• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    There is provided an egg package transfer apparatus (1) that transfers a plurality of egg packages (P) collected in a temporary waiting region (21) to an accommodation space (A), the egg package transfer apparatus (1) including: a gripping unit (11); and a control unit (3). The control unit (3) controls an operation for gripping the plurality of egg packages (P), releasing a state of gripping one egg package (P) of the plurality of egg packages (P) at a first position inside a case (C), which is the accommodation space (A), and then, moving the gripping unit (11) and releasing a state of gripping the other egg package (P) of the plurality of egg packages (P) at a second position different from the first position inside the case (C).
    公开号:EP3708504A1
    申请号:EP19753789.7
    申请日:2019-02-06
    公开日:2020-09-16
    发明作者:Takahiko NAMBU；Keisuke Abe
    申请人:Nabel Co Ltd；
    IPC主号:B65B23-00
    专利说明:
    [0001] The present invention relates to an egg package transfer apparatus that transfers sequentially transported egg packages to a case for egg packages or an accommodation space provided in an egg distribution cart. BACKGROUND ART
    [0002] An egg package packing apparatus that packs egg packages in a case or the like for egg packages has been known. In this type of egg package packing apparatus, egg packages corresponding to one tier of egg packages in the case are arranged in a temporary waiting region. Thereafter, the egg packages are packed in the case, while maintaining the arrangement relationship of the arranged egg packages.
    [0003] There are cases of various sizes and shapes. In addition, there are egg packages of various sizes and shapes. Therefore, there are a wide range of combinations of cases and egg packages. It is required that the egg package packing apparatus should deal with such a wide range of combinations. When an attempt is made to deal with the wide range of combinations of cases and egg packages, it is assumed that the egg package packing apparatus is faced with an increase in size of the temporary waiting region, an increase in size of a conveyor arranged on an upstream side of the temporary waiting region, and complication of an arrangement mechanism for the egg packages. Furthermore, it is assumed that such increase in size and complication result in an increase in cost. For example, PTL 1 discloses a method for filling egg packages into a container for egg packages.
    [0004] In order to deal with the above-described problem, an egg package packing apparatus in which the number of egg packages packed per one packing operation is smaller than the number of egg packages corresponding to one tier of egg packages has been developed. In the egg package packing apparatus, a commonly used articulated robot including a head unit that operates optionally is, for example, used to accommodate the egg packages corresponding to one tier of egg packages in a case by performing the packing operation twice or three times.
    [0005] Specifically, when the number of egg packages corresponding to one tier of egg packages in the case is five, the five egg packages are divided into three egg packages and two egg packages and packed. The three egg packages collected in a temporary waiting region are gripped by the head unit. The head unit that grips the three egg packages moves from the temporary waiting region to the case, and then, the gripping state is released and the three egg packages are accommodated in the case. The head unit whose gripping state has been released moves from the case to the temporary waiting region. Next, the two egg packages collected in the temporary waiting region are gripped by the head unit. The head unit that grips the two egg packages moves from the temporary waiting region to the case, and then, the gripping state is released and the two egg packages are accommodated in the case. In this manner, the five egg packages in the first tier in the case are accommodated in the case. The same operation is repeated, to thereby accommodate five egg packages in a second tier on top of the egg packages in the first tier. CITATION LISTPATENT LITERATURE
    [0006] PTL 1: Japanese Patent No. 5802932 PTL 2: International Publication No. 2011/162601SUMMARY OF INVENTIONTECHNICAL PROBLEM
    [0007] In the conventional egg package packing apparatus, the head unit moves back and forth between the temporary waiting region and the base once, while performing the packing operation once. Therefore, when one tier of egg packages in the case are accommodated in the case by performing the packing operation twice or more, the head unit moves back and forth between the temporary waiting region and the case a plurality of number of times. This results in limitations on the number of egg packages that can be accommodated in the case within a unit time.
    [0008] The present invention has been made to solve the above-described problem, and an object of the present invention is to provide an egg package transfer apparatus that can transfer more egg packages to an accommodation space including a case or the like within a unit time. SOLUTION TO PROBLEM
    [0009] An egg package transfer apparatus according to the present invention is an egg package transfer apparatus that transfers a plurality of egg packages collected in a temporary waiting region to an accommodation space, the egg package transfer apparatus including: a gripping unit; and a control unit. The gripping unit grips the plurality of egg packages including one egg package and the other egg package, and moves the gripped egg packages to the accommodation space. The control unit controls an operation of the gripping unit, the operation of the gripping unit including an operation for gripping the egg packages, an operation for moving at least one of the accommodation space and the gripped egg packages, and an operation for releasing a state of gripping the egg packages. The control unit controls an operation for gripping the plurality of egg packages, releasing a state of gripping the one egg package at a first position inside the accommodation space, and then, moving the gripping unit and releasing a state of gripping the other egg package at a second position different from the first position inside the accommodation space.
    [0010] Preferably, the operation of the gripping unit controlled by the control unit includes the operation for releasing the state of gripping the other egg package at the second position, the second position being a height position different from the first position.
    [0011] Preferably, the operation of the gripping unit controlled by the control unit includes the operation for releasing the state of gripping the other egg package at the second position, the second position being a position where the other egg package is stacked on the one egg package.
    [0012] Preferably, the operation of the gripping unit controlled by the control unit includes an operation for changing an orientation of the gripped egg packages. ADVANTAGEOUS EFFECTS OF INVENTION
    [0013] According to the egg package transfer apparatus of the present invention, it is possible to increase the number of egg packages that can be accommodated in the case within a unit time.
    [0014] The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS
    [0015] Fig. 1 is a front view schematically showing an egg package transfer apparatus according to an embodiment. Fig. 2 is a side view for illustrating an operation of the egg package transfer apparatus shown in Fig. 1. Fig. 3 is a side view showing a step of an egg package transfer operation by the egg package transfer apparatus shown in Fig. 1. Fig. 4 is a side view showing a step performed after the step shown in Fig. 3. Fig. 5 is a side view showing a step performed after the step shown in Fig. 4. Fig. 6 is a side view showing a step performed after the step shown in Fig. 5. Fig. 7 is a side view showing a step of an egg package transfer operation by an egg package transfer apparatus according to a first modification in the same embodiment. Fig. 8 is a side view showing a step performed after the step shown in Fig. 7 in the same embodiment. Fig. 9 is a side view showing a step performed after the step shown in Fig. 8 in the same embodiment. Fig. 10 is a side view showing a step performed after the step shown in Fig. 9 in the same embodiment. Fig. 11 is a plan view schematically showing an egg package transfer apparatus according to a second modification in the same embodiment. Fig. 12 is a side view showing a step of an egg package transfer operation by the egg package transfer apparatus according to the second modification in the same embodiment. Fig. 13 is a side view showing a step performed after the step shown in Fig. 12 in the same embodiment. Fig. 14 is a side view showing a step performed after the step shown in Fig. 13 in the same embodiment. Fig. 15 is a side view showing a step performed after the step shown in Fig. 14 in the same embodiment. DESCRIPTION OF EMBODIMENTS
    [0016] An example egg package transfer apparatus according to an embodiment will be described. As shown in Figs. 1 and 2, an egg package transfer apparatus 1 transfers a plurality of transported egg packages to a prescribed accommodation space A including a case. Egg package transfer apparatus 1 transfers egg packages P collected in a temporary waiting region 21 to accommodation space A for egg packages. Egg package transfer apparatus 1 includes a gripping unit 11, a head unit 14, a releasing unit 12, a vacuum mechanism 13, and a control unit 3. In the present embodiment, accommodation space A that accommodates egg packages P is formed inside a box-like case C.
    [0017] Gripping unit 11 grips a plurality of egg packages P. Gripping unit 11 is formed by a first suction member 15 and a second suction member. First suction member 15 can, for example, grip two egg packages P adjacent to each other. Second suction member 16 can, for example, grip two egg packages P.
    [0018] Each of first suction member 15 and second suction member 16 is connected to vacuum mechanism 13. Releasing unit 12 is provided between first and second suction members 15 and 16 and vacuum mechanism 13. Releasing unit 12 includes a releasing unit 12a and a releasing unit 12b. In first suction member 15, a gripping state is released by releasing unit 12a. In second suction member 16, a gripping state is released by releasing unit 12b.
    [0019] Each of first suction member 15 and second suction member 16 has a bellows structure that can extend and contract in a vertical direction. In a state of applying suction to the egg packages, first suction member 15 and second suction member 16 are in a shortened state. In contrast, in a state of not applying suction to the egg packages, first suction member 15 and second suction member 16 are in a gravitationally extending state.
    [0020] Gripping unit 11 is attached to head unit 14. Head unit 14 moves between temporary waiting region 21 and case C. For example, a commonly used articulated robot that operates optionally, such as a six-axis vertical articulated robot, is applied as head unit 14. In addition to the articulated robot, various types of robots or apparatuses that can move optionally with respect to an X axis, a Y axis and a Z axis can be used as head unit 14.
    [0021] Egg package transfer apparatus 1 constitutes an egg package transfer system 10, together with a transport apparatus 2. Transport apparatus 2 is implemented by, for example, a belt conveyor. Temporary waiting region 21 is provided on a downstream side of transport apparatus 2. A packaging apparatus (not shown) that packs eggs in packages is arranged on an upstream side of transport apparatus 2.
    [0022] The egg packages in which the eggs are packed by the packaging apparatus is transported to temporary waiting region 21 by transport apparatus 2. A stopper 22 that restricts the movement of the egg packages is provided in temporary waiting region 21. When the set prescribed number of egg packages are collected in temporary waiting region 21, transport apparatus 2 stops temporarily and the egg package transfer work is started. This work (operation) will be described below.
    [0023] An operation of egg package transfer apparatus 1 is controlled by control unit 3. Control unit 3 controls a gripping state and a movement of egg packages P gripped by gripping unit 11. Control unit 3 performs control such that gripping states of one egg package P and the other egg package P, of a plurality of egg packages P gripped by gripping unit 11, are released separately. Control unit 3 performs control such that the state of gripping one egg package P is released and then the state of gripping the other egg package P is released. Control unit 3 performs control such that the other egg package P is moved before the state of gripping one egg package P is released and then the state of gripping the other egg package P is released.
    [0024] Control unit 3 performs control such that the other egg package P is placed at a height position different from that of one egg package P previously placed in case C. Control unit 3 performs control such that an operation for placing one egg package on an upper side S1 of a level difference S formed by egg packages P already accommodated in accommodation space A is performed and then an operation for placing the other egg package P on a lower side S2 of level difference S is performed.
    [0025] Control unit 3 is implemented by a dedicated computer or a general-purpose computer including a CPU (Central Processing Unit), an internal memory, an input and output interface, and an AD conversion unit. The CPU and peripherals thereof cooperate in accordance with a program stored in the internal memory, to thereby provide the function of control unit 3.
    [0026] Next, an example operation of egg package transfer apparatus 1 will be described.
    [0027] Egg packages P transported from the upstream side by transport apparatus 2 are collected in temporary waiting region 21 on the downstream side. When four egg packages P (two vertically × two horizontally) are, for example, collected in temporary waiting region 21, the transfer operation is started.
    [0028] First, head unit 14 moves to an upper part of collected egg packages P. Next, head unit 14 moves downward, and first suction member 15 comes into contact with two egg packages P of four egg packages P and second suction member 16 comes into contact with remaining two egg packages P. Next, vacuum mechanism 13 is operated. Vacuum mechanism 13 causes each of first suction member 15 and second suction member 16 to start vacuuming. Four egg packages P are gripped by gripping unit 11.
    [0029] Next, gripping unit 11 that grips egg packages P moves from temporary waiting region 21 to an upper part of case C. Next, head unit 14 moves downward, and releasing unit 12 is operated at a position where two egg packages P gripped by first suction member 15 are to be placed along a first side wall C1 of case C. Vacuuming is stopped by releasing unit 12. The applying suction state of each of first suction member 15 and second suction member 16 is released, and first four egg packages P are accommodated in case C. In case C shown in Fig. 3, front two egg packages P are shown.
    [0030] Gripping unit 11 that has released egg packages P moves from case C to temporary waiting region 21. When four egg packages P are, for example, collected in temporary waiting region 21, gripping unit 11 moves downward, and first suction member 15 comes into contact with two egg packages P and second suction member 16 comes into contact with remaining two egg packages P. Next, vacuum mechanism 13 causes each of first suction member 15 and second suction member 16 to start vacuuming, and four egg packages P are gripped by gripping unit 11.
    [0031] Next, as shown in Fig. 4, gripping unit 11 that grips egg packages P moves from temporary waiting region 21 to the upper part of case C. Next, head unit 14 moves downward. Releasing unit 12a of releasing unit 12 is operated at a position where two egg packages P gripped by first suction member 15 are to be placed along first side wall C1. The applying suction state of first suction member 15 is released by releasing unit 12a, and additional two egg packages P are accommodated along first side wall C1 on top of initially accommodated egg packages P. In other words, additional two egg packages P are placed on upper side S1 of level difference S formed by initially accommodated egg packages P.
    [0032] Next, as shown in Fig. 5, gripping unit 11 that grips remaining two egg packages P moves to an upper part of a region S3 in case C where egg packages P are not yet placed. Releasing unit 12b of releasing unit 12 is operated at a position where two egg packages P gripped by second suction member 16 are to be placed along a second side wall C2. The applying suction state of the second suction member is released by releasing unit 12b, and two egg packages P are placed in region S3 in case C. In other words, two egg packages P are placed on lower side S2 of level difference S formed by egg packages P already accommodated in case C.
    [0033] Gripping unit 11 that has released egg packages P moves from case C to temporary waiting region 21. When four egg packages P are, for example, collected in temporary waiting region 21, gripping unit 11 moves downward, and first suction member 15 comes into contact with two egg packages P and second suction member 16 comes into contact with remaining two egg packages P. Next, vacuum mechanism 13 causes each of first suction member 15 and second suction member 16 to start vacuuming, and four egg packages P are gripped by gripping unit 11.
    [0034] Next, as shown in Fig. 6, gripping unit 11 that grips egg packages P moves from temporary waiting region 21 to the upper part of case C. Next, head unit 14 moves downward. Releasing unit 12 is operated at a position where two egg packages P gripped by second suction member 16 are to be placed along second side wall C2. Vacuuming is stopped by releasing unit 12. The applying suction state of each of first suction member 15 and second suction member 16 is released, and four egg packages P are placed on already-placed four egg packages P. In other words, four egg packages P are placed in a region S4 in case C where egg packages P in a second tier are not yet placed. After the operation for transferring the egg packages to case C is completed, gripping unit 11 moves from case C to temporary waiting region 21.
    [0035] Egg package transfer apparatus 1 according to the present embodiment includes gripping unit 11, head unit 14, releasing unit 12, vacuum mechanism 13, and control unit 3, and transfers egg packages P collected in temporary waiting region 21 to case C serving as accommodation space A. When egg packages P are transferred to case C, the operation for placing one egg package on upper side S1 of level difference S formed by egg packages P already accommodated in case C and the operation for placing egg packages P on lower side S2 of level difference S are performed during one transfer operation.
    [0036] As a result, as compared with the conventional egg package packing apparatus, the number of times of the movement of the head unit back and forth between the temporary waiting region and the case can be reduced and the number of egg packages that can be accommodated in case C within a unit time can be increased in the operation for accommodating egg packages P in case C. In the conventional egg package packing apparatus, the head unit needs to move back and forth between the temporary waiting region and the case four times in order to accommodate egg packages P in case C in the steps corresponding to the steps shown in Figs. 3 to 6. In contrast, in egg package transfer apparatus 1 according to the embodiment, head unit 14 moves back and forth between temporary waiting region 21 and case C three times and egg packages P can thereby be accommodated in case C.
    [0037] Furthermore, as compared with the conventional egg package packing apparatus, egg package transfer apparatus 1 according to the embodiment can be adapted to various variants without increasing a size of temporary waiting region 21 or transport apparatus 2 arranged on the upstream side, and thus, can be suitably used in egg packaging facilities having many constraints in terms of usable space.
    [0038] In addition, gripping unit 11 is formed by first suction members 15 and second suction members 16 each connected to vacuum mechanism 13, and applies suction to egg packages P from above. Therefore, as compared with a gripping unit that grips egg packages P from below or from the side, gripping unit 11 is less likely to interfere with egg packages P already accommodated in case C, and first side wall C1 or second side wall C2 of case C.
    [0039] Releasing unit 12a of releasing unit 12 operates at the position where one egg package P gripped by first suction member 15 is placed along first side wall C1, and the state of gripping the one egg package is thereby released. Releasing unit 12b of releasing unit 12 operates at the position where the other egg package P gripped by second suction member 16 is placed along second side wall C2, and the state of gripping the other egg package is released. As a result, egg packages P are placed along first side wall C1 or second side wall C2 of case C, which facilitates positioning of egg packages P. (First Modification)
    [0040] Next, an egg package transfer apparatus according to a first modification will be described. The egg package transfer apparatus according to the first modification includes basically the same configuration as the configuration of egg package transfer apparatus 1 shown in Fig. 1. Therefore, the same components are denoted by the same reference characters and description thereof will not be repeated unless necessary. Egg package transfer apparatus 1 according to the first modification is different from the above-described egg package transfer apparatus in the accommodation order of accommodating egg packages in accommodation space A.
    [0041] Egg package transfer apparatus 1 according to the first modification includes gripping unit 11 and control unit 3, and transfers egg packages P to accommodation space A for egg packages (see Fig. 7 and the like). Accommodation space A for egg packages is formed inside box-like case C.
    [0042] Control unit 3 performs control such that gripping states of one egg package P and the other egg package P gripped by gripping unit 11 are released separately. Control unit 3 performs control such that the other egg package P is moved before the state of gripping one egg package P is released and then the state of gripping the other egg package P is released. Control unit 3 performs control such that the other egg package P is accommodated at a height position different from that of one egg package P previously accommodated in accommodation space A.
    [0043] In egg package transfer apparatus 1 according to the first modification, control unit 3 performs control such that the other egg package P is accommodated on top of one egg package P previously accommodated in accommodation space A. Furthermore, control unit 3 performs control such that an orientation of the other egg package P is changed after one egg package P is accommodated.
    [0044] Next, an example operation of egg package transfer apparatus 1 according to the first modification will be described.
    [0045] When four egg packages P are, for example, collected in temporary waiting region 21, the transfer operation is started. First, head unit 14 moves to the upper part of collected egg packages P. Next, head unit 14 moves downward, and first suction member 15 comes into contact with two egg packages P of four egg packages P and second suction member 16 comes into contact with remaining two egg packages P. Next, vacuum mechanism 13 is operated. Vacuum mechanism 13 causes each of first suction member 15 and second suction member 16 to start vacuuming. Four egg packages P are gripped by gripping unit 11.
    [0046] Next, gripping unit 11 that grips egg packages P moves from temporary waiting region 21 to the upper part of case C. Next, as shown in Fig. 7, head unit 14 moves downward, and four egg packages P are placed on a bottom plate C3 of case C. Next, releasing unit 12a of releasing unit 12 is operated at the position where two egg packages P gripped by first suction member 15 are placed along first side wall C1 of case C (see Fig. 1). The applying suction state of first suction member 15 is released by releasing unit 12a, and two egg packages P are accommodated along first side wall C1.
    [0047] Next, as shown in Fig. 8, gripping unit 11 that grips remaining two egg packages P moves upward and rotates by substantially 180° in a horizontal direction, to thereby change an orientation of head unit 14. Next, as shown in Fig. 9, head unit 14 moves downward. Releasing unit 12b of releasing unit 12 is operated at a position where two egg packages P gripped by second suction member 16 are placed along first side wall C1.
    [0048] The applying suction state of the second suction member is released by releasing unit 12b, and two egg packages P are placed on two egg packages P previously accommodated in case C. Gripping unit 11 that has released egg packages P moves from case C to temporary waiting region 21. Next, when four egg packages P are collected in temporary waiting region 21, the four egg packages are gripped by gripping unit 11. Thereafter, as shown in the fourth figure from the left in Fig. 4, gripping unit 11 that grips egg packages P moves from temporary waiting region 21 to the upper part of case C, and the operation for accommodating egg packages P in the remaining space in case C is performed.
    [0049] Egg package transfer apparatus 1 according to the first modification can provide an effect that is the same as or similar to the effect of egg package transfer apparatus 1 including the effect of being able to increase the number of egg packages that can be accommodated in case C within a unit time. (Second Modification)
    [0050] Next, an egg package transfer apparatus according to a second modification will be described. The egg package transfer apparatus according to the second modification includes basically the same configuration as the configuration of egg package transfer apparatus 1 according to the first modification. Therefore, the same components are denoted by the same reference characters and description thereof will not be repeated unless necessary. The egg package transfer apparatus according to the second modification is different in a shape of accommodation space A and the manner of accommodating (arranging) egg packages in accommodation space A.
    [0051] As shown in Figs. 11, 12 and the like, in egg package transfer apparatus 1 according to the second modification, accommodation space A is formed on a bottom plate or a shelf R1 of an egg distribution cart R. Egg distribution cart R is a trolley that is conveyable and also displayable in stores. Fig. 11 and the like show only one tier of egg distribution cart R for convenience in description. Before egg packages P are placed in egg distribution cart R, egg packages P may be temporarily transferred to, for example, a tray or the like. In this case, accommodation space A is formed on the tray.
    [0052] Egg package transfer apparatus 1 according to the second modification includes gripping unit 11 and control unit 3, and transfers egg packages P to accommodation space A for egg packages (see Figs. 11, 12 and the like).
    [0053] Control unit 3 performs control such that gripping states of one egg package P and the other egg package P gripped by gripping unit 11 are released separately. Control unit 3 performs control such that the other egg package P is moved before the state of gripping one egg package P is released and then the state of gripping the other egg package P is released. Control unit 3 performs control such that the other egg package P is accommodated at the same height position as that of one egg package P previously accommodated in accommodation space A or at a height position different from that of one egg package P. Control unit 3 performs control such that an orientation of the other egg package P is changed after one egg package P is accommodated.
    [0054] Next, an example operation of egg package transfer apparatus 1 according to the second modification will be described.
    [0055] In egg package transfer apparatus 1, the operation for transferring egg packages is divided into a plurality of number of times of operations such as, for example, four operations in order to place one tier of egg packages in accommodation space A. When the prescribed number of egg packages P such as, for example, three egg packages P (three vertically × one horizontally) are collected in temporary waiting region 21, the transfer operation is started. First suction member 15 is for one egg package P located at one end. Second suction member 16 is for two egg packages P, i.e., one egg package located at the other end and one egg package located at the center between one end and the other end. A guide 23 is arranged in temporary waiting region 21.
    [0056] In a first transfer operation, when three egg packages P are collected in temporary waiting region 21, head unit 14 first moves to the upper part of collected egg packages P. Next, head unit 14 moves downward, and first suction member 15 comes into contact with egg package P located at one end. Second suction member 16 comes into contact with egg packages P located at the other end and the center. Next, vacuum mechanism 13 is operated and three egg packages P are thereby gripped by gripping unit 11. Next, gripping unit 11 that grips egg packages P moves from temporary waiting region 21 to the upper part of accommodation space A.
    [0057] Next, as shown in Fig. 12, gripping unit 11 moves downward, and three egg packages P are placed on shelf R1 of egg distribution cart R. Next, releasing unit 12a corresponding to first suction member 15 is operated. Vacuuming is stopped by releasing unit 12a and the applying suction state of first suction member 15 is released.
    [0058] Next, as shown in Fig. 13, gripping unit 11 that grips two egg packages P sucked by second suction member 16 moves upward. Next, gripping unit 11 rotates by substantially 90° in a horizontal direction, to thereby change an orientation of head unit 14 as shown in Fig. 14. Next, as shown in Fig. 15, head unit 14 moves downward, and releasing unit 12b corresponding to second suction member 16 is operated at a position where two egg packages P gripped by head unit 14 are placed along a side wall R2 of egg distribution cart R. The applying suction state of second suction member 16 is released by releasing unit 12b, and two egg packages P are placed on shelf R1 of egg distribution cart R. Thus, the first transfer operation ends.
    [0059] When the first transfer operation ends, gripping unit 11 moves from egg distribution cart R to temporary waiting region 21, and next, a second transfer operation is performed. The second transfer operation is performed in accordance with the first transfer operation. Each of third and subsequent transfer operations is also performed in accordance with the first transfer operation. Fig. 11 shows, for example, an example arrangement of egg packages P accommodated in egg distribution cart R by performing the transfer operation four times. Of egg packages P, egg packages P1 correspond to egg packages P transferred by the first transfer operation. Egg packages P2 correspond to egg packages P transferred by the second transfer operation. Egg packages P3 correspond to egg packages P transferred by the third transfer operation. Egg packages P4 correspond to egg packages P transferred by the fourth transfer operation.
    [0060] Egg package transfer apparatus 1 according to the second modification can provide an effect that is the same as or similar to the effect of egg package transfer apparatus 1 including the effect of being able to increase the number of egg packages that can be accommodated in case C within a unit time.
    [0061] The egg package transfer apparatus according to the present invention is not limited to the foregoing embodiment.
    [0062] In the egg package transfer apparatus, the transfer operation for accommodating one tier of egg packages P in accommodation space A may be divided into, for example, three or more transfer operations. In addition, the number of egg packages P transferred by one transfer operation is not limited to the number described in the foregoing embodiment.
    [0063] The number of one egg package P and the number of the other egg package P may be the same as each other, or may be different from each other. In addition, the number of each of one egg package P and the other egg package P may be one, or may be plural.
    [0064] When the egg packages are vertically stacked in a plurality of tiers and accommodated in accommodation space A, the number or the arrangement manner of egg packages varies for each tier. In order to deal with such accommodation manner, in the egg package transfer apparatus, the number and the arrangement manner of egg packages accommodated in one tier can be preferably set to be different from the number and the arrangement manner of egg packages accommodated in another tier. The number of tiers of egg packages P stacked in accommodation space A is not limited to the number of tiers shown in the figures.
    [0065] Temporary waiting region 21 may be implemented by, for example, a table or the like that is not provided with a transport apparatus and does not include a mechanism for transporting egg packages. When temporary waiting region 21 is provided with a transport apparatus, an operation of the transport apparatus is preferably performed in accordance with a degree of collection of egg packages in temporary waiting region 21. However, the operation of the transport apparatus does not necessarily need to be performed in accordance with the degree of collection of egg packages in temporary waiting region 21.
    [0066] Instead of first suction member 15 and second suction member 16, or in addition to first suction member 15 and the like, a pair of arm units that support and grip egg packages from a side surface side and from a lower surface side may be included as gripping unit 11. PTL 2 discloses an example of such arms.
    [0067] A size and a shape of egg package P are selected as appropriate in accordance with an egg size, the number of eggs, and the like. In addition to a flat package, a regular package or a mold package may be used as the egg package itself.
    [0068] The case in which the accommodation space that accommodates egg packages is formed may be any container as long as it can accommodate egg packages containing eggs, and a cardboard box for transportation, a container made of plastic, or the like is applicable. The case does not need to include a lid.
    [0069] In addition, during a time period between the operation for releasing the state of gripping one egg package and the operation for releasing the state of gripping the other egg package, the case or the like in which the accommodation space is formed may be moved, without moving the gripping unit. Furthermore, during a time period between the operation for releasing the state of gripping one egg package and the operation for releasing the state of gripping the other egg package, both the operation for moving the gripping unit and the operation for moving the case or the like in which the accommodation space is formed may be performed.
    [0070] The embodiment disclosed herein is illustrative and non-restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
    [0071] The egg package transfer apparatus according to the embodiment includes the following aspects. (Appended Note 1)
    [0072] An egg package transfer apparatus that grips a plurality of egg packages collected in a temporary waiting region and transfers the gripped egg packages to an accommodation space, the egg package transfer apparatus including: a gripping unit that grips the plurality of egg packages including one egg package and the other egg package collected in the temporary waiting region, and moves the gripped egg packages to the accommodation space; and a releasing unit that releases a gripping state of the egg packages gripped by the gripping unit, wherein until all of the gripped egg packages are accommodated in the accommodation space, the releasing unit releases a state of gripping the one egg package on an upper side of a level difference formed by a further egg package accommodated in the accommodation space, and after releasing the state of gripping the one egg package, releases a state of gripping the other egg package on a lower side of the level difference. (Appended Note 2)
    [0073] The egg package transfer apparatus according to appended note 1, whereinthe gripping unit is a suction member that applies suction to the egg packages from above, the suction member being connected to a vacuum mechanism. (Appended Note 3)
    [0074] The egg package transfer apparatus according to appended note 1 or 2, whereinthe accommodation space is formed by a case, andthe releasing unit releases the state of gripping the one egg package at a position where the one egg package is along one side wall of the case, and releases the state of gripping the other egg package at a position where the other egg package is along the other side wall of the case. INDUSTRIAL APPLICABILITY
    [0075] The present invention can be used for an egg package transfer apparatus that accommodates an egg package containing eggs in an accommodation space. REFERENCE SIGNS LIST
    [0076] 1 egg package transfer apparatus; 3 control unit; 11 gripping unit; 12, 12a, 12b releasing unit; 13 vacuum mechanism; 14 head unit; 15 first suction member; 16 second suction member; 21 temporary waiting region; P, P1, P2, P3, P4 egg package; C case; C1 first side wall; C2 second side wall; S1 upper side; S2 lower side; A accommodation space.
    权利要求:
    Claims (4)
    [0001] An egg package transfer apparatus that transfers a plurality of egg packages collected in a temporary waiting region to an accommodation space, the egg package transfer apparatus comprising:
    a gripping unit that grips the plurality of egg packages including one egg package and the other egg package, and moves the gripped egg packages to the accommodation space; and
    a control unit that controls an operation of the gripping unit, the operation of the gripping unit including an operation for gripping the egg packages, an operation for moving at least one of the accommodation space and the gripped egg packages, and an operation for releasing a state of gripping the egg packages, wherein
    the control unit controls an operation for gripping the plurality of egg packages, releasing a state of gripping the one egg package at a first position inside the accommodation space, and then, moving the gripping unit and releasing a state of gripping the other egg package at a second position different from the first position inside the accommodation space.
    [0002] The egg package transfer apparatus according to claim 1, whereinthe operation of the gripping unit controlled by the control unit includes the operation for releasing the state of gripping the other egg package at the second position, the second position being a height position different from the first position.
    [0003] The egg package transfer apparatus according to claim 1, whereinthe operation of the gripping unit controlled by the control unit includes the operation for releasing the state of gripping the other egg package at the second position, the second position being a position where the other egg package is stacked on the one egg package.
    [0004] The egg package transfer apparatus according to claim 1, whereinthe operation of the gripping unit controlled by the control unit includes an operation for changing an orientation of the gripped egg packages.
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    同族专利:
    公开号 | 公开日
    CN111655583A|2020-09-11|
    JP2021050045A|2021-04-01|
    WO2019159793A1|2019-08-22|
    JPWO2019159793A1|2020-12-03|
    引用文献:
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