area (W2) and the second discharge line (L21) are connected by the base The line passing through the vehicle unloading section (39) (the discharge line (L3), which is parallel to the first and second loading lines) The layout configuration may have translational symmetry or mirror image symmetry with respect to ).

[0014] (Alternate layout) The egg container loading system (1) of the present invention is One egg container or two or more egg containers arranged in parallel (parallel to each other in the longitudinal direction) (P) A first egg container transport device (72a) having a first waiting area (W1) and The first suction gripping part (212a) (the tip of which grips the egg container in the first waiting area (W1) The first egg container transport trolley (8) has a first hand section (211a) located at the position The egg container held in place on at least one shelf (which may or may not be a folding shelf) The first multi-axis robotic arm (21a) is used to transfer the container, (With the bottom shelf extended) The first egg container transport trolley (8) is connected to the first multi-axis robot The first trolley loading device (300) transports to the side of the arm (21a), The first trolley pushing device (340) is provided in the first trolley loading device (300), The first egg container transport trolley (8) is located near the first multi-axis robot arm (21a) Towards the first loading section (38) (loading position), from either the left or right side to the other side in a lateral direction. The first trolley extrusion device (340) transports along a (linear) first input line (L10). )and, The first egg container transport trolley (8a) is moved from the first loading section (38) to the first delivery line. The trolley is transported to the trolley discharge section (39) along the first discharge line (L11), which is in the same direction as (L10). It is equipped with a first trolley unloading device for transporting, The first loading line (L10), the first loading section (38), and the first unloading line (L1 1) and the first multi-axis robot arm (21a) are arranged in a T-shape (T-shape Layout). The first waiting area (W1) of the first egg container transport device (72a) is the first It is positioned between the multi-axis robot arm (21a) and the first loading unit (38), and the first The multi-axis robot arm (21a), the first standby area (W1), and the first loading section (38) are in a straight line. They may be arranged in a certain way. The egg container loading system (1) further includes: One egg container or two or more egg containers arranged in parallel (parallel to each other in the longitudinal direction) (P) A second egg container transport device (72b) having a second waiting area (W2) and The second suction gripping part (212b) (so The second egg container transport trolley has a second hand section (211b) located at the tip of the second egg container transport trolley. (8) At least one shelf (which may be a folding shelf or not) holds the front A second multi-axis robotic arm (21b) transfers the egg container (P), (With the bottom shelf extended) The second egg container transport trolley (8) is connected to the second multi-axis robot A second trolley loading device (400) that transports to the side of the arm (21b), A second trolley pushing device (440) is provided in the second trolley loading device (400), The second egg container transport trolley (8) is positioned near the second multi-axis robot arm (21b). The loading section (48) (loading position) is 180 degrees from the first loading line (L10). A second delivery in a different direction, horizontally (linearly) from either the left or right to the other. A second trolley extrusion device (440) that transports along the line (L20), The second egg container transport trolley (8b) is moved from the second loading section (48) to the second delivery line. The trolley unloading section (39) is located along the second unloading line (L21), which is in the same direction as (L20). It is equipped with a second trolley unloading device (46) for transporting to, The second loading line (L20), the second loading section (48), and the second unloading line (L2 1) and the second multi-axis robot arm (21b) are arranged in a T-shape (T-shape (Layout). The second waiting area (W2) of the second egg container transport device (72b) is the second It is positioned between the multi-axis robot arm (21b) and the second loading unit (48), and the second The multi-axis robot arm (21b), the second standby area (W2), and the second loading section (48) are in a straight line. They may be arranged in a certain way.

[0015] (Cart loading device) The first and second trolley loading devices (30, 40) are, The open state of any folding shelf and / or orientation of the trolley (8) being brought in (front and rear) It includes at least one trolley state detection unit (346, 446) for detecting direction. That's fine. The trolley status detection units (346, 446) of the first and second trolley loading devices (30, 40) It may be installed at the entrance of the delivery route, and is installed at the first and second trolley extrusion devices (34, 44). It may be positioned so that it can be detected before or after it is placed. The system distinguishes between the open and folded states of the shelf, and simultaneously adjusts the orientation of the trolley based on the folded position of the folding plate. It can be detected. From either the left or right side of the trolley, or both sides, towards the center of the trolley, multiple folding sections Even if the trolley state detection units are installed to detect the position of the folded state of the board, Alternatively, it may be possible to detect whether each folding plate is in the open (unfolded) or folded state. The trolley state detection unit is installed from the ceiling towards the floor, and the open (unfolded) state of the folding plate is detected. The distance to the board surface is measured, and it is possible to detect whether the bottom folding plate is in the open position. stomach.

[0016] (Cart loading device) The trolley unloading section (39), the trolley delivery device (391), or the egg container loading system (1) is, A delay in detecting whether or not there is a (stagnant) trolley (8) inside the trolley unloading section. It may also include a state detection unit (392). The aforementioned dwelling state detection unit includes, for example, a pair of light-emitting and light-receiving optical sensors, a reflective optical sensor, and a distance measuring sensor. It may also consist of an imaging means and an image analysis device.

[0017] (Frame guide) The first trolley loading device (30) or egg container loading system (1) is, The first egg container transport trolley (8) is transported with its front (front) facing forward and its rear (back) facing backward. When sending, Along the first loading line (L1) (front-to-back direction), the first egg container transport trolley (8) A first left guide section (31) (regulating function) that guides the left frame, and / or the right frame It may also be equipped with a first right guide section (33) (regulatory function) that guides the Mu, and furthermore, at least Either guide section may be equipped with a movable mechanism (32) that allows the distance between the two to be varied. The aforementioned second trolley loading device (40) or egg container loading system (1) The second egg container transport trolley (8) is transported with its front (front) facing forward and its rear (back) facing backward. When sending, Along the second loading line (L2), the left frame of the second egg container transport trolley (8) The second left guide section (43) (regulatory function) and / or the right frame guides It may also be equipped with a second right guide section (41) (regulatory function), and furthermore, at least one of the options The interior may include a movable mechanism (42) that allows the distance between the two to be varied. The first trolley loading device (300) or egg container loading system (1) is, When transporting the first egg container transport trolley (8) in either the left or right side direction, First front frame that contacts and guides the left and right front frames of the first egg container transport trolley (8) Guide section (310) (regulating function) and / or contacts the left and right rear frames to provide guidance. It may also include a first rear frame guide section (330) (regulating function). Furthermore, However, one of the guide sections may be equipped with a movable mechanism that allows the distance between the two to be varied. The aforementioned second trolley loading device (400) or egg container loading system (1) When transporting the second egg container transport trolley (8) in either the left or right side direction, The second front frame that contacts and guides the left and right front frames of the second egg container transport trolley (8) The guide section (regulating function) and / or the second rear frame that contacts and guides the left and right rear frames. It may also include a frame guide (regulating function). Furthermore, at least one of the guides may be They may also be equipped with a moving mechanism that allows the distance between them to be varied. Any of the above guide units can be placed at any location in the first and second loading sections, the trolley unloading section, or the delivery line. It may be provided. The above-mentioned moving mechanism is controlled by the system's control device, external devices, trolley size detection means, etc. The system may receive information and be able to move automatically, or it may be configured to be able to move by means of a specific method. The automatic moving mechanism may consist of, for example, a linear motion device driven by air, electricity, or hydraulics. .

[0018] (Caster guide) The first trolley loading device or egg container loading system (1) is, The first egg container transport trolley, in which the arrangement of casters on the left, right, front, and rear sides is rectangular (rectangle, square) ( 8) When transporting with the front (front) facing forward and the back (rear) facing backward, The first left caster guides the left front and rear casters along the aforementioned first loading line (L1) Guide section (regulating function) and / or the first right caster that guides the right front and rear casters It may also be equipped with a guide section (regulatory function). The aforementioned second trolley loading device or egg container loading system (1) is, The second egg container transport trolley has a rectangular (rectangle, square) arrangement of casters on the left, right, front, and rear sides. 8) When transporting with the front (front) facing forward and the back (rear) facing backward, The second left caster guides the left front and rear casters along the second loading line (L2) Guide section (regulating function) and / or second right caster that guides the right front and rear casters It may also be equipped with a guide section (regulatory function). The first and second trolley loading devices or egg container loading system (1) are as follows: The first egg container in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel. When transporting the equipment transport trolley (8) in either the left or right direction, The first front caster guide section (343a) (regulating function) guides the left and right front casters, and Call / or, the first rear caster guide section (343b) that guides the left and right rear casters (regulation) It may also have the following features: The first and second trolley loading devices or egg container loading system (1) are as follows: The first egg container in which the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel. When transporting the equipment transport trolley (8) in either the left or right direction, A second front caster guide section (regulating function) that guides the left and right front casters, and / or Even if it is equipped with a second rear caster guide section (regulating function) that guides the left and right rear casters, good. The caster guide section can be placed at any location in the first and second loading sections, the trolley unloading section, and the delivery line. Either one may be provided. Furthermore, at least one of the caster guides is equipped with a movement mechanism that allows the distance between them to be varied. It's okay if you do. The above-mentioned moving mechanism is controlled by the system's control device, external devices, trolley size detection means, etc. The system may receive information and be able to move automatically, or it may be configured to be able to move by means of a specific method. The automatic moving mechanism may consist of, for example, a linear motion device driven by air, electricity, or hydraulics. .

[0019] The egg container loading system (1) is, The first egg container transported along the first loading line (L11) from the first loading section (38) A first rear guide section (regulating function) that guides the rear frame of the trolley (8a), and / or It may also be equipped with a first forward guide section (regulating function) that guides the front frame (or its lower part). Furthermore, at least one of the guide sections is equipped with a moving mechanism that makes the distance between them variable. That's good too. The first forward guide unit guides the first egg container that is being transported along the first loading line (L1). It may also function as a stopper for stopping the transport trolley (8). The first rear guide section is located along the first loading line (L1) of the first egg container transport trolley (8 ) may be configured to be movable downwards when it is brought in. The egg container loading system (1) is, The second egg container transported along the second loading line (L21) from the second loading section (48) A second rear guide section (regulating function) that guides the rear frame of the trolley (8), and / or, It may also be equipped with a second forward guide section (regulating function) that guides the front frame (or its lower part), Furthermore, even if at least one of the guides is equipped with a moving mechanism that makes the distance between them variable good. The second forward guide unit guides the second egg container that is being transported along the second loading line (L2). It may also function as a stopper for stopping the transport trolley (8). The second rear guide section is located along the second loading line (L2) of the second egg container transport trolley (8 ) may be configured to be movable downwards when it is brought in. The above-mentioned moving mechanism is controlled by the system's control device, external devices, trolley size detection means, etc. The system may receive information and be able to move automatically, or it may be configured to be able to move by means of a specific method. The automatic moving mechanism may consist of, for example, a linear motion device driven by air, electricity, or hydraulics. .

[0020] (Distribution and conveying device) The sorting and conveying device is An upstream detection unit for detecting egg containers being transported by a transport device, At a predetermined timing from the detection by the upstream detection unit, the following is placed above the egg container: Furthermore, while rotating in only one direction, it contacts the egg container on the side parallel to the conveying direction, and the conveying device From one location to another conveying device in a conveying direction perpendicular to the said conveying device, at least one It includes a contact delivery unit. The aforementioned sorting and conveying device is A rotating body (e.g., an endless belt) provided with at least one contact and discharge section, The rotating body is supported by at least two rolls (e.g., belt pulleys), At least one of the aforementioned rolls is a driven roll (the rest are freely rotating passive rolls). It consists of a drive device (for example, a motor) that rotates the drive roll, and is equipped with That's fine. The drive device (e.g., a positioning motor) controls, for example, the size of the egg container and / or Depending on the weight, the timing of the egg carton's discharge, the amount of egg carton discharged, and the discharge speed ( Acceleration and deceleration may be controlled.

[0021] The egg container loading system (1) is, The egg containers are transported from the upstream side (in a series parallel to the first side (for example, the longitudinal direction)). Main conveying device (71), The egg container (P) being transported by the main transport device (71) is (first side (for example, longitudinal direction) ) parallel to the second side (for example, the shorter side) that is perpendicular to the first egg container conveying device (72a It may also be equipped with a first sorting and conveying device (73a) that sends the materials to the next stage. The main conveying device (71) is located upstream of the first sorting device (73a) in the conveying area. The configuration may also involve sending the egg container (P) to the second egg container transport device (72b), Even if a second sorting and conveying device (73b) is provided to send the eggs to the second egg container conveying device (72b), good. The first and second sorting and conveying devices (73a, 73b) can each have an egg container The system may also include a discrimination unit (75a, 75b) for determining the type of (P). The main conveying device (71) may consist of one or more endless belts. The first and second distribution conveying devices (73a, 73b) are composed of one or more endless belts. That's fine. The first and second sorting and conveying devices (73a, 73b) are: It is located upstream of that (at a predetermined position on the main conveying device side) and is upstream of detecting the egg container. Detection unit (701a), From the detection by the upstream detection unit (701a) at a predetermined timing, (when transporting) (or in a stationary state), positioned above the egg container and rotating in only one direction (By moving parallel by a predetermined distance) it comes into contact with the side parallel to the transport direction of the egg container (the first side side). Then, to the first and second egg container transport devices (72a, 72b) in a transport direction perpendicular to the said transport direction. It comprises at least one contact discharge unit (731) that discharges, The contact dispensing section (731) has a shape that contacts the egg container, for example, L-shaped, and the outer surface of the egg container The shape may be adapted to the shape of the object. The contact dispensing portion (731) has at least a surface It may be composed of an elastic material. The first and second sorting and conveying devices (73a, 73b) are: The rotating body (732, 733) is provided with at least one contact discharge section (731) ( For example, an endless belt) At least two rolls (734, 735) (for example, belt rolls) that tension the rotating body -ri) and, At least one of the aforementioned rolls is a drive roll (735) (the rest rotate freely). (Composed of passive rolls), a drive device (736) that rotates the drive roll (735) (for example) It may also be equipped with a motor, etc. The rotating body may consist of one or more parts. The rotating body and / or contact / dispensing section is preferably made of a non-metallic material. The drive device (e.g., a positioning motor) controls, for example, the size of the egg container and / or Depending on the weight, the timing of the egg carton's discharge, the amount of egg carton discharged, and the discharge speed ( Acceleration and deceleration may be controlled. First and second sorting and conveying devices (73a, 73b) or first and second egg container conveying devices (72a 72b) The first container guides one side of the second edge of the egg container along the direction of transport of the egg container. The id section (731) (regulating function) and / or the other side of the second side of the egg container It may also be equipped with two container guide sections (732) (regulating function), and furthermore, at least one The container guide portion may be equipped with a movable mechanism (733) that allows the distance between the two to be varied. The moving mechanism (733) is used to detect eggs from the system's control device, external device, egg container detection means, etc. It may receive information about Iz and be able to move automatically, and may be configured to be able to move by means of That's good too.

[0022] (Fixing device) The egg container loading system (1) is, At any position in the first and second loading sections, the egg container transport trolley (8) (the frame constituting the trolley) Restricting the movement of frames, supports, folding shelves, casters, etc. in the left-right and / or front-back directions. Egg container having a stopper or clamp (means to restrict movement) to secure it in place. The container transport cart may be equipped with a fixing device. The fixing device for the egg container transport cart is system (1) It may be provided in a separate device. The fixing device clamps the front of the lower part of the trolley (a designated support or horizontal support). Clamp and drive unit (5111), rear of the lower position of the trolley (predetermined support column or cross support column It may have a lower rear clamp and drive device (5121) for clamping the ) The fixing device is located on the front of the trolley at the upper position or at any position between the upper and lower parts (a predetermined support column). Lower front clamp and drive unit that clamps (or horizontal support) to the upper position or above the trolley The lower back clamps the back (a designated support or horizontal support) at any position between the section and the lower part. It may have a clamp and a drive mechanism. The fixing device is It is mounted so as to be vertically movable relative to a trolley or floor surface (e.g., the device mounting surface), (in the left-right direction) By moving, the rear side of the left and right frames of the egg container transport trolley (8) (to a predetermined support column) (or horizontal support) or the left and right sides of the rear frame (the designated support or horizontal support), the center of the shelf A pair of left and right clamps that press (removably fix) toward the side. It may also be equipped with a left rear side clamp (521) and a first right rear side clamp (541). The fixing device is It is mounted so as to be able to move up and down relative to the trolley or floor surface, and (by moving in the front-to-back direction,) The front side (designated vertical or horizontal support) of the left and right frames of the egg container transport trolley (8) is moved towards the rear. A pair of left and right first left clamps that restrict (removably fix) the pressure applied toward them. It may also be equipped with a front clamp (531) and a first right front clamp (551). This is not limited to the "pair of left and right" clamps mentioned above, but also applies to cases where only one clamp is present. This is also acceptable. Furthermore, the above-mentioned "pair of left and right" may have the same height relative to the trolley or floor. They can be different. The fixing device is Mounted to be vertically movable relative to a trolley or floor, (by moving horizontally,) it can be folded. The acute angle of opening (M2) formed by the folding of the tatami shelf (801) is increased (initial 0 degrees). For example, to widen from 10 to 30 degrees (pre-open state), either the left or right side of the shelf board The first is inserted into the gap of the folded part, making contact with one or both sides (left side, right side). It may also be equipped with pre-opening sections (first left pre-opening section 522, first right pre-opening section 542). The fixing device is Mounted to be vertically movable relative to a trolley or floor surface, (movable in the front-to-back direction or vertically) By doing so, the folding shelf (801) comes into contact with the front side (801c) before the shelf is fully opened. Opening stopper parts that stop the opening (first left opening stopper part 533, first right opening stopper part 553) may also be provided. The fixing device is provided on the front, rear, and sides of the egg container transport trolley (8) and moves in the vertical direction. It may be possible, and in plan view, it is tilted in the front-to-back direction, left-to-right direction, left-to-right direction or front-to-back direction. It may also be possible to move in the diagonal direction. The stationary device is, for example, an air, electric, or hydraulic drive device and a linear motion device that moves with that drive force. It is constructed with contact members (elastic members), etc. The fixing device includes a shelf opening device, frames for the first and second loading sections, support columns, a conveying device, and a multi-axis robot. It may be attached to a base of a to-arm, or it may be installed separately on the floor or ceiling. That's fine. The stopper or clamp may have an elastic material at its tip.

[0023] (Shelf opening device) The egg container loading system (1) is, The folding shelf of the first egg container transport cart (8) is automatically opened (returning to the original folded state (shelf state)). The first shelf opening device (50) returns to the original state, The folding shelf of the second egg container transport cart (8) is automatically opened (returning to the original folded state (shelf state)). It may also be equipped with a second shelf opening device (60) that returns to the original position. The first and second shelf opening devices are the shelf opening devices described in Patent No. 6684511. You may adopt this approach.

[0024] The first shelf opening device (50) is (The first frame (which forms the back (512), front (511), and both sides (not shown)) The main unit (510) and The first shelf opening unit, which is movable vertically, is located on the rear side of the first frame body (510) (51) and, The first shelf opening unit (513) drives the first shelf opening unit (51) up and down. , 5131) and, It is provided to be movable up and down together with the first shelf opening unit (51) (and is fixed to it) (It may also be configured to be movable in conjunction with it.) At least one first inclination Forming section (first left-inclined forming section 561, first right-inclined forming section 562) (for example, suction means) That is, the mounting rails (for example, a pair of rails facing each other) of the egg container transport trolley (8) The folding shelf is in a folded state at one end (the far side opposite the near side) (M1) 801) (For example, the hinge (301e) is used to fold it in half with the top of the center section facing upwards) (Shelf in a tilted state), the shelf is tilted backward relative to the mounting rail, or the shelf rotation axis (801 Starting from d), the first tilt forming section (first left tilt forming section 561, first right tilt forming section 561) is raised to a one-sided position. It includes a sloping forming section 562).

[0025] The first shelf opening device (50) may be equipped with the above-described fixing device. The first shelf opening device (50) is, for example, The first shelf opening unit (51) is provided to be movable up and down together with (and is fixed to) it It may also be configured to be movable in conjunction with it. ), the egg container transport trolley (8 The rear side of the left and right frames (designated support or horizontal support) or the left and right sides of the rear frame Restricting (removable) the side (a designated support or horizontal support) to press towards the center of the shelf. A pair of left and right first rear side clamps (521) for fixing (clamping), and a first rear right side clamp. Clamp (541), The first shelf opening unit (51) is provided to be movable up and down together with (and is fixed to) it It may also be configured to be movable in conjunction with it. ), the egg container transport trolley (8 Press the front side of the left and right frames (the designated vertical or horizontal support) toward the back. A pair of left and right first left front clamps (531) that restrict (removably fix) (clamp) to ), the first right front clamp (551), The first shelf opening unit (51) is provided to be movable up and down together with (and is fixed to) it It may also be configured to be movable in conjunction with it. ), in the state before the shelf is fully opened. The first opening stopper part contacts the front side (801c) of the folding shelf (801) to stop it from opening. First left open stopper section 533, first right open stopper section 553) The first shelf opening unit (51) is provided to be movable up and down together with (and is fixed to) it It may also be configured to be movable in conjunction with it. ), the first inclined forming part (first The left inclined forming section 561 and the first right inclined forming section 562 are in an inclined state or lifted on one side. The sharp angle of opening (M2) formed by the folding of the folding shelf (801) is increased (initial To widen the shelf from 0 degrees, for example from 10 degrees to 30 degrees (pre-open state), either the left or right side of the shelf board. It is inserted into the gap of the folded part by contacting one or both sides (left side, right side). The first reserve opening section (first left reserve opening section 522, first right reserve opening section 542), It may also be equipped with. The first left spare opening (522) and the first right spare opening (542) are located on the side of the folding plate, respectively. It is tilted towards the back (rear) with respect to the axis of movement toward the center of the shelf, so as to contact the surface. It has a plate-shaped or rod-shaped first left contact portion (522a) and a first right contact portion (524a). This makes it easier to widen the folding angle of the folding shelf.

[0026] The first shelf opening unit (51) is, The first left and right arm frames (first left arm frame) are provided on each of the left and right sides, extending forward. Frame 52, first right arm frame 54) and, The first left arm tip is provided on the front side of the first left arm frame (52) toward the center of the trolley. End frame (53) and, The first right arm tip is provided on the front side of the first right arm frame (54) toward the center of the trolley. It may also include an end frame (55). On the rear side of the first left arm frame (52), the side that contacts the trolley faces towards the center of the trolley. in front of the first left rear side clamp (521) and the first left rear side clamp (521) A first left auxiliary opening (522) is provided on the side. On the rear side of the first right arm frame (54), the side that contacts the trolley faces towards the rear, The first right rear side clamp (541) and the first right rear side clamp (541) are located in front of the first right A preliminary opening (542) is provided. The first left arm tip frame (53) is positioned such that the side that contacts the trolley faces inward. The left front clamp (531) and the first left front clamp (531) are located on the side of the bogie that is closer to the center of the bogie. A left open stopper section (533) is provided. The first right arm tip frame (55) is positioned such that the side that contacts the trolley faces inward. The first right front clamp (551) and the first right front clamp (551) are located closer to the center of the bogie. An opening stopper portion (553) may be provided.

[0027] The first shelf opening unit (51) is, The parallel distance formed by the first left arm frame (52) and the first right arm frame (54) So that at least one can move relative to the first shelf opening unit (51) so that it can be expanded or contracted. It may also be equipped with a left-right spacing drive unit (524), Drive the first left rear side clamp (521) and the first right rear side clamp (541) respectively. It may also be equipped with left and right rear clamp drive units (5211, 5411), A spare drive for the first left spare opening (522) and the first right spare opening (542). It may also be equipped with an opening drive unit (5221, 5421), The first left front clamp (531) and the first right front clamp (551) are driven respectively. The device may also be equipped with left and right front clamp drive units (532, 552). The first left open stopper section (533) and the first right open stopper section (553) are driven. It may also be equipped with an opening stopper drive unit (532, 552). Left and right front clamp drive The parts (532, 552) and the release stopper drive unit (532, 552) are shared by the same drive unit. It's okay to do so.

[0028] The first shelf opening device (50) may have a first shelf opening control unit. System (1 ) may receive necessary information such as the type of bogie (8) from another device, and necessary information may be received from another device. The information may be received or entered manually. The first shelf opening control unit is, Commands are given to the first shelf opening unit drive unit (513, 5131), and the first shelf opening unit The vertical movement of the (51) may also be controlled. Commands are given to the left-right spacing drive unit (524), and the first left arm frame (52) and the first right arm frame At least one of (54) controls the movement of the first shelf opening unit (51) But it's fine, Commands are sent to the respective left and right rear clamp drive units (5211, 5411), and the first left rear Even if you control the clamping action of the side clamp (521) and the first right rear side clamp (541) often, Commands are given to each of the aforementioned left and right front clamp drive units (532, 552), and the first left front clamp The clamping operation of the lamp (531) and the first right front clamp (551) may be controlled. Commands are given to each of the aforementioned open stopper drive units (532, 552), and the first left open stopper The stopping operation of the P section (533) and the first right open stopper section (553) may be controlled. The first inclined forming section (first left inclined forming section 561, first right inclined forming section 562) is instructed to issue a command. The folding shelf (801), which is in a folded state in the folded position (M1), is tilted relative to the mounting rail. The suction and pulling motion can be controlled to create a tilted or lifted position. , Commands are given to each of the aforementioned pre-opening drive units (5221, 5421), and the first left pre-opening unit (522) The first right pre-opening section (524) controls the operation of putting the folding shelf into a pre-opened state. That's good too.

[0029] The operation control unit (150) is linked to the shelf opening operation by the first shelf opening control unit, and the first multi-axis The robot arm may be controlled. The motion control unit (150) is the first shelf opening control unit. It's fine if they possess the ability. The first multi-axis robot arm has locking means (for example, a means to hook onto something, a means to grip with a chuck). They may also be equipped with means to do so. The motion control unit (150) commands the first multi-axis robot arm, and the first tilt forming unit (First left-inclined forming section 561, first right-inclined forming section 562) in an inclined state or lifted on one side In this state, the first pre-opening section (first left pre-opening section 522, first right pre-opening section 542) The locking part of the folding shelf (part of the front shelf frame, the locking object) is in a pre-opened state. The rod-shaped frame, etc., is locked with the aforementioned locking means. After the action of the first inclined forming section and the first pre-opening section on the shelf is released, ( The first shelf opening control unit is instructed to control the first tilt forming unit (first left tilt forming unit 561, first right tilt forming unit). The suction of the forming part 562) to the folding shelf is released, and the first preliminary opening part (first left preliminary After returning the spare opening 522 and the first right spare opening 542 to their original positions, Commands are given to the first multi-axis robot arm equipped with the aforementioned locking means, and the locking means is engaged Move the folding shelf forward in the state described above, and at a predetermined position (for example, at the left and right open stopper parts) the folding shelf (At the position where the movement is stopped or fully released,) the locking means is released. Each component may be controlled.

[0030] The second shelf opening device (60) has the same configuration as the first shelf opening device (50). The second shelf opening device (60) is, The second frame body (which forms the back, front and both sides), On the rear side of the second frame body, there is a second shelf opening unit that is movable in the vertical direction, The second shelf opening unit drive unit drives the second shelf opening unit up and down, It is provided to be movable up and down together with the second shelf opening unit (even if it is fixed to it, it is still possible to move it up and down) It may be configured to be movable in conjunction with the second inclined forming part. This increases the sharp angle of opening formed by the folding of the shelf in the middle when it is in a raised position (initial To widen the angle from 0 degrees (for example, from 10 degrees to 30 degrees), either the left or right side of the shelf board or A second preliminary opening is inserted into the gap of the folding section, contacting both sides (left side and right side). It comprises a section (second left auxiliary opening section, second right auxiliary opening section).

[0031] The second shelf opening device (60) may be provided with the above-mentioned fixing device. The second shelf opening device (60) is, for example, It is provided to be movable up and down together with the second shelf opening unit (even if it is fixed to it, it is still possible to move it up and down) They may be configured to be movable in conjunction with the left and right frames of the egg container transport trolley. The rear side (a designated support or horizontal support) or the left and right sides of the rear frame (a designated support) The horizontal support posts are regulated (and fixed in a removable manner) so that they are pressed towards the center of the shelf. (To be clamped) A pair of left rear side clamps and a right rear side clamp, It is provided to be movable up and down together with the second shelf opening unit (even if it is fixed to it, it is still possible to move it up and down) They may be configured to be movable in conjunction with the left and right frames of the egg container transport trolley. Restricts the front side (designated vertical or horizontal support) by pressing it toward the back (removable). A pair of left and right front clamps for fixing (clamping), It is provided to be movable up and down together with the second shelf opening unit (even if it is fixed to it, it is still possible to move it up and down) It may be configured to be movable in conjunction with it. ), in front of the folding shelf in the state before the shelf is fully opened. The second opening stopper section (second left opening stopper section, second right opening stopper section) contacts one side to stop the opening. Stopper part) and, It is provided to be movable up and down together with the second shelf opening unit (even if it is fixed to it, it is still possible to move it up and down) It may be configured to be movable in conjunction with the second inclined forming part. This increases the sharp angle of opening formed by the folding of the shelf in the middle when it is in a raised position (initial To widen the angle from 0 degrees (for example, from 10 degrees to 30 degrees), either the left or right side of the shelf board or A second preliminary opening is inserted into the gap of the folding section, contacting both sides (left side and right side). The parts (second left reserve opening, second right reserve opening) and It may also be equipped with. The second left auxiliary opening and the second right auxiliary opening each abut against the side surface of the folding plate. The second plate-shaped or rod-shaped structure is inclined towards the rear (backward) side with respect to the axis of movement toward the center of the shelf. It has a left contact point and a second right contact point. The inclination makes it easier to widen the folding angle of the folding shelf. can.

[0032] The aforementioned second shelf opening unit is The second left and right arm frames (second left arm frame) are provided on each of the left and right sides, extending forward. Frame (second right arm frame), The second left arm tip frame is provided on the front side of the second left arm frame, facing toward the center of the trolley. Mu and, The second right arm tip frame is provided on the front side of the second right arm frame, facing toward the center of the trolley. It may also be equipped with M. On the rear side of the aforementioned second left arm frame, the side that contacts the trolley faces towards the center of the trolley, A second left auxiliary opening is provided in front of the left rear side clamp and the second left rear side clamp. , On the rear side of the aforementioned second right arm frame, the side that contacts the trolley faces towards the rear, A second right preliminary opening is provided on the front side of the face clamp and the second right rear side clamp. The second left front corner of the frame at the tip of the second left arm is positioned so that the side that contacts the trolley faces inward. The second left release stopper is located on the side of the bogie center that is further from the ramp and the second left front clamp. The second right front frame is positioned such that the side that contacts the trolley faces inward. The second right release stopper is located on the side of the bogie center that is further from the lamp and the second right front clamp. It's okay to be there.

[0033] The aforementioned second shelf opening unit is The parallel gap formed between the second left arm frame and the second right arm frame can be expanded or contracted. A left-right spacing drive unit is provided so that at least one of them can move relative to the second shelf opening unit. Also, Left and right rear clamps that drive the second left rear side clamp and the second right rear side clamp, respectively. It may be equipped with a drive unit. Even if a pre-opening drive unit is provided to drive the second left pre-opening unit and the second right pre-opening unit, often, Left and right front clamp drives that drive the second left front clamp and the second right front clamp, respectively. It may also have a section, Open stopper drive that drives the second left open stopper section and the second right open stopper section, respectively. It may have a section. The left and right front clamp drive unit and the release stopper drive unit are the same drive unit. It's fine to use it for both purposes.

[0034] The second shelf opening device (60) may have a second shelf opening control unit. System (1 ) may receive necessary information such as the type of bogie (8) from another device, and necessary information may be received from another device. The information may be received or entered manually. The second shelf opening control unit is, The second shelf opening unit is instructed to control the vertical movement of the second shelf opening unit. You may do so. A command is sent to the left-right spacing drive unit, and at least one of the second left arm frame and the second right arm frame The movement of the second shelf opening unit may be controlled. Commands are sent to the respective left and right rear clamp drive units, and to the second left rear side clamp and the second right rear clamp. The clamping action of the side clamp may be controlled. Commands are sent to each of the aforementioned left and right front clamp drive units, and the second left front clamp and the second right front clamp are controlled. The clamping action of the clamp may be controlled. Commands are given to each of the aforementioned open stopper drive units, and the second left open stopper unit, the second right open stopper unit, The stopping operation of the topper section may be controlled. The second inclined forming unit is instructed to move the folding shelf, which is in a folded state in the folded position (M1), It attaches to the mounting rail and pulls it backward, tilting it or lifting it to one side. The operation may be controlled. Commands are sent to each of the aforementioned pre-opening drive units, and the second left pre-opening unit and the second right pre-opening unit fold. The operation of setting the tatami shelf to a pre-open state may be controlled.

[0035] The aforementioned operation control unit (150) is linked to the shelf opening operation by the second shelf opening control unit, and the second multi-axis The robot arm may be controlled. The motion control unit (150) controls the second shelf opening control unit. It's fine if they possess the ability. The second multi-axis robot arm has locking means (for example, on the end arm or hand portion) It may also be equipped with means for hooking with a hook or means for gripping with a zipper. The motion control unit (150) commands the second multi-axis robot arm, and the second inclination forming unit In a tilted or lifted state, the second pre-opening part (second left pre-opening part, The locking portion of the folding shelf (front shelf frame) is in a pre-open state at the second right pre-opening section. A part of the frame, the object to be locked, a rod-shaped frame, etc. are locked with the aforementioned locking means. After the action of the second inclined forming portion and the second pre-opening portion on the shelf is released, ( The second shelf opening control unit is commanded to release the suction of the second inclined forming unit to the folding shelf, and After returning the second pre-opening section (second left pre-opening section, second right pre-opening section) to its original position, ) Commands are given to the second multi-axis robot arm equipped with the aforementioned locking means, and the locking means is engaged. Move the folding shelf forward in the aforementioned state, and at the predetermined position (the movement of the folding shelf is stopped by the left and right release stoppers) In the stopped position or the fully released position, each locking means is released to release the locking. The components may be controlled.

[0036] The first and second shelf opening devices (50, 60) are connected to the egg container transport cart (8) being transported. It may have one or more stop position detection units that detect a part of the components. When the control unit detects the egg container transport cart (8), the first and second shelf opening control units are fixed A command is issued to the stopper or clamp to stop the egg container transport cart (8). It may be driven.

[0037] The first and second shelf opening devices (50, 60) are the first and second shelf opening units (51) The unit may have one or more vertical position detection units that detect predetermined vertical positions. The unit vertical position detection unit detected the vertical position of the first and second shelf opening units (51). In that case, the first and second shelf opening control units drive the first and second shelf opening unit (513, You may issue a command to 5131) to start or stop the drive. The first and second shelf opening units (51) are in a folded state in the folded position (M1). It may have one or more folding shelf detection units that detect a certain folding shelf. When a folding shelf is detected, the first and second shelf opening control units will operate the first and second shelf opening units. The drive unit (513, 5131) may be commanded to start or stop the drive.

[0038] The first and second shelf opening devices (50, 60) determine whether the folding shelf is in an open state or not. or, a shelf open detection unit (S3) that detects the height position of the folding shelf in the open state is included. It may have more than one. The first and second shelf opening control units operate after a predetermined unfolding operation (opening). If the shelf open detection unit does not detect the position of the folding shelf in an open state, an alarm will be issued. A configuration that outputs reports is also acceptable.

[0039] The first and second shelf opening control units are as follows: The first and second multi-axis robotic arms place the egg container on the folding shelf and / or egg container. When stacking them (for example, when stacking the top egg carton), the first and second inclined shapes Commands are given to the parts (561, 562) to move the folding shelf, which is in a folded state at the folded position (M1), The shelf is tilted or partially lifted relative to the mounting rail (the folding shelf is tilted backward). You may control it to do so. For example, when stacking the top layer of egg cartons, the folding shelf is tilted backward. This allows space to be secured between the folding shelf and the egg container below it, and the first and second multi-axis rods Reduces operational interference between the bot arms (21a, 21b) and hand sections (211a, 211b). It can be reduced.

[0040] The above configuration has the following effects. (1) Egg container loading system equipped with a trolley transport device that can accommodate various trolleys (roll inners) We can provide the stem. (2) An egg container loading system equipped with a trolley fixing structure that can suppress failures in shelf opening (unfolding) We can provide it. (3) We can provide a loading system for egg containers that can accommodate various types of egg containers. (4) Considering the work area, the cart waiting area, the shipping area, the movement of carts and workers, etc. We can provide an egg container loading system with a specific layout. [Brief explanation of the drawing]

[0041] [Figure 1A] This figure shows an example of an overall layout diagram of an egg container loading system. [Figure 1B] This figure shows an example of an overall layout diagram of an egg container loading system. [Figure 1C] This figure shows an example of an overall layout diagram of an egg container loading system. [Figure 1D] This figure shows an example of the left side of a shelf opening device. [Figure 2A] This figure shows an example of how a shelf opening device works. [Figure 2B] This figure shows an example of how a shelf opening device works. [Figure 2C] This figure shows an example of how a shelf opening device works. [Figure 2D] This figure shows an example of how a shelf opening device works. [Figure 3] This figure shows an example of a trolley loading device. [Figure 4] This figure shows an example of an overall layout diagram of an egg container loading system. [Figure 5] This figure shows an example of sorting, transporting, and then abandoning the goods. [Modes for carrying out the invention]

[0042] (Egg container transport trolley) The trolley 8 is a commonly available trolley for transporting egg containers. In this embodiment, the trolley transport When the eggs are loaded into the loading devices 30 and 40, the bottom folding shelf is unfolded, and the egg containers are placed on that shelf. After the P containers are placed and the predetermined number of layers are stacked, the folding shelves on top are unfolded, and egg cartons are placed on those shelves. As the word "placed" suggests, the items are placed sequentially from bottom to top. The width and depth of the trolley 8 vary depending on the manufacturer. The rows and the spacing (height) between the upper and lower shelves differ, and the hinge positions and structure of the folding frames also differ. However, this invention is a system that can accommodate a wide variety of trolleys of different sizes.

[0043] The trolley 8 shown in Figures 1D and 3 has a bottom frame 831 and a bottom frame that is L-shaped in side view. The back frame 834 is fixed to frame 831, and the back frame 83 is foldable. It has a left frame 832 and a right frame 833 connected by a hinge (not shown) to 4. . The front of the trolley is open, allowing egg cartons to be loaded onto it. The bottom frame 831 is equipped with casters (wheels) that can rotate freely at each of its four corners. It is.

[0044] On the left frame 832, the first side plate 811 and the second side plate are arranged in order from below at predetermined intervals. 812, the third side plate 813, and the fourth side plate 814 are in the width direction of the frame (perpendicular to the vertical direction or the back direction) It is installed in the direction towards the front. The first side plate 811, the second side plate 812, the third side plate 813, and the fourth side plate 814 are each The first mounting rail 811 extends perpendicularly (approximately perpendicularly) from the base toward the center of the trolley 8. 1. A second mounting rail 8121, a third mounting rail 8131, and a fourth mounting rail 8141 are provided. This is possible. Each of the first side plate 811, the second side plate 812, the third side plate 813, and the fourth side plate 814 The right-side frame 833, which faces the first frame, is also provided with a similar opposing side plate and mounting rail.

[0045] At the rear end of the pair of opposing mounting rails (on the side of the rear frame 834), a folding shelf 801 One end of the folding shelf 801 is pivotally supported (801d) and rotatably connected, and the folding shelf 801 is in the center The hinge (801e) in the section allows the rear shelf 801a and the front shelf 801b to fold in the middle (M1 It is composed of the following: The front tip 801c and the rear tip (not shown) of the folding shelf 801 are diagonally upward It extends in that direction. This restricts the movement of the egg container P in the rearward and frontward directions. The front tip 801c functions as the locked part of the locking part of the multi-axis robot arm, as will be described later. It holds.

[0046] (egg container) Egg containers include, for example, flat-topped packs and regular packs, and each can hold up to 6 eggs. There are various numbers of eggs, such as 10 or 12, but there are no particular restrictions. Unless otherwise specified, egg cartons are... The specified eggs are filled inside.

[0047] (Egg container loading system) Figures 1A-1C show the overall configuration of the egg container loading system 1. M1 is a loading station equipped with two loading sections: one for loading by trolley and the other for loading by a multi-axis robotic arm. Although it is described as such, in this invention, the trolley loading and the multi-axis robot arm may be arranged as a single unit. Three or more items may be placed.

[0048] System 1 is the main conveying system that transports egg containers P, which are transported from the upstream side, in a series along the longitudinal direction. The system includes a device 71. However, the system is not limited to this configuration, and there may be multiple main transport devices 71. System 1 transports the egg containers P being transported by the main transport device 71 to the first egg container transport device It is sent to 72a. It is equipped with a first sorting and conveying device 73a. In the main conveying device 71, further upstream of the first distribution conveying device 73a Then, the egg container P is sent to the second egg container conveying device 72b. It is equipped with a second sorting and conveying device 73b that sends to the first and second sorting and conveying devices 73a and 73b Both are equipped with discrimination units 75a and 75b for determining the type of egg container P. First and second sorting Details of the conveying devices 73a and 73b will be described later. The discrimination units 75a and 75b are, for example, barcode readers that read barcodes provided on the egg container P, image analysis units that perform image imaging and image analysis to identify the egg container, or sensor identification units that identify flat packs or regular packs using, for example, photoelectric sensors, etc., and may be configured in this way. When loading two different types of egg containers, the sorting and conveying device performs discrimination and sorting. The discrimination units 75a and 75b have counters for counting the quantity of containers, and are configured to count the total quantity, the quantity for each type, the quantity to be sorted, and the quantity to be passed through, respectively, as they are conveyed. When loading the same egg container, the sorting quantities on the upstream and downstream sides may be controlled according to the loading processing status by the robot arm. The egg container loading system 1 has a general operation control unit 150 that issues control commands for the conveyance and standby control of the egg container, the mutual cooperation and control commands with the discrimination units 75a and 75b, the loading operation of the cart 8, the egg container loading operation (container conveyance and multi-axis robot arm operation, adsorption gripping and release operation), and the unloading operation of the cart 8. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for describing the control content, or may be realized by a combination of dedicated circuits and firmware, or may be realized by a cloud-type or on-premises server or a general-purpose computer. (L-shaped layout) The first egg container conveying device 72a conveys one egg container or two or more arranged in parallel (parallel in the longitudinal direction). Referring to FIG. 1A for explanation. The discrimination units 75a and 75b are configured to count the total quantity, the quantity for each type, the quantity to be sorted, and the quantity to be passed through, respectively, as they are conveyed. When loading the same egg container, the sorting quantities on the upstream and downstream sides may be controlled according to the loading processing status by the robot arm. The egg container loading system 1 has a general operation control unit 150 that issues control commands for the conveyance and standby control of the egg container, the mutual cooperation and control commands with the discrimination units 75a and 75b, the loading operation of the cart 8, the egg container loading operation (container conveyance and multi-axis robot arm operation, adsorption gripping and release operation), and the unloading operation of the cart 8.

[0049] The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for describing the control content, or may be realized by a combination of dedicated circuits and firmware, or may be realized by a cloud-type or on-premises server or a general-purpose computer. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for describing the control content, or may be realized by a combination of dedicated circuits and firmware, or may be realized by a cloud-type or on-premises server or a general-purpose computer. The egg container loading system 1 has a general operation control unit 150 that issues control commands for the conveyance and standby control of the egg container, the mutual cooperation and control commands with the discrimination units 75a and 75b, the loading operation of the cart 8, the egg container loading operation (container conveyance and multi-axis robot arm operation, adsorption gripping and release operation), and the unloading operation of the cart 8. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for describing the control content, or may be realized by a combination of dedicated circuits and firmware, or may be realized by a cloud-type or on-premises server or a general-purpose computer. The general operation control unit 150, the discrimination units 75a and 75b, the egg container loading device 2, the shelf opening control unit, etc. may be realized in cooperation with hardware such as a processor and a memory and a program for describing the control content, or may be realized by a combination of dedicated circuits and firmware, or may be realized by a cloud-type or on-premises server or a general-purpose computer. <​​​​​​​​​​​​​​​​It has a first waiting area W1 with egg containers P arranged in parallel. It can stop at a predetermined stopping position. A stopping section is provided to allow for this. As an example of a conveying device, see the device described in Patent No. 6765151. You may adopt this approach. The first multi-axis robot arm 21a is provided with the first hand portion 211a located at its tip. The first multi-axis robot arm 21a has a first suction gripping section 212a. The egg container P in the first waiting area W1 is gripped by part 212a, and on each folding shelf of the trolley 8 and The grasped egg container P is transferred onto the egg container. The loading control of the multi-axis robot arm will be described later. do. The first trolley extrusion device 34, with the lowest shelf extended, moves the first egg container transport trolley 8 to the From the first carriage loading section 30, which is distal to the multi-axis robot arm 21a, the first multi-axis robot A linear first loading ra leads to the first loading section 38 (loading position), which is near the bot arm 21a. It is transported along line L1. At the loading position, the multi-axis robot arm performs the loading. It can be done. The first trolley unloading device 36 moves the trolley 8a from the first loading section 38 to the first loading line L1 and 90 The first discharge line L1 is in a direction that intersects by a degree (effectively, it is sufficient if it intersects by a degree of 90°). The trolley is transported along line 1 to the unloading section 39 (unloading area). In this embodiment, the first standby area W1 of the first egg container transport device 72a and the first multi-axis robot The arm 21a and the first loading unit 38 raise the main axis AR of the first multi-axis robot arm 21a. The points are arranged in an L-shape (first L-shaped layout).

[0051] The second multi-axis robot arm 21b is provided with the second hand portion 211b located at its tip. The second multi-axis robot arm 21b has a second suction gripping section 212b. The egg container P in the second waiting area W2 is gripped by part 212b, and on each folding shelf of the trolley 8 and The held egg container P is transferred onto the egg container. The second trolley extrusion device 44, with the lowest shelf extended, moves the second egg container transport trolley 8. From the second carriage loading section 40, which is distal to the two-axis robot arm 21b, the second multi-axis robot A linear second loading ra leads to the second loading section 48 (loading position), which is proximal to the bot arm 21b. It is transported along the L2 line. The second trolley unloading device 46 moves the trolley 8b from the second loading section 48 to the second loading line L2 and 90 The second discharge line L2 is in a direction that intersects by a degree (effectively, it is sufficient if it intersects by a degree of 90°). The trolley is transported along line 1 to the trolley unloading section 39 (unloading area). In this embodiment, the second unloading line L Line 21 is in the opposite direction to the first unloading line L11, and the unloading area is shared. ru. In this embodiment, the second standby area W2 of the second egg container transport device 72b and the second multi-axis robot The arm 21b and the second loading unit 48 raise the main axis AR of the second multi-axis robot arm 21b. The points are arranged in an L-shape (second L-shaped layout). As shown in Figure 1A, the first L-shaped layout and the second L-shaped layout are mirror images of each other. It is arranged in a specific configuration.

[0052] The first loading line L1, the first loading section 38, and the first multi-axis robot arm 21a are arranged in a straight line. It is arranged in a straight line. Second loading line L2, second loading section 48, second multi-axis robot The 21b arms are arranged in a straight line (straight layout). From delivery to loading. The route can be configured to be as short as possible. The first and second loading lines L1 and L2 are in a straight line towards the entrance. An L-shaped loading route L0 is also provided. Loading route L0 can be easily loaded by hand. Automated conveyance by a conveyance device is also acceptable.

[0053] The cart delivery device 391 conveys the loaded cart 8a and / or cart 8b along the delivery line L3 arranged in parallel with the first and second loading lines L1 and L2 from the cart unloading section 39. and discharges them. Swing doors 392a and 392b are provided at the exits of the cart unloading section 39. When the cart 8 is pushed out by the cart delivery device 391 and fed into the delivery line L3, the swing doors 392a and 392b also open when they hit the front frame of the cart 8. The delivery line L3 is arranged between the first and second loading lines L1 and L2. The delivery line L 3 may be further provided with an L-shaped unloading route L31 at the same distal position as the inlets of the first and second loading sections. The conveyance route L31 may be manual or automated by a conveyance device . The closer the first and second loading sections 30 and 40 are to the delivery line L3, the more the workability can be improved. For example, by making the movement path of the cart 8 U-shaped and adjacent the loading and unloading, the workability can be improved. Further, by combining the U-shaped flow lines into a mountain-shaped flow line (sharing the delivery route), the dedicated space and cost can be suppressed while improving the processing capacity.

[0054] The layout of another embodiment will be described below. (Translation: Parallel Symmetric Arrangement) This will be described while referring to Fig. 1B. The difference from Fig. 1A is that the cart unloading section, the cart unloading device, and the delivery line are not shared but provided separately. The second unloading line L21 is in the direction from left to right. In that direction, there are a second cart unloading section 39b, ​​​​​​​​A second trolley delivery device 391b is provided. The second delivery line L3b is connected to the second input line L2. They are parallel and facing opposite directions (i.e., the first transmission line L3a) and parallel and facing the same direction. [First loading line L1, first loading section 38, first multi-axis robot arm 21a, first standby area] Area W1, First discharge line L11, First trolley discharge section 39a, First trolley delivery device 391a, [First delivery line L3a], [Second input line L2, second loading section 48, second multi-axis robot A Room 21b, Second waiting area W2, Second unloading line L21, Second trolley unloading section 39b, Second trolley Vehicle delivery device 391b, second delivery line L3b] refers to a layout configuration having translational symmetry. That is the case.

[0055] (T-shaped layout) I will explain this while referring to Figure 1C. The egg container loading system 1 consists of one egg container or two or more egg containers arranged in parallel (parallel to each other in the longitudinal direction). A first egg container transport device 72a having a first waiting area W1 where egg containers P are arranged in a row, It has a first suction gripping part 212a that grips the egg container P in the first waiting area W1, and each folding of the trolley 8 The first multi-axis robotic arm 21a transfers the held egg container P to the shelf, and the bottom shelf board In its unfolded state, the trolley 8 is brought from the first trolley loading device 300 to the first multi-axis robot arm 21a A straight first loading line L runs from left to right to the first loading section 38 (loading position), which is located near the first loading section. The first trolley extrusion device 340 transports along 10, and the trolley 8a is moved from the first loading section 38 to the first The trolley is transported to the trolley discharge section 39 along the first discharge line L11, which is in the same direction as the input line L10. It is equipped with a first trolley unloading device (not shown). The first loading line L10, the first loading section 38, the first unloading line L11, and the first multi-axis robot The arm 21a and the other arm are arranged in a T-shape (first T-shaped layout). The egg container loading system 1 consists of one egg container or two or more egg containers arranged in parallel (parallel to each other in the longitudinal direction). A second egg container transport device 72b having a second waiting area W2 where egg containers P are arranged in a row, It has a second suction gripping part 212b that grips the egg container P in the second waiting area W2, and each folding of the trolley 8 The second multi-axis robotic arm 21b transfers the held egg container P to the shelf, and the bottom shelf board... With the trolley 8 deployed, the second trolley loading device 400 is moved to the second multi-axis robot arm 21 Up to the second loading section 48 (loading position), which is proximal to b, the first loading line L10 is at a 180-degree angle. The direction is such that they collide with each other, and the second input line L20 is a straight line from right to left. The second trolley loading device 440 transports the trolley 8b from the second loading section 48, and the second loading rail The second transport line L21, which is in the same direction as line L20, is transported to the trolley transport section 39. It is equipped with a two-cart unloading device (not shown). The second input line L20, the second loading section 48, the second output line L21, and the second multi-axis robot The arm 21b and the other arm are arranged in a T-shape (second T-shaped layout). System 1 further places the loaded trolleys 8a and / or trolley 8b into the trolley unloading section. From 39, the first and second loading lines L10 and L20 intersect at a 90-degree angle with the delivery line L30. It is equipped with a trolley delivery device 391 that sends out the trolley along the path.

[0056] (Another straight line, T-shaped layout) I will explain this while referring to Figure 4. The first standby area W1 of the first egg container transport device 72a is connected to the first multi-axis robot arm 21a, It is positioned between the first loading section 38. The conveying direction of the first egg container conveying device 72a is from left to right. However, it is not limited to this, and it may be in the opposite direction as well. This is how the first multi-axis robot arm 21a, the first waiting area W1, the first loading section 38, and the first trolley loading device 30 are arranged in a straight line. Furthermore, the first multi-axis robot arm 21a, the first standby area W1, the first loading unit 38, and the first unit The vehicle loading device 30 and the trolley unloading section 39 are arranged in a T-shape starting from the first loading section 38. (T-shaped layout). Similarly, the second standby area W2 of the second egg container transport device 72b is the second multi-axis robot arm 2 It is positioned between 1b and the second loading section 48. The transport direction of the second egg container transport device 72b is to the right. It is to the left, but is not limited to this, and can be in the opposite direction as well. This allows the second multi-axis robot The toe arm 21b, second waiting area W2, second loading section 48, and second trolley loading device 40 are arranged in a straight line. The second multi-axis robot arm 21b, the second standby area W2, and the second loading unit 48 are also positioned. The second trolley loading device 40 and the trolley unloading section 39 are arranged in a T-shape starting from the second loading section 48. It is arranged in a T-shape.

[0057] (Cart loading device) The trolley state detection unit will be explained with reference to Figure 1A. The first trolley loading device 30 checks the state of the lowest folding shelf of the trolley 8 being loaded and the trolley It is equipped with a first bogie state detection unit 346 for detecting the orientation (front-to-back direction). The detection unit 346 is installed at the entrance to the loading route of the first trolley loading device 30. The second trolley loading device 40 checks the state of the lowest folding shelf of the trolley 8 being loaded and the trolley It is equipped with a second bogie state detection unit 446 for detecting the orientation (front-to-back direction). The detection unit 446 is installed at the entrance to the loading route of the second trolley loading device 40. The detection results from the first and second trolley state detection units 346 and 446 are sent to the operation control unit 150. The operation control unit 150 detects that the open state of the lowest folding shelf and the orientation of the trolley are abnormal. If a detection result is found, a warning will be issued by means of notification (light output device such as a light that lights up or flashes, monitor display, warning sound). Commands may be sent to the transmitting speaker, mobile terminal, etc. If a detection result is obtained, the pushing operation of the trolley 8 by the first and second trolley extrusion devices 34 and 44 is controlled. It may be controlled to limit the operation. The operation control unit 150 controls the open state of the lowest folding shelf and the base If the vehicle orientation is detected as normal, the first and second trolley extrusion devices 34 and 44 are then... The system may be controlled to enable the pushing motion of the trolley 8. The first and second trolley state detection units 346 and 446 include, for example, a pair of light sensors for light emission and light reception, and a reflector. It consists of a type optical sensor, a distance measuring sensor, an imaging means, and an image analysis device.

[0058] (Cart extrusion device) The trolley extrusion device will be explained with reference to Figure 3. The first trolley extrusion device 34 has, for example, a contact surface that contacts the lower frame of the trolley 8. A first extrusion section 341 and a movement path 342 (even if it is a rail or groove) on which the first extrusion section 341 moves. (Good) and a drive unit (not shown, linear motion) that moves the first extrusion unit 341 along the movement path 342. The device consists of the following: When the contact surface is facing forward in relation to the transport direction, the first contact surface is made from behind it. When the extrusion section 341 is pressed, it collapses forward and downward against the spring mechanism (not shown), and this press When the state is no longer affected, a spring mechanism causes it to right itself from its fallen position and return to its original position. As a result, when the trolley 8 is loaded into the first trolley loading section 30 from the rear, the first extrusion section 341 The bogie 8 can be smoothly inserted without being obstructed. The second bogie extrusion device 44 is similar. It is structured.

[0059] (Frame guide) The left and right frame guides will be explained with reference to Figures 1A and 3(c). System 1 transports the trolley 8 with the front (forward) facing forward and the rear (backward) facing backward. The first left guide section 3 guides the left frame 832 of the trolley 8 along the first loading line L1. It comprises 1 and a first right guide section 33 that guides the right frame 833. The first left guide section 31 is It is equipped with a first moving mechanism 32 that allows the distance between the two guide sections to be varied. System 1 transports the trolley 8 with the front (forward) facing forward and the rear (backward) facing backward. Furthermore, along the second loading line L2, there is a second left guide section that guides the left frame 832 of the trolley 8, It includes a second right guide section that guides the right frame 833. The second left guide section 41 is a second right guide section that guides both guide sections It is equipped with a second movement mechanism 42 that allows the interval between them to be varied. The first and second moving mechanisms 32 and 42 are, for example, moved by electric or air-driven cylinders. It is a new mechanism.

[0060] Refer to Figures 1C and 3(c) for an explanation of the front and rear frame guides. System 1 transports the trolley 8 laterally from left to right, while the left and right front flex of the trolley 8 The first front frame guide section 310 contacts and guides frames 83 and 84, and the left and right rear frames 8 It is equipped with a first rear frame guide section 330 that contacts and guides 34. 10 includes a movable mechanism 320 that makes the distance between the two guide parts variable. System 1 transports the trolley 8 laterally from right to left, while the left and right front flex of the trolley 8 The second front frame guide section 410 contacts and guides frames 83 and 84, and the left and right rear frames 8 It is equipped with a second rear frame guide section 430 that contacts and guides 34. Second front frame guide section 4 10 includes a movable mechanism 420 that makes the distance between the two guide parts variable. Additionally, the front frame guide and / or rear frame guide are located on the first discharge line L11. It may also be installed in the direction of sending from the first loading section 38 to the trolley unloading section 39. stomach.

[0061] (Caster guide) Refer to Figure 3(b) to explain the guides for the left and right front casters and left and right rear casters. In System 1, the line connecting the left and right front casters and the line connecting the left and right rear casters are parallel. When transporting the trolley 8 in either the left or right side direction, the left and right front casters are guided. The first front caster guide section 343a and the first rear caster guide that guides the left and right rear casters. It is equipped with part 343b. A movement mechanism is further provided that allows the distance between the front and rear casters to be varied. That's good too. Furthermore, when transporting the trolley in the front-to-back direction, the left front and rear casters and the right front and rear casters... A guide may be provided. The caster guide section may be a single frame with recessed grooves formed therein, and the casters are positioned on both sides. It may consist of a pair of guide frames sandwiched from the id.

[0062] (Cart loading section) The dwell state detection unit will be explained with reference to Figure 1A. The trolley unloading unit 39 detects whether or not there are trolleys 8 remaining inside the trolley unloading unit 39. A stagnation state detection unit 392 is provided for this purpose. The detection result of the stagnation state detection unit 392 is The data is sent to the motion control unit 150, and if the motion control unit 150 detects that there is a trolley 8, Warning notification means (light output devices such as flashing lights, monitor displays, warning sound speakers, portable devices) Commands may be issued to the terminal (e.g., to send a warning). The operation control unit 150 detects that there is a trolley 8. In the event of failure, the first and second trolley unloading devices 36 and 46 restrict the trolley 8's movement. It may be controlled in this way. If the operation control unit 150 detects that there is no trolley 8, first and control the second trolley unloading devices 36 and 46 to enable the trolley 8 to be sent out. This is also fine. If the operation control unit 150 detects that there is a trolley 8, the trolley delivery device 391 Then, you can control it to send it to the transmission line L3. The dwell state detection unit 392 includes, for example, a pair of light-emitting and light-receiving light sensors, a reflective light sensor, and a distance measuring sensor. It may consist of sensors, imaging means, and image analysis devices.

[0063] (Cart delivery device and unloading device) The trolley delivery device 391 and the first and second trolley unloading devices 36 and 46 are, for example, air-driven or hydraulic. It consists of a linear motion device (cylinder) that is driven or electrically driven. It will be controlled.

[0064] (Shelf opening device) I will explain this while referring to Figures 1D and 2A through 2D. The first shelf opening device 50 has a rear 512, a front 511, and both sides (not shown) forming the first The first frame body 510 and the first frame body 510 have a first frame body that is movable vertically on the back side. Shelf opening unit 51 and first shelf opening unit drive that drives the first shelf opening unit 51 up and down It comprises a moving part 513 and a drive belt 5131 (a toothed belt or chain may also be used). Second shelf opening The release device 60 has a similar configuration to the first shelf release device, so its explanation will be omitted.

[0065] The first shelf opening unit 51 is provided with first openings extending forward from each of its left and right sides. Left arm frame 52, first right arm frame 54, and the front side of the first left arm frame 52 towards the center. The first left arm tip frame 53 is positioned facing forward, and the center is located on the front side of the first right arm frame 54. It is equipped with a first right arm tip frame 55 that is positioned to the side. On the rear side of the first left arm frame 52, the first left rear side clamp 521, the first left rear side clamp The first left spare opening 522 is provided in front of 521, and the rear side of the first right arm frame 54 Next, the first right rear side clamp 541, and the first right reserve opening in front of the first right rear side clamp 541. A discharge section 542 is provided, and the first left arm tip frame 53 has a first left front clasp extending towards the rear. A clamp 531 is provided, and the first right arm tip frame 55 has a first right front clasp extending towards the rear. A pump 551 is provided. The first shelf opening unit 51 is formed by the first left arm frame 52 and the first right arm frame 54. At least one of the parallel spacings can be expanded or contracted relative to the first shelf opening unit 51. A drive unit 524 is provided so that it can be moved. In this embodiment, the first left arm frame 52 is moved It is a dynamic configuration. The pair of first left rear side clamps 521 and first right rear side clamps 541 open the first shelf. They are provided to be vertically movable together with unit 51. They are located on the left and right side frames of the bogie 8. The left support column 81 and the right support column 82 on the rear side are pressed and restricted toward the center of the shelf. The left and right front clamps 531 and 551, a pair of left and right first front clamps, are the first shelf opening unit. It is provided to be vertically movable together with the 51. The first left front clamp 531 is on the left and right sides of the trolley 8. The left front support column 83 and the right front support column 84 of the front frame are pressed and restricted toward the rear. The left and right pair of first left-tilting forming sections 561 and first right-tilting forming section 562 are part of the first shelf opening unit. It is provided to be vertically movable together with 51. First left inclined forming part 561, first right inclined forming part 56 Component 2 consists of, for example, a suction pad, a suction tube, a vacuum pump, etc. It moves in the forward and backward direction. It is equipped with an air-driven unit 5611 (which may also be an electric drive unit) for this purpose. The left and right pairs of first left spare opening sections 522 and first right spare opening section 542 are part of the first shelf opening unit. It is provided to be vertically movable together with 51. First left inclined forming part 561, first right inclined forming part 56 The acute angle formed by the folding of the folding shelf (801) in the inclined or partially raised position in 2. Increase the opening (M2) (from the initial 0 degrees, for example, from 10 degrees to 30 degrees). To achieve the pre-open state, the shelf board is brought into contact with both sides (left side and right side) and folded in half. It performs the action of being inserted into the gap.

[0066] The left-right spacing drive unit 524, each clamp, and the pre-opening unit are driven by an air-driven linear motion device or an electric motor. It is equipped with a linear drive mechanism.

[0067] The first shelf opening device 50 has a first shelf opening control unit (not shown). From system 1, the trolley It may receive necessary information such as information of type 8, and may also receive necessary information from other devices. You may also enter it manually. The first shelf opening control unit commands the first shelf opening unit drive units 513 and 5131 to open the first shelf. The first shelf opening control unit controls the vertical movement of the release unit 51. The first shelf opening control unit also controls the left-right spacing drive unit 52 A command is sent to 4 to adjust the distance between the first left arm frame 52 and the first right arm frame 54. The shelf opening control unit issues commands to the first left and first right rear clamp drive units 5211 and 5411, It controls the clamping operation of the left rear side clamp 521 and the first right rear side clamp 541. Furthermore, the first shelf opening control unit issues commands to the first left and first right front clamp drive units 532 and 552, Clamping operation of the first left front clamp 531 and the first right front clamp 551, and opening of the first left clamp. The stopper operation of the stopper section (533) and the first right open stopper section (553) is controlled. The shelf opening control unit commands the first left tilt forming unit 561 and the first right tilt forming unit 562 to fold the shelf. The folding shelf 301, which is in a folded state in the normal position (M1), is tilted relative to the mounting rail. It controls the movement of suction and pulling backward to lift one side. Also, the first shelf opens. The control unit commands the first left and first right auxiliary opening drive units 5221 and 5421 to open the first left auxiliary opening. The first right pre-opening section 542 controls the operation of setting the folding shelf to a pre-opened state.

[0068] (Shelf opening operation) The motion control unit 150 operates in conjunction with the shelf opening operation by the first shelf opening control unit, and the first multi-axis robot Control the arm. First, as shown in Figure 2A(b), the trolley 8 is positioned at the loading location. Next, as shown in Figure 2A(c), commands are sent to each drive unit, and the first left rear side clamp is operated. 521, the first right rear side clamp 541, clamps each support column, and the drive units 532 and 552 The command is given to clamp each support column with the first left front clamp 531 and the first right front clamp 551. . Next, as shown in Figures 2B(d) and (e), the first left-sloping forming portion 561, the first right-sloping portion The forming unit 562 is instructed to suck up the folding shelf 801 which is in a folded state in the folded position (M1). Pull it backward so that it is tilted or lifted on one side relative to the mounting rail. Next, as shown in Figure 2B(f), the folding shelf 80 is in an inclined or partially lifted state. To increase the sharp angle of opening (M2) formed by the bend in 1 (to create a pre-open state) Therefore, on both the left and right sides of the shelf board (left side and right side), there is a first left contact part 522a and a first right contact part Insert part 542a into the gap of the bend. Next, as shown in Figure 2C(g), a command is given to the first multi-axis robot arm 21a to pre-open. The locking part (front shelf frame 801c) of the folding shelf 801 in the locked state is locked by the locking means The first multi-axis robot arm 21a is locked at 213a. The first multi-axis robot arm 21a is locked to the hand portion 211a by locking means 2 13a (for example, means for hooking with a hook) is provided. Next, as shown in Figures 2C(h) and (i), the first left-sloping forming portion 561, the first right-sloping portion The suction of the forming section 562 to the folding shelf is released, and the first left spare opening section 522 and the first right spare The opening 542 is returned to its original position, and then a command is given to the first multi-axis robot arm 21a to hook... While keeping it in that state, open (unfold) the folding plate towards you. Next, as shown in Figure 2D(j), before the folding shelf 301 is fully opened (unfolded), the related The stopper (front shelf frame 801c) has first left and first right open stopper parts 533 and 553. Bring it into contact with the frame 801c and detach the locking means 213a from the frame 801c. Intentionally before fully deploying By removing it, the locking mechanism may unexpectedly detach, causing it to fall onto the mounting rail, or the fall may cause damage. It eliminates the generation of collision noise. Next, as shown in Figure 2D(k), the first left rear side clamp 521 and the first right rear side clamp Part 541, First left front clamp 531, First right front clamp 551, First left open stopper Release part 533 and the first right open stopper part 553 and return to their original positions. Clamp and stopper By returning the P section to its original position, the folding shelf is also fully opened (unfolded).

[0069] (Distribution and conveying device) The first sorting and conveying device 73a will be described with reference to Figure 5. b has a similar configuration. The first sorting and conveying device 73a moves the egg container P being conveyed by the main conveying device 71 in the longitudinal direction. The eggs are fed into the first egg container conveying device 72a in a direction parallel to the shorter side (second side) which is perpendicular to the first side. The upstream detection unit 701a is connected to the first distribution conveying device 73a and the main conveying device 7 upstream from it. It is provided at a predetermined position on side 1 and detects the egg container. The upstream detection unit 701a emits light, for example. A pair of light-receiving optical sensors, a reflective optical sensor, a distance measuring sensor, an imaging means, and an image analysis device, etc. It may be composed of such elements. The first sorting and conveying device 73a has four contact and discharge sections 731, each provided at equal intervals. The end belt consists of rotating bodies 732 and 733, and a pair of rolls 73 that tension the rotating bodies 732 and 733. 4, 735, and one of the rolls is a driven roll 735, while the other is a freely rotating passive roll It is composed of a rod and includes a drive device 736 that rotates the drive roll 735. 6 consists, for example, a positioning motor, which adjusts according to the size and / or weight of the egg container. Then, the timing of the egg container's release, the amount of egg container P released, and the release speed (acceleration / deceleration) are controlled. Control. The drive unit 736 rotates in one direction in the direction of the arrow. The drive unit 736 moves upward. From detection by the flow-side detection unit 701a to a predetermined timing, that is, when the egg container P is at the delivery position W5 When it arrives, it rotates by the amount being delivered. As a result, the contact delivery unit 731 moves to the egg being transported. The container contacts the longitudinal side (first side) which is parallel to the transport direction, and the main transport device The eggs are sent from 71a to the first egg container conveying device 72a. The connecting member 739 is the first sorting conveying device. It is located between 73a and the main conveying device 71, but it is optional. The first egg container conveying device 72a is positioned along the conveying direction of the egg container P, in the short direction of the egg container P. A first container guide section 731 that guides one side, and a second container guide section that guides the other side in the shorter direction of the egg container P. It comprises a second container guide section 732. The moving mechanism 733 moves the second container guide section 732. The distance between the first and second container guide sections 731 and 732 is changed. The moving mechanism 733 is The system's central control unit 150 or an upstream device provides information on the size and weight of the egg container. It can receive signals and move automatically. The moving mechanism 733 can be, for example, air, electric, or hydraulic. It may consist of a linear motion drive mechanism.

[0070] (Loading control device) The egg container loading system 1 includes a loading control device 2 capable of handling multiple loading patterns. It's a good idea to be prepared. The egg container loading system 1 uses first and second multi-axis robotic arms 21a and 21b to load egg containers The transport trolley 8 may also be equipped with a loading control device 2 that controls the loading of egg containers onto the trolley. The loading control device 2 controls at least one loading pattern and the multi-axis robot Loading operation setting unit 22 and Loading operation setting unit 2 In accordance with the loading pattern set in step 2, the tip position of the multi-axis robot arm 21 is The suction gripping part 212 provided on the hand part 211 grips one or more egg containers, and the egg container transport Transfer to at least one shelf (which may or may not be a folding shelf) on the transport trolley 8. The loading control controls the operation of the multi-axis robot arm 21 and the suction gripping unit 212. The 23rd and the 23rd At least two or more loading patterns can be selected by the operator. (Automatically switches to accommodate egg containers waiting on the display or conveyor belt) Loading It may also include a pattern switching control unit 24. Touch panel type operator input Means 25 may be provided. The loading control unit 23, Any of the multiple stacking steps in each shelf, at least one of the multiple stacking steps In the step, at least three or four egg containers (A) are held by suction and stacked. At a predetermined first position corresponding to the packing pattern, all egg containers are released from suction and placed down. (Step a) From at least three or four egg containers (A) that have been placed The small number of egg containers (B) are again grasped by suction and moved to a second position different from the first position. The multi-axis robot moves, releases the suction, and places (repositions) (step b), The operation of the frame and the suction gripping part may be controlled. This rearrangement is called "split rearrangement". . The action of "releasing the suction and placing" involves a downward movement as a vertical movement of the suction gripping part. It is not necessary. The bottom of the egg container being held by suction does not come into contact with a shelf or egg container below it. You may release the suction grip before doing so. In the "re-attachment and gripping" operation, re-attachment and gripping occur at a position different from the position where it was previously attached. It is acceptable to do so. Between step a and step b (during the intermediate stage of division and rearrangement), several other egg containers are kept aside. It is grasped by suction from the position (the waiting position of the conveyor) and placed in a position different from the first and second positions. It is permissible to allow this to happen. In other words, another placement operation may be performed between step a and step b.

[0071] The loading control unit 23, Any of the multiple stacking steps, at least one of the stacking steps in a multi-level stack In this case, the gap between egg containers caused by the stacking pattern is the short of the egg container. Place the egg container in a gap that is shorter than the length in the direction of your hand, by pushing it in (height) The multi-axis robot arm 2 is positioned to fit into the gap from the bottom of the container up to a certain height. The operation of 1 and the suction gripping part 212 may be controlled. By filling the gaps with egg cartons, the movement of the egg cartons during transport is eliminated, and the number of eggs that can be stored is increased. Cut.

[0072] The loading control unit 23, In stacking multiple shelves, the stacking pattern of the first shelf and the stacking patterns of the other shelves are The movement of the multi-axis robot arm 21 and the suction gripping unit 212 is the same or different. You may control the operation. The loading control unit 23, In stacking multiple shelves on a trolley, the loading pattern of the first shelf and the loading of the other shelves The multi-axis robot arm 21 and the suction gripping so that the patterns are the same or different. The operation of unit 212 may be controlled. Egg cartons of the same type or different types of egg cartons, with the same or different loading patterns It's also acceptable to make it so that it becomes "n".

[0073] The loading control unit 23, In stacking multiple levels on each shelf, before the stacking pattern for any given level is completed, the next level... The multi-axis robot arm and the suction gripping unit are to initiate the eye loading pattern. The operation may be controlled. For example, half of the first stacking pattern may be placed (for example, (Rear placement area), place the next second egg container on top of the placed egg container, and then place two more layers. The third egg container can be placed on top of the first egg container, and the fourth egg container can be placed in the same manner. The position of the remaining loading patterns that have not yet been placed in the first loading pattern (front side loading) Place an egg container in the designated area, and then place the next egg container (the second layer) on top of the placed egg container. Next, place the third egg container on top of the second egg container, and similarly place the fourth container. That's fine. Within a single stacking pattern, the stacking pattern on the back and the stacking pattern on the front are the same. The same loading pattern is acceptable, or a different loading pattern may be used. In the loading pattern on the back and the loading pattern on the front, the same type of egg container or different types are used. Any type of egg container is fine.

[0074] (Loading pattern) This specifies the mounting areas on the front and back sides of the trolley. The loading pattern is to load the egg cartons horizontally in the rear area of ​​the cart, parallel to the longitudinal direction of the egg cartons. The rear side is the horizontal placement area (also called "horizontal placement"), and the front area is perpendicular to the rear horizontal placement area. Patterns including front-side vertical placement, where the item is placed vertically so that it faces the direction of (also called "vertical placement"). That's fine. The loading pattern is vertical in the rear area of ​​the trolley, parallel to the shorter side of the egg container. The rear area is used for vertical mounting, and the front area is used for horizontal mounting so that it is perpendicular to the rear vertical mounting. It may also be a pattern that includes placing it on the front side to the side. The loading pattern may include both rear-side vertical loading and front-side vertical loading. The loading pattern may include both rear-side lateral loading and front-side lateral loading. Even if the loading pattern includes a pattern where part of the back is loaded vertically and the rest is loaded horizontally, good. Even if the loading pattern includes a pattern where the front part is loaded vertically and the rest is loaded horizontally, good.

[0075] (Multi-axis robotic arm) The tip of the hand portion 211 is attached to the end of the arm and secures the suction gripping portion 212. I will be a fixed-seat employee. The suction gripping section 212 has, for example, multiple suction pads that adhere under negative pressure. The suction pad is connected to a vacuum pump (or blower) via a negative pressure pipe, and air is sucked in. By pulling it, the suction pad generates a suction force that allows it to grip the egg container it is in contact with. For all of the multiple suction pads, individually or in units of multiple pads, "Suction, Suction Stop (Suction State)" The operation of "suction release (returning to atmospheric pressure)" is made possible by configuring and controlling piping, on / off valves, etc. That's good too. [Explanation of Symbols]

[0076] 1. Egg container loading system 2. Egg container loading device 21a First multi-axis robot arm 211a First Handball Section 212a First suction gripping part 30 First trolley loading device 32 First movement mechanism 34 First Bogie Extrusion Device 36 First trolley unloading device 38 First loading section 39. Trolley unloading section 50 First shelf opening device 52 First left arm frame 53 First left arm tip frame 54 First Right Arm Frame 55 First right arm tip frame 510 First frame body 521 First left rear side clamp 541 First right rear side clamp 531 First left front clamp 533 First left open stopper section 551 First right front clamp 553 First right open stopper section 561 First left-tilting forming section (adsorption unit) 562 First right-tilting forming section (adsorption unit) 522 First left spare opening 542 First right spare opening 72a First egg container conveying device 60 Second shelf opening device 8 Egg container transport trolley L1 First Delivery Line P egg container W1 First standby area

Claims

1. A trolley loading device for transporting an egg container transport trolley to the egg container loading position, The egg container transport trolley has a bottom frame, a back frame connected to the bottom frame in an L-shape when viewed from the side, and a left frame and a right frame connected to the back frame in a foldable manner. The aforementioned trolley loading device is A trolley extrusion device having an extrusion section that contacts any frame of the egg container transport trolley and transports the egg container transport trolley, When transporting the egg carton transport trolley with the front facing forward and the back facing backward, a left guide section guides the left frame of the egg carton transport trolley along the first loading line in the front-to-back direction, and / or a right guide section guides the right frame, and / or a left caster guide section guides the left front and rear casters, and / or a right caster guide section guides the right front and rear casters. When transporting the egg carton transport cart in either the left or right side direction, the carton transport cart has front frame guides that contact and guide the left and right front frames, and / or rear frame guides that contact and guide the left and right rear frames, and / or front caster guides that guide the left and right front casters, and / or rear caster guides that guide the left and right rear casters. A trolley loading device for egg container transport trolleys.

2. At least one of the left guide section and / or the right guide section is equipped with a movable mechanism that makes the distance between them variable. The egg container transport trolley loading device according to claim 1.

3. The system includes at least one trolley state detection unit for detecting the open state of any folding shelf and / or the orientation of the trolley of the egg container transport trolley being delivered. The egg container transport trolley loading device according to claim 1 or 2.

4. An egg container loading system comprising a trolley loading device for an egg container transport trolley according to any one of claims 1 to 3, A first egg container transport device having a first waiting area with one egg container or two or more egg containers arranged in parallel, A first multi-axis robotic arm has a first suction gripping section for gripping egg containers in the first waiting area, and transfers the gripped egg containers to at least one shelf of the first egg container transport trolley, A first trolley loading device that transports the first egg container transport trolley toward the first multi-axis robot arm, A first trolley extrusion device provided in the first trolley loading device, the first trolley extrusion device transports the first egg container transport trolley along the first loading line toward the first loading section which is near the first multi-axis robot arm, The system includes a first trolley unloading device that transports the first egg container transport trolley from the first loading section to the trolley unloading section along a first unloading line different from the first loading line, The first standby area, the first multi-axis robot arm, and the first loading unit are arranged in an L-shape with the main axis of the first multi-axis robot arm as the starting point. or The first standby area is positioned between the first multi-axis robot arm and the first loading unit, and the first multi-axis robot arm, the first standby area, and the first loading unit are arranged in a straight line. Egg container loading system.

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