Box opening method and opening device

Abstract

To provide a box opening method and an opening device, which are in an inexpensive configuration and enable opening a box accurately and safely.SOLUTION: In a box 1 closed by the application of an adhesive tape 6, the adhesive tape 6 is cut by a blade 5 to open the box. The box opening method includes: a first cutting step of pressing the blade 5 whose blade tip is arc-shaped against the adhesive tape 6 from above in an upright position against an opening surface 15 of the box 1 and moving it in a direction of a facing gap 16 to cut the adhesive tape 6 on the opening surface 15 side; and a second cutting step of, after the first cutting step is executed, advancing the blade 5 into a vertical gap 17 in a lying posture along a surface direction of the opening surface 15, and then moving it in a direction of the facing gap 16 to cut portions of the adhesive tape 6 applied between a front surface 12A and the opening surface 15 of the box 1 and between the opening surface 15 and a rear surface 12B, which are located forward in an advancing direction of the blade 5. This allows the box to be opened accurately and safely with an inexpensive configuration.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method and device for opening a box sealed with adhesive tape. [Background technology]

[0002] Various methods for opening a box sealed with adhesive tape have been proposed (see, for example, Patent Document 1 and Patent Document 2). The box opening device disclosed in Patent Document 1 includes a robot that moves a cutter relative to the box, a control unit that controls the robot, and a 3D camera that measures reflected light from the opening surface of the box from the front and obtains three-dimensional data that represents a point cloud on the surface including the opening surface in three-dimensional coordinates. The control unit includes a position control data generation unit and a cutting control unit, and the position control data generation unit generates position control data that represents the cutting path of the cutter in three-dimensional coordinate values ​​based on the three-dimensional data, and the cutting control unit controls the robot based on the position control data to move the cutter relative to the box along the cutting path, thereby opening the box.

[0003] The device disclosed in Patent Document 2 is a manually operated box opener which consists of a gripping member and a tip member formed from a flat, thick synthetic resin material extended from the tip of the gripping member. The tip member has a tapered section which gradually becomes thinner towards the tip and outward in the width direction, and is configured by covering the outer periphery of the tapered section of the tip member with a thin piece for opening which is formed from a metal material. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-123390 [Patent Document 2] Utility Model Registration No. 3221231 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the box opening device shown in Patent Document 1 acquires three-dimensional data of the opening surface by measuring reflected light from the opening surface with a 3D camera, then generates position control data expressing the cutting path of the cutter in three-dimensional coordinate values ​​based on the three-dimensional data of the opening surface by a control unit, and opens the box by moving the cutter based on this position control data, so although the cutting path of the cutter can be set with high precision, it is necessary to create the three-dimensional data of the opening surface and the position control data of the cutter based on that for each box, which results in a problem that the opening operation takes time. In addition, there is a problem that the device is expensive because it is equipped with equipment and software for creating the three-dimensional data of the opening surface and the position control data of the cutter.

[0006] Furthermore, in the method shown in Patent Document 2, a manual box opening tool is used and the box opening work must be done entirely by hand, which results in problems such as low workability in the opening work, difficulty in handling large volumes, and high opening costs.

[0007] SUMMARY OF THE PRESENT EMBODIMENT The present invention has been made with an object to provide a method and device for opening a box that is inexpensive and capable of opening a box accurately and safely. [Means for solving the problem]

[0008] In the present invention, the following configuration is adopted as a specific means for solving the above problems.

[0009] In a first invention of the present application, a method for opening a box is provided for opening a box that is closed by applying an adhesive tape across an opening surface formed by folding a pair of left and right flaps on the top surface of the box toward the center to face each other with a predetermined gap therebetween, and a front surface of the box located near one end of the opening surface to a rear surface located near the other end of the opening surface, the method comprising the steps of: cutting and opening the adhesive tape with a blade body made of a thin metal plate attached to the tip of a robot arm and having a blade tip formed in an arc shape; pressing the blade body against the adhesive tape on the opening surface side from above in a position where it is stood approximately perpendicular to the opening surface, and cutting the tape in the gap direction; and a second cutting step is performed in which, after the first cutting step is performed, the blade body is laid down along the surface direction of the opening surface, the blade body presses down one side of the pair of flaps to enter the vertical gap formed between the flap and the other flap, and the blade body is then moved in the direction of the opposing gap to cut portions of the adhesive tape attached between the front surface of the box and the opening surface and between the opening surface and the rear surface, which are located forward in the direction of the blade body's entry.

[0010] The second invention of the present application is characterized in that, in the method for opening a box according to the first invention, after the second cutting step is performed, a third cutting step is performed in which the blade body is inserted into the vertical gap in a direction opposite to the direction of insertion of the blade body in the second cutting step, to cut the portions of the adhesive tape attached between the front surface and the opening surface of the box and between the opening surface and the rear surface, which are located forward in the insertion direction.

[0011] In a third invention of the present application, a method for opening a box includes a step of: attaching a first adhesive tape to a portion of an opening surface, which is formed by folding a pair of left and right flaps on the upper surface of a box toward the center and opposing each other with a predetermined opposing gap, to a portion of the opening surface that corresponds to the opposing gap; and attaching a second adhesive tape between a front end of the opening surface and the front surface of the box, and between a rear end of the opening surface and the rear surface of the box, to cut and open the first and second adhesive tapes using a blade body made of a thin metal plate attached to the tip of a robot arm and having a blade tip formed in an arc shape, the method including a first cutting step of pressing the blade body against the adhesive tape on the opening surface side from above in an attitude of standing approximately vertically to the opening surface and moving it in the direction of the opposing gap to cut the first adhesive tape; and, after the first cutting step, moving the blade body against the opening surface. a second cutting step in which the blade body is used to press down one side of the pair of flaps in a position where the flap is laid down along the surface direction of the opening surface, to cause the blade body to enter into a vertical gap formed between the flap and the other flap, and then moved in the opposing gap direction toward one end side of the opening surface, and then moved forward in the blade body's entry direction to cut a portion of the second adhesive tape located forward in the blade body's entry direction; and a third cutting step in which, after the second cutting step is performed, the blade body is caused to enter the vertical gap from a direction opposite to the blade body's entry direction in the second cutting step, and then moved in the opposing gap direction toward the other end side of the opening surface, and then moved forward in the blade body's entry direction to cut a portion of the second adhesive tape located forward in the blade body's entry direction.

[0012] The fifth invention of the present application provides a box opening device that cuts the adhesive tape of a box that is closed by folding a pair of left and right flaps on the top surface toward the center and fixing them facing each other with adhesive tape to open the box, and is characterized by comprising a positioning mechanism that positions and installs the box on a workbench, a detection unit that detects the length, width and height of the box and outputs the detection data, a robot device having a blade made of a thin metal plate and having a blade tip shaped into an arc attached to a head unit at the tip of a robot arm, a drive unit that drives the robot device, and a control unit that controls the relative position of the blade with respect to the box based on the detection data output by the detection unit. Effect of the Invention

[0013] The box opening method and device according to the present invention provide the following advantages.

[0014] (a) The blade body is made of a thin metal plate and the blade tip is shaped like an arc and is not sharp. Therefore, when the blade body is used to cut the sealing adhesive tape to open a box, the contents of the box will not be damaged by the blade body, and a highly reliable opening operation can be achieved.

[0015] (b) The blade is a thin metal plate fixed to the tip of the robot arm, and is not an ultrasonic vibration type or rotary blade. This prevents the generation of adhesive tape and cutting chips (dust) from the box during the opening process, making the opening process environmentally friendly.

[0016] (c) The blade is a thin metal plate that bends moderately, so that when the blade is lowered and pressed onto the adhesive tape at approximately the center of the opening surface of the box, the blade bends and the tip of the blade slides to the left-right center of the opening surface of the box, where the repulsive force is the lowest and the tip of the blade is most likely to fall. Therefore, even if the position where the blade is lowered is slightly off from the left-right center of the opening surface of the box, the tip of the blade can be accurately thrust into that position (see FIG. 6(b)). As a result, if only the information on the length, width, and height of the box is sufficient as the minimum information for lowering the blade to approximately the center of the opening surface of the box, the tip of the blade can be accurately thrust into the left-right center of the opening surface of the box (and approximately the center in the front-back direction), so that defective opening of the box due to incorrect cutting of the adhesive tape can be reduced, and a highly reliable opening operation can be achieved.

[0017] (d) In order to determine the cutting path of the blade when cutting the adhesive tape to open the box, only the length, width, and height of the box is required, so there is no need to have special equipment or software for setting the cutting path of the blade, making it possible to make the opening device inexpensive.

[0018] (e) Because the cutting edge of the blade is arc-shaped, the front and rear flaps of the box can be pushed aside when opening the box, without being cut off (see Figure 7). This minimizes damage to the box when opening the box, which is convenient when reusing the box. [Brief description of the drawings]

[0019] [Figure 1] 1 is an overall system diagram of a box opening device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a structural diagram of the box shown in FIG. 1. [Diagram 3] FIG. [Figure 4] FIG. 4 is a side view showing flexibility of the blade body. [Diagram 5] FIG. 11 is an explanatory diagram of a first cutting step. [Figure 6] 6 is a cross-sectional view of FIG. 5 taken along line B-B. [Figure 7] 5C is a cross-sectional view taken along line CC of FIG. [Figure 8] FIG. 11 is an explanatory diagram of a second cutting step. [Figure 9] FIG. 9 is an explanatory diagram of the blade insertion operation in FIG. 8. [Figure 10] FIG. 11 is an explanatory diagram of a third cutting step. [Figure 11] FIG. 11 is an overall system diagram of a box opening device according to a second embodiment of the present invention. [Figure 12] FIG. 11 is an explanatory diagram of a first cutting step. [Figure 13] 13 is an explanatory diagram of a second cutting step. [Figure 14] FIG. 11 is an explanatory diagram of a third cutting step. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] "First embodiment" 1 shows a box opening device Z according to a first embodiment of the present invention. This opening device Z opens a closed box 1 such as a cardboard box placed and fixed on a workbench 10 by a positioning mechanism 8, and is configured with a robot device 2. A blade 5 is attached to a head 4 at the tip of a robot arm 3 of the robot device 2, for cutting an adhesive tape 6 such as craft tape affixed to the box 1.

[0021] In addition, the robot device 2 is provided with a drive unit (not shown) for driving the robot arm 3, a detection unit (not shown) for detecting the length, width and height of the box 1, and a control unit (not shown) for changing and controlling the relative position of the blade with respect to the box based on the detection data output by the detection unit.

[0022] Here, as shown in FIG. 2, the box 1 is a rectangular cardboard housing having opposing sides 11A, 11B on the long side, a front side 12A and a rear side 12B on the short side, a pair of flaps 13, 13 respectively continuing to the upper ends of the side faces 11A, 11B, and a pair of flaps 14, 14 respectively continuing to the upper ends of the front side 12A and rear side 12B.

[0023] Then, the box 1 is closed by folding the pair of flaps 14, 14 inward, and then folding the pair of flaps 13, 13 down so as to press the flaps 14, 14 from above. In this case, the flaps 13, 13 form a substantially same plane with a predetermined width of opposing gap 16 formed therebetween, and this plane portion is defined as the opening surface 15.

[0024] With the opening surface 15 formed by the flaps 13, 13, the box 1 is closed by applying an adhesive tape 6 across from the front surface 12A through the portion of the opening surface 15 where the opposing gap 16 is formed to the rear surface 12B (see FIG. 1). Therefore, in order to open the box 1 in this closed state, it is necessary to cut the adhesive tape 6 at both end portions of the opening surface 15 and at the portions corresponding to the opposing gap 16, and the blade 5 is used to cut the adhesive tape 6.

[0025] As shown in Fig. 3, the blade body 5 is integrally formed from a thin metal plate, and the cutting edge 5a is formed into an arc shape. Since the blade body 5 is a thin metal plate, it has high flexibility and can bend in the thickness direction, as shown in Fig. 4. For example, when the metal constituting the blade body 5 is stainless steel, the thickness of the blade body 5 is desirably 0.25 to 0.5 mm in order to provide sufficient flexibility and durability.

[0026] Next, the opening operation of the box 1 will be described. The opening operation of this box 1 is carried out by a first cutting step, a second cutting step, and a third cutting step, as described below.

[0027] "First cutting step" The first cutting step is a step of cutting the adhesive tape 6 sealing the box 1 with the blade 5 as shown in Fig. 5, in which the blade 5 is held upright facing downward as shown by the solid line, and the blade tip is pressed against the longitudinal center portion of the adhesive tape 6 to press it. In this case, this pressed portion is pressed downward because it has the lowest rigidity. Accordingly, the pair of flaps 13, 13 also incline in a valley shape from the side toward the facing gap 16 as shown in Fig. 6.

[0028] Here, if the cutting edge of the blade body 5 is located directly above the facing gap 16 as shown in Fig. 6(a), the blade body 5 cuts the adhesive tape 6 and protrudes downward. Therefore, by moving the blade body 5 in this state along the facing gap 16 from pa1 to pa2, approximately half of the adhesive tape 6 is cut. Subsequently, by moving the blade body 5 from pa3 to pa4, the remaining half of the adhesive tape 6 is cut.

[0029] 6(b), when the position of the blade tip 5a of the blade body 5 is shifted laterally from the position directly above the gap 16, when the blade body 5 is pressed toward the adhesive tape 6, the blade tip 5a is flexibly deformed as shown by the dashed line 5a1, and at the same time, moves toward the gap 16 along the inclination of the adhesive tape 6, and enters the gap 16 as shown by the dashed line 5a2 to cut the adhesive tape 6. That is, by using the blade body 5 of this embodiment, even if the center of the blade body 5 is slightly shifted from the gap 16, the adhesive tape 6 can be reliably cut at a position corresponding to the gap 16.

[0030] As a result, the minimum amount of information required to lower the blade 5 to approximately the center of the opening surface 15 of the box 1, namely the length, width and height of the box 1, is sufficient to allow the blade tip to be accurately thrust into the left-right center (and approximately the center in the front-to-back direction) of the opening surface 15 of the box 1, thereby reducing failure to open the box 1 due to incorrect cutting of the adhesive tape 6, and ultimately achieving a highly reliable opening operation.

[0031] In addition, in this first cutting step, when the blade 5 is moved to the vicinity of the end of the opening surface 15, as shown in Fig. 7, the flap 14 located below the opening surface 15 composed of the side wall flap 13 comes into contact with the blade 5 and pushes it down, but in this case, since the cutting edge of the blade 5 is arc-shaped and is a thin plate with no sharp point, the end wall flap 14 is not damaged by the blade 5. Therefore, it is convenient when reusing the box 1.

[0032] "Second cutting step" The second cutting step is a step of cutting the ends of the adhesive tape 6 between one end of the opening surface 15 and the front surface 12A, and between the other end of the opening surface 15 and the rear surface 12B, respectively.

[0033] Specifically, as shown in FIG. 8, with the blade body 5 laid nearly horizontally, the blade body 5 is pressed from above against one side of the flaps 13, 13 that were cut and separated in the first cutting step (see FIG. 9(a)), forming a vertical gap 17 that opens vertically between the flaps 13, 13 (see FIG. 9(b)), and the blade body 5 is inserted into this vertical gap 17 (see FIG. 9(c)).

[0034] Next, as shown in FIG. 8, the blade body 5 is moved in the order of pb1→pb2→pb3, pb4→pb5→pb6 to cut both ends of the adhesive tape 6 at positions forward in the direction in which the blade body 5 advances.

[0035] Therefore, at the time of completion of this second cutting step, of both ends of the adhesive tape 6, the portions on the front side in the direction of entry of the blade body 5 remain uncut. However, if only this much of the adhesive tape 6 remains, it is possible for a person to manually pull it open and cut it. Therefore, the next third cutting step does not necessarily have to be performed.

[0036] "Third cutting step" The third cutting step is a step of cutting the uncut portion of the adhesive tape 6 remaining after the execution of the second cutting step, and as shown in Fig. 10, the blade body 5 is inserted into the vertical gap 17 from a direction opposite to the insertion direction of the blade body 5 in the second cutting step. Then, the blade body 5 is moved from pc1 to pc2 to pc3, and further from pc4 to pc5 to pc6, thereby completing the cutting of the remaining portion of the adhesive tape 6.

[0037] By carrying out this third cutting step, the adhesive tape 6 is cut in all its portions, the flaps 13, 13 are released from their restraints, and the box 1 is opened.

[0038] Second Embodiment 11 shows a box opening device Z according to a second embodiment of the present invention. The basic configuration of this opening device Z is the same as that of the first embodiment, so the relevant parts of the first embodiment are used and the description here is omitted. In the following, only the actual opening operation of the box 1 will be described.

[0039] In the second embodiment, the box 1 to be opened is as shown in Fig. 11. That is, in this box 1, a first adhesive tape 6 is attached to a portion of the opening surface 15 corresponding to the opposing gap 16, a second adhesive tape 7 is attached to one end of the opening surface 15 and the front surface 12A along the entire length of the edge of the opening surface 15, and a second adhesive tape 7 is attached to the other end of the opening surface 15 and the rear surface 12B along the entire length of the edge of the opening surface 15, and the box 1 is sealed by the first adhesive tape 6 and the second adhesive tapes 7, 7 attached in a substantially H-shape.

[0040] Therefore, in order to open this box 1, it is necessary to cut all of the adhesive tapes 6, 7, 7, which in this embodiment is achieved by the first cutting step, second cutting step, and third cutting step described below.

[0041] "First cutting step" As shown in Fig. 12, the first cutting step is a step of cutting the first adhesive tape 6 attached to the opening surface 15 of the box 1 over its entire length by the blade body 5, in which the blade body 5 is held upright facing downward and the blade tip 5a is pressed against the longitudinal center portion of the adhesive tape 6 to press it. In this case, this pressed portion is pressed downward because it has the lowest rigidity. Accordingly, the pair of flaps 13, 13 also incline in a valley shape from the side toward the opposing gap 16 (see Fig. 6). It should be noted that, by inclining the pair of flaps 13, 13 in a valley shape from the side toward the opposing gap 16 in this way, even if the blade body 5 and the opposing gap 16 are slightly misaligned, the blade body 5 can be precisely inserted into the opposing gap 16 by the bending of the blade body 5 to cut the adhesive tape 6.

[0042] In this state, the blade 5 is moved from pd1 to pd2 toward one end of the opening surface 15, and then moved from pd3 to pf4 toward the other end of the opening surface 15, thereby cutting the first adhesive tape 6 along its entire length.

[0043] "Second cutting step" The second cutting step is a step of cutting the front portions of the second adhesive tapes 7, 7 attached to both ends of the opening surface 15 in the direction in which the blade body 5 advances.

[0044] Specifically, as shown in Figure 13, with the blade body 5 laid nearly horizontally, the blade body 5 is pressed from above against one side of the flaps 13, 13 that were cut and separated in the first cutting step (see Figure 9(a)), forming a vertical gap 17 that opens vertically between the flaps 13, 13 (see Figure 9(b)), and the blade body 5 is inserted into this vertical gap 17 (see Figure 9(c)).

[0045] Next, the blade body 5 is moved from pe1 to pe2 to pe3 to cut approximately half of the second adhesive tape 7 on the front surface 12A side. Furthermore, the blade body 5 is moved from pe4 to pe5 to pe6 to cut approximately half of the second adhesive tape 7 on the rear surface 12B side. Thus, approximately half of each of the second adhesive tapes 7, 7 is cut.

[0046] Here, when the blade body 5 is moved from pe2 to pe3, it is desirable to rotate the direction of the cutting edge 5a by approximately 90 degrees from the direction in which it was inserted into the vertical gap 17 to the direction facing the front surface 12A of the box 1. Also, when the blade body 5 is moved from pe5 to pe6, it is desirable to rotate the direction of the cutting edge 5a by approximately 90 degrees from the direction in which it was inserted into the vertical gap 17 to the direction facing the rear surface 12B of the box 1.

[0047] "Third cutting step" The third cutting step is to cut the remaining half of each of the second adhesive tapes 7, 7. That is, as shown in Fig. 14, the blade body 5 is inserted into the vertical gap 17 from the opposite direction to the direction of entry of the blade body 5 in the second cutting step. Then, the blade body 5 is moved from pf1 to pf2 to pf3 to cut the remaining portion of the second adhesive tape 7 on the front surface 12A side. Furthermore, the blade body 5 is moved from pf4 to pf5 to pf6 to cut the remaining portion of the second adhesive tape 7 on the rear surface 12B side.

[0048] Here, when the blade body 5 is moved from pf2 to pf3, it is desirable to rotate the direction of the cutting edge 5a by approximately 90 degrees from the direction in which it was inserted into the vertical gap 17 to the direction facing the front surface 12A of the box 1. Also, when the blade body 5 is moved from pf5 to pf6, it is desirable to rotate the direction of the cutting edge 5a by approximately 90 degrees from the direction in which it was inserted into the vertical gap 17 to the direction facing the rear surface 12B of the box 1.

[0049] By carrying out this third cutting step, the first adhesive tape 6 and the two second adhesive tapes 7 are all cut, the flaps 13, 13 are released from their restraints, and the box 1 is opened. [Industrial Applicability]

[0050] The box opening method and device according to the present invention are widely used in the field of product distribution. [Explanation of symbols]

[0051] 1 · box 2. Robot device 3. Robot Arm 4 Head section 5 ·Blade body 6. Adhesive tape 7. Adhesive tape 8 Positioning mechanism 10. Work table 11. Side 12A...Front 12B...Rear side 13. Flap 14··Flap 15...Opening side 16...Opposing gap 17 Vertical gap Z...Opening device

Claims

1. A method for opening a box, which has an opening surface formed by folding a pair of left and right flaps on the top surface of the box toward the center to face each other with a predetermined gap between them, and which is closed by applying an adhesive tape across a portion extending from a front surface of the box located near one end of the opening surface to a rear surface of the box located near the other end of the opening surface, comprises cutting the adhesive tape with a blade made of a thin metal plate attached to the tip of a robot arm and having an arc-shaped cutting edge, a first cutting step of pressing the blade against the adhesive tape on the opening surface side from above while standing the blade in a position substantially perpendicular to the opening surface and moving the blade in the direction of the gap to cut the adhesive tape on the opening surface side along the gap; a second cutting step is performed in which, after the first cutting step, the blade body is laid down along the surface direction of the opening surface, the blade body presses down on one side of the pair of flaps to enter the vertical gap formed between the flap and the other flap, and then the blade body is moved in the direction of the opposing gap to cut the portions of the adhesive tape attached between the front surface of the box and the opening surface, and between the opening surface and the rear surface, that are located forward in the direction of the blade body's entry.

2. The method for opening a box according to claim 1, a third cutting step is carried out after the second cutting step, in which the blade body is inserted into the vertical gap in a direction opposite to the direction of insertion of the blade body in the second cutting step, to cut the portions of the adhesive tape attached between the front surface and the opening surface of the box, and between the opening surface and the rear surface, that are located forward in the insertion direction.

3. A method for opening a box, which comprises: folding a pair of left and right flaps on the top surface of a box toward the center to face each other with a predetermined gap therebetween; attaching a first adhesive tape to a portion of an opening surface corresponding to the gap; and attaching a second adhesive tape between a front end of the opening surface and a front surface of the box, and between a rear end of the opening surface and a rear surface of the box, and cutting the first and second adhesive tapes with a blade made of a thin metal plate attached to a tip of a robot arm to open the box, a first cutting step of cutting the first adhesive tape by pressing the blade against the adhesive tape on the opening surface side from above while standing the blade in a direction substantially perpendicular to the opening surface and moving the blade in the opposing gap direction; a second cutting step in which, after the first cutting step is performed, the blade body is laid down along the surface direction of the opening surface, and the blade body is used to press down one side of the pair of flaps to enter a vertical gap formed between the flap and the other flap, and the blade body is moved in the opposing gap direction toward one end side of the opening surface, and then moved forward in the blade body's entry direction to cut a portion of the second adhesive tape located forward in the blade body's entry direction; a third cutting step is carried out in which, after the second cutting step is performed, the blade body is inserted into the vertical gap from a direction opposite to the blade body's insertion direction in the second cutting step, moved in the opposing gap direction toward the other end of the opening surface, and then moved forward in the blade body's insertion direction to cut the portion of the second adhesive tape located forward in the blade body's insertion direction.

4. A box opening device for opening a box that is closed by folding a pair of left and right flaps on an upper surface side toward the center and fixing them together with an adhesive tape in an opposing state, by cutting the adhesive tape of the box, a robot device having a blade made of a thin metal plate and having an arc-shaped cutting edge attached to a head portion at the tip of a robot arm; a drive portion for driving the robot device; and a control portion for controlling the relative position of the blade with respect to the box based on the detection data output by the detection portion.

Images