Box opening method and equipment for carrying out this opening method

Abstract

The present invention is applied to a box opening method, in which a box is placed at the entrance (12a) of a main conveyor (12), and the box (100) is conveyed by the main conveyor (12) to a cutting station (30), where a cutting device (34) cuts along a cutting path on the upper wall (102) of the box. This cutting path (C) forms a continuous open loop, and the continuous open loop includes a continuous cutting line and at least one first uncut area (x1) so that a cut wall portion (110) connected to the body of the box (100) via at least one first connection portion (112, 114) can be formed. Then, the cut box is conveyed to a discharge station (40)(12), and then, the cut wall portion (110) is grasped by a gripping device (44), the cut wall portion (110) is separated from the body (101) of the box (100) by breaking the first connection portion, and then, the cut wall portion (110) is discharged by the gripping device (44).

Description

Technical Field

[0001] The present disclosure relates to the field of opening boxes, particularly cardboard boxes for packaging. The present invention relates in particular to an automated box opening method and its equipment as found, for example, in a logistics center or a warehouse.

Background Art

[0002] Hitherto, cardboard boxes have been manually opened to remove the transported articles and products. This manual work is time-consuming, sometimes dangerous, and there is also a risk of damaging the products inside the box. Therefore, logistics centers are gradually equipped with equipment for automatically opening boxes.

[0003] In such equipment, an opening method is used in which a cutting tool equipped with a blade performs continuous cutting or pre-cutting on the box.

[0004] European Patent Publication No. 2894017 describes a box opening facility that first tilts the box to be opened. Thereafter, a suction cup presses against the wall of the box, and a blade attached to an articulated arm cuts around the suction cup. After cutting the wall of the box, the suction cup moves so that the wall of the box opens.

[0005] In this equipment, cutting and opening of the box surface are performed simultaneously. This type of mechanism has advantages in terms of size, but it is also a fact that there are still some drawbacks. In particular, since the actuators and mechanical equipment are densely packed in a limited space, maintenance work is complicated and time-consuming.

[0006] Furthermore, in this equipment, it is necessary to tilt the box before proceeding with the cutting. For example, if the box contains fragile products, there is a possibility of breakage.

Summary of the Invention

Problems to be Solved by the Invention

[0007] One object of the present disclosure is to propose a box opening method that eliminates the above-described drawbacks and is much easier to maintain.

Means for Solving the Problems

[0008] This object is achieved by a box opening method, in which equipment including a main conveyor extending in the longitudinal direction and having a moving direction is provided. With respect to the moving direction, this equipment includes a cutting station including a cutting robot having a cutting device with a blade, and a discharge station located downstream of the cutting device, including a gripping robot having a gripping device, in this order, This opening method includes the steps of placing a box at the entrance of the main conveyor, the box having a body closed by an upper wall, and the step of transporting the box to the cutting station by the main conveyor, and the step of cutting along a cutting path on the upper wall of the box by the cutting device, the cutting path forming a continuous open loop, the continuous open loop including at least one first continuous cutting line and at least one first uncut area so that a cut wall portion connected to the body of the box via at least one first connection portion is formed, and then, the step of transporting the cut box to the discharge station by the main conveyor, and then, the step of gripping the cut wall portion by the gripping device, the gripping device moving to separate the cut wall portion from the body of the box by breaking the first connection portion, and then, the step of discharging the cut wall portion by the gripping device and including.

[0009] The cutting step and the discharging step are sequentially performed at two different stations spaced apart from each other in the longitudinal direction. It can be seen that the two stations are located one downstream of the other in the moving direction of the box on the main conveyor. The cut wall portion is held to the remaining portion of the box via the first connection portion during transportation to the discharge station.

[0010] The cutting robot and the gripping robot have a known multi-axis robot arm controlled by a control device.

[0011] In the context of the present disclosure, the upper wall is the wall above the box and is generally horizontal.

[0012] The main conveyor is preferably a roller conveyor. It may also be a belt conveyor, and these types of conveyors are well-known.

[0013] Furthermore, it can be seen that the main conveyor includes a moving device for moving the box in the moving direction.

[0014] According to the present disclosure, the box is preferably made of cardboard or other similar materials. The box is generally in the shape of a parallelepiped.

[0015] The cutting path is preferably recorded in a memory, for example, the memory of a controller or the memory of the control device of the cutting robot.

[0016] Without departing from the scope of the present invention, the cutting device can have a plurality of blades.

[0017] Furthermore, it can be seen that the first connecting portion is composed of the uncut portion of the first uncut region of the upper wall. This first connecting portion serves as a first separable attachment portion for holding the cut wall portion to the remaining portion of the box during conveyance to the discharge station.

[0018] Preferably, the cutting path is generally rectangular in shape, and its edges are substantially parallel to the edges of the upper wall of the box.

[0019] It can be seen that the gripping device grasps and pulls the cut wall portion, breaking one or more attachment portions consisting of the first uncut region and, if applicable, the second uncut region.

[0020] The gripping device preferably has a suction cup connected to a suction device. The suction cup defines a suction zone, and the area of the suction zone can be changed according to the size of the cut wall portion to be grasped and discharged.

[0021] The dimensions of the uncut region are determined so that the cut portion of the wall can be easily separated.

[0022] In a particular embodiment, the length of the first uncut region is 10% or less of the length of the first continuous cutting line. More preferably, the length of the first uncut region is 5% or less of the length of the first continuous cutting line. Even more preferably, the length of the first uncut region is less than 10% of the length of the cutting path. When there is one first uncut region including an open loop, it can be seen that the length of the cutting path is equal to the sum of the length of the first continuous cutting line and the length of the first uncut region. Preferably, the length of the first continuous cutting line is at least 95% of the length of the cutting path.

[0023] In a particular embodiment, the cutting is performed such that the continuous open loop further has a second continuous cutting line and a second uncut region, so that the cut wall portion is connected to the box body via a first connection portion and a second connection portion, and the first continuous cutting line and the second continuous cutting line are separated from each other via the first connection portion and the second connection portion.

[0024] It can be seen that the continuous loop is open in two regions corresponding to the first uncut region and the second uncut region.

[0025] Therefore, in this variant, the cutting path forming the continuous open loop is composed of the first and second continuous cutting lines and the first and second uncut regions. The length of the second uncut region is 10% or less of the length of the second continuous cutting line. More preferably, the length of the second uncut region is 5% or less of the length of the second continuous cutting line.

[0026] In this modification, the length of the cutting path is equal to the sum of the lengths of the first and second continuous cutting lines and the lengths of the first and second uncut regions. The sum of the lengths of the first and second continuous cutting lines is at most 95% of the length of the cutting path.

[0027] The second connecting portion becomes the second separable attachment portion, and it can be seen that the first separable attachment portion and the second separable attachment portion hold the cut wall portion. Due to the presence of the second connecting portion, the cut wall portion is held better and is maintained substantially horizontally before the discharging step.

[0028] Preferably, the first connecting portion and the second connecting portion are provided so as to be located at two opposite edges of the cut wall portion.

[0029] In a particular embodiment, the equipment further includes a measurement station located upstream of the cutting station, the measurement station includes at least one measuring device, in the measurement station, the dimensions of the box are measured by the measuring device, and the cutting path is determined based on the dimensions measured by the measuring device.

[0030] The box is preferably measured along three dimensions of height, length and width. Preferably, the height of the box, and the length and width of the upper wall are measured.

[0031] According to a preferred embodiment, the coordinates of the cutting path are calculated based on the dimensions of the box measured by the measuring device.

[0032] Preferably, the coordinates of the cutting path are calculated by a computer such that the distance between the longitudinal edge and / or the transverse edge of the upper wall to be cut and the cutting path is a predetermined value. This value is input and / or recorded in the computer in advance. This value can be a constant or a percentage of the length measured for one of the edges of the box.

[0033] Preferably, the distance between the cutting path and the longitudinal edge is the same as the distance between the cutting path and the transverse edge of the upper wall. Without departing from the scope of the present invention, by setting different predetermined values for the longitudinal edge and the transverse edge of the box, it would be possible to determine different distances.

[0034] The measuring device preferably includes a laser profiler.

[0035] Preferably, the position of the box is corrected with respect to the horizontal plane before the measuring step. One advantage is not only to improve the accuracy of the measurement, but also to correct the position of the box before transporting it to the cutting station.

[0036] The position correction is performed so that one of the edges of the box is parallel to the moving direction of the main conveyor.

[0037] In a specific embodiment, the position of the box is corrected with respect to the horizontal plane at the cutting station before the step of cutting the upper wall. By this step, the position of cutting the upper wall can be determined better, and the reproducibility of the cutting is ensured.

[0038] In a specific embodiment, the facility also includes a sub-conveyor, and the cut wall portion is discharged onto the sub-conveyor by a gripping device.

[0039] It can be seen that the gripping device separates the cut wall portion and then transports it to the sub-conveyor. The sub-conveyor can be associated with, for example, a container for receiving the cut portion of the box.

[0040] According to a preferred embodiment, between each of the two consecutive cuts of two boxes, an image of the blade is acquired by an image acquisition device attached to the cutting device, and the wear or breakage of the blade is determined based on that image.

[0041] The image acquisition device preferably includes a camera. The image acquisition device is preferably connected to an analyzer configured to determine wear or breakage of the blade based on the image acquired by the image acquisition device. When the blade has a plurality of blade tips, the image acquisition device can also be configured to acquire an image of the blade tip, and wear of each blade tip of the blade is determined. Wear or breakage of the blade and / or the blade tip can be determined by an automated method that performs a step of comparing an image of the blade or its shadow with an image of an unworn blade.

[0042] In an exemplary embodiment, the blade has a first blade tip and a second blade tip opposite the first blade tip. Cutting is first performed using the first blade tip. If the first blade tip is significantly worn and exceeds a predetermined threshold, such as a threshold of the worn blade surface calculated by a computer based on an image of the blade, the cutting device rotates 180° to continue cutting using the second blade tip. By rotating the cutting device 180°, it can be seen that the second blade tip can be brought to the cutting position.

[0043] In a specific exemplary embodiment, the equipment further has a replacement blade storage in a drawer adjacent to the cutting robot, and a worn or broken blade is replaced with a replacement blade when it is broken or when the determined wear is greater than a predetermined threshold.

[0044] The blade storage contains several replacement blades. The blade storage can also store worn blades.

[0045] The drawer is configured such that only the cutting robot can access the replacement blade storage when the drawer is closed, and only the operator can access the storage when the drawer is open, for example, to place a new blade there and remove a worn blade. This advantageous configuration can improve the safety of the operator.

[0046] In certain embodiments, the cutting device has two cutting depths, and thickness data representing the thickness of the upper wall is transmitted to the cutting robot, and the cutting depth is selected based on the thickness data.

[0047] The thickness data is preferably, but not limited to, transmitted to the control device of the cutting robot by a control signal coming from an external control unit of the equipment.

[0048] Without departing from the scope of the present disclosure, the cutting device can also include additional cutting depths to adapt to various wall thicknesses.

[0049] The present disclosure relates to an equipment for performing the method according to the present disclosure, comprising a main conveyor extending in the longitudinal direction and having a moving direction, and in the moving direction, the equipment a cutting station including a cutting robot having a cutting device with a blade, a discharge station located downstream of the cutting station, the discharge station including a gripping robot having a gripping device and having these in this order.

[0050] In certain embodiments, the blade is triangular and has a first cutting edge and a second cutting edge opposite to the first cutting edge.

[0051] In certain embodiments, the equipment according to the present disclosure further has a measurement station located, for example, at the cutting station, and the measurement station has a measuring device for measuring the dimensions of the box.

[0052] The measuring device preferably comprises a laser profilometer capable of measuring the dimensions of the box, i.e., length, width and height. With the profilometer, the length and width of the upper wall of the box can be measured.

[0053] The equipment further includes a computer for calculating the coordinates of the cutting path. As described above, the coordinates of the cutting path are determined by the width and length of the upper wall, and also determined by at least one predetermined value that can fix the distance between the cutting path and the longitudinal edge and the transverse edge of the upper wall.

[0054] According to a specific embodiment, the equipment also includes a secondary conveyor parallel to the main conveyor, and the gripping robot is located between the main conveyor and the secondary conveyor.

[0055] Preferably, the secondary conveyor is provided with an adhesive or non-slip belt made of, for example, PVC, so that the cut wall portion can be prevented from falling off the secondary conveyor.

[0056] Preferably, the secondary conveyor moves in a direction opposite to the moving direction of the main conveyor, but not necessarily so.

[0057] The secondary conveyor can be associated with a conveyor for waste.

[0058] In a specific embodiment, the cutting device has two cutting depths.

[0059] Therefore, the cutting device can be adapted to the thickness of the upper wall to be cut. Preferably, the cutting device has a support member configured to abut against the upper surface of the box to be cut, and the blade is movable relative to the support member to change the cutting depth.

[0060] Preferably, the cutting device includes an image acquisition device for acquiring an image of the blade. More preferably, the equipment is provided with an analysis device for determining the wear of the blade based on the image acquired by the image acquisition device. For example, the acquired image is compared with the image of a new blade, and the damaged or worn part is identified by the comparison. This comparison can be performed, in particular, by a computer judging the worn surface of the worn blade compared with the image of the new blade. A predetermined wear threshold can be determined to judge the time to replace the blade.

[0061] Advantageously, and for safety reasons, the facility according to the present disclosure further comprises a housing in which a cutting station and a gripping station are arranged, and an exchange blade receiving portion which is in a drawer that slides in an opening provided in the housing. It can be seen that it is preferable for a main conveyor to pass through the housing.

[0062] Preferably, the gripping device has a suction member. The suction member defining the suction surface can be individually actuated to adjust the suction area according to the area of the cut portion of the wall to be discharged. The present invention will be more readily understood by reading the following description of one embodiment of the present disclosure, given by way of non-limiting example, with reference to the accompanying drawings.

Brief Description of the Drawings

[0063]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0064] With reference to FIGS. 1 to 10, an apparatus 10 for opening a box, particularly a cardboard box containing articles, will be described, and a box opening method performed by this apparatus will be explained.

[0065] In this example, the box is a cardboard box of a generally parallelepiped shape known in the art and is conventionally used for transporting articles. The apparatus 10 has a function of automatically opening such a box, more precisely, the upper surface 102 of the box. The apparatus 10 receives the box 100 at the inlet and supplies a box with an opening 104 in the upper surface 102 at the outlet.

[0066] The apparatus 10 includes a main conveyor 12, in this example a roller conveyor 14, which extends in the longitudinal direction D and has a moving direction S between the upstream portion 12a and the downstream portion 12b of the main conveyor 12.

[0067] In some of the figures, a reference frame XYZ is shown. The longitudinal direction D is parallel to the X axis, the width of the main conveyor extends along the Y axis, and the Z axis is the vertical direction.

[0068] The rollers 14 of the main conveyor 12 are rotationally driven by known driving means, which are not shown here.

[0069] In the following description, the terms upstream and downstream are considered with reference to the moving direction S.

[0070] Looking at the moving direction S from upstream to downstream, the apparatus 10 according to an exemplary embodiment has a measuring station 20, a cutting station 30, and a discharging station 40 in that order. It can be seen that the box is initially placed upstream of the upstream portion 12a of the main conveyor 12, that is, upstream of the measuring station 20. The opened box exits from the downstream portion 12a of the discharging station 40.

[0071] Furthermore, it can be seen that the measurement station 20 is located upstream of the cutting station 30, and the discharge station 40 is located downstream of the cutting device 30. Referring to FIG. 1, it can be seen that the discharge station is located at a distance along the moving direction S from the cutting station.

[0072] In this exemplary embodiment, the facility 10 includes at least one device 50 for correcting the position of the box on the main conveyor 12. Such a correction device 50 can be arranged at a plurality of locations on the main conveyor, for example, at the cutting station and / or the discharge station.

[0073] The measurement station 20 will be described with reference to FIG. 2. This measurement station 20 includes a measuring device 22 for measuring the dimensions of the box 100, that is, the length and width of the upper wall, as well as the height of the box.

[0074] For this purpose, in this example, the measuring device 22 includes a laser profiler 24 attached to the upper end of the arm 26. The laser beam is schematically shown by line 26, and the gray surface 29 indicates the surface scanned by the laser beam.

[0075] The measuring device 22 is connected to the controller of the facility.

[0076] The cutting station 30 located downstream of the measurement station includes a cutting robot 32 having a cutting device 34 with a blade 35. In this example, the blade 35 is triangular and has a first cutting edge and a second cutting edge opposite to the first cutting edge.

[0077] The cutting robot 32 is, in this example, a multi-axis robot of Fanuc that can move the cutting device 34 in the X, Y, and Z directions in space. The cutting device 34 has two cutting depths in this example to match the thickness of the upper wall 102. It should be specified that in this example, information regarding the thickness of the upper wall is provided to the control device of the facility via, for example, an external signal.

[0078] According to the method of the present disclosure, the box is conveyed to the cutting station 30 by the main conveyor 12. In this example, the position of the box 100 is first corrected using the position correction device 50 shown in FIG. 4.

[0079] The position correction device 50 has a first retractable stopper 52 that extends along the width of the main conveyor 12 and is oriented along the Y-axis. This first stopper 52 serves to stop the box 100 from moving in the moving direction S. Further, the position correction device has an actuator 54 with a plate 56, and this plate can move along the Y-axis so as to press the box 100 against the edge 13 of the main conveyor 12 and extends parallel to the longitudinal direction of the conveyor. It can be seen that the position correction device can align one of the side walls 104 of the box parallel to the X-axis and the second side wall perpendicular to the first side wall 104 parallel to the Y-axis.

[0080] After correcting the position, the upper wall 102 of the box 100 is cut using the cutting device 34 along the cutting path B. Referring to FIG. 5, it should be noted that the cutting path B forms a continuous open loop including a first continuous cutting line LC1 and a second continuous cutting line LC2. The continuous open loop to be cut further includes a first uncut region Z1 and a second uncut region Z2, and the first and second uncut regions Z1, Z2 separate the first and second continuous lines LC1, LC2.

[0081] Looking at FIG. 5, it can be seen that the cutting path B separates the cut wall portion 104 from the remaining part of the body 101 of the box 100. More precisely, the cut wall portion 104 remains connected to the body 101 of the box 100 via a first connection portion 106 formed in the first uncut region Z1 and a second connection portion 108 formed in the second uncut region Z2. The first and second connection portions constitute separable attachment portions that serve to hold the cut wall portion integrally with the remaining part of the box during conveyance from the cutting station to the discharge station.

[0082] It should be noted that the thickness of the cutting path B shown in FIG. 5 is deliberately exaggerated for ease of understanding.

[0083] In this example, the cutting path B is generally rectangular in shape, and the longitudinal and transverse edges shown are substantially parallel to the side walls 104 and 106 of the box. The length of the cutting path B is U and the width is V.

[0084] The cutting path B forms an open loop in this example, consisting of two continuous cutting lines, namely the first continuous cutting line LC1 and the second continuous cutting line LC2, which are separated from each other via the first and second connecting portions 112, 114. In the example of FIG. 5, the first and second connecting portions 112, 114 are located at the transverse edges of the cutting path. As long as it does not deviate from the scope of the present invention, the first and second connecting portions can be provided at other locations as long as they can hold the cut wall portion 110 sufficiently horizontally for easy subsequent discharging operation.

[0085] Furthermore, the sum of the lengths of the first continuous cutting line LC1 and the second continuous cutting line LC2, i.e., 2×(U + V) - d1 - d2, is at least 90% of the length of the cutting path B, i.e., 2×(U + V).

[0086] The length d1 of the first uncut region Z1 is less than 10% of the length of the first continuous cutting line LC1 in this example. Furthermore, the sum of the lengths d1 and d2 of the first uncut region Z1 and the second uncut region Z2 is less than 10% of the sum of the lengths of the first continuous cutting line LC1 and the second continuous cutting line LC2.

[0087] Furthermore, note that the cut wall portion 110 has two longitudinal edges 120a, 120b and two transverse edges 120c, 120d.

[0088] Note that the longitudinal edge 120a of the cutting path is located at a distance a from the longitudinal edge 104 of the upper wall, and the transverse edge 120c of the cutting path is located at a distance b from the transverse edge 106 of the upper wall. The distances a and b are set by the control device of the cutting device. These can be, for example, constant values of about several centimeters, or can be values calculated based on the length L or width l of the box measured at the measurement station.

[0089] It should be specified that if the cutting path is determined based on the dimensions measured by the measuring device by the method according to the present invention, an opening can be formed in the upper wall of the box without previously knowing the dimensions of the box to be cut. In other words, this box opening method is adapted to the dimensions of the boxes entering the facility.

[0090] After the cutting operation, the stopper 52 retracts, and subsequently the box 100 continues to move in the moving direction S on the main conveyor 12 towards the discharge station 40 located downstream of the cutting device, as schematically shown in FIG. 7.

[0091] The discharge station 40 will be described in more detail with reference to FIG. 8.

[0092] The discharge station 40 includes, in this example, a gripping robot 42 similar to a cutting robot, and the gripping robot 42 is provided with a gripping device 44.

[0093] The gripping device 44 has a suction member 46 in the form of a suction cup carried by a frame 48. The frame 48 has a plurality of suction members 46 so as to be able to grip cut wall portions of various sizes.

[0094] According to the present invention, the cut wall portion 110 is gripped by the gripping device 44 by operating the suction member, and the gripping device moves to separate the cut wall portion from the main body 101 of the box 100 by breaking or rupturing the first or second separable attachment portions composed of the first and second connection portions 112, 114.

[0095] Therefore, after gripping the cut wall portion 110, the gripping device 44 moves upward to break the first and second connection portions, and then the cut wall portion 110 is separated from the remaining portion of the box. Next, the cut wall portion 110 is discharged by the gripping device 44 onto the sub-conveyor 60 by the gripping device 44.

[0096] In this example, the sub-conveyor 60 shown in FIG. 9 extends parallel to the longitudinal direction D of the main conveyor 12. The moving direction S' of the sub-conveyor is opposite to the moving direction S of the main conveyor 12. The sub-conveyor is, in this example, a belt conveyor including, for example, an adhesive belt made of PVC in order to prevent the cut wall portion from falling off the sub-conveyor.

[0097] The sub-conveyor 60 can also be associated with a conveyor for waste located downstream of the sub-conveyor S'.

[0098] Furthermore, the gripping robot 42 is located between the main conveyor 12 and the sub-conveyor 60, thereby facilitating the discharge of the cut wall portion while suppressing the lateral size of the equipment.

[0099] According to the present disclosure, the present equipment also includes an image acquisition device 39 for acquiring an image of the blade 35.

[0100] This image acquisition device 39 is located at the cutting station in this example of FIG. 10 and is associated with the backlight device 41. The cutting device is brought between the image acquisition device 39 and the backlight device 41 while acquiring an image of the blade.

[0101] The image acquired by the image acquisition device 39 is transmitted to a damage or wear detection device, and the device includes a computer that compares the image of the blade 35 or its shadow with the profile of a new blade and determines the state of wear or damage of the blade by comparing the shapes. The acquisition of the image of the blade and the analysis of the wear level or the detection of damage are preferably performed between each time of continuously cutting two boxes twice, but it is not necessarily so.

[0102] Therefore, through comparative analysis, the wear level or breakage of the blade 35 can be determined.

[0103] When the wear level of the blade exceeds a predefined threshold, the blade is replaced. The wear level can be, for example, a wear rate corresponding to the ratio of the shape of the worn blade determined by imaging to the shape of a new blade.

[0104] Furthermore, the equipment 10 includes a housing 70 in which at least a cutting station 30 and a discharge station 40 are arranged, and a replacement blade storage unit 72 housed in a drawer slidably attached at an opening 76 provided in the housing 70.

[0105] The storage unit 72 has a replacement blade 78 and a place for storing the worn blade. When the drawer is open as shown in FIG. 6, the operator can place the replacement blade 78 in the drawer and the cutting robot can withdraw the worn blade that has been replaced.

[0106] When the drawer is closed, the replacement blade storage unit is inside the housing, and the cutting device can place the worn blade and grasp a new blade.

[0107] For this purpose, the cutting device has a controlled clamping part that can grasp the blade.

[0108] Preferably, the detection of blade wear or breakage is performed when the cutting device 34 is positioned above the replacement blade storage unit 72. One advantage is that when the breakage or wear detection device detects significant breakage and the blade needs to be replaced with a new one, the blade can be replaced quickly.

[0109] Furthermore, as shown in FIG. 10, the present equipment has a blade presence sensor 37 attached to the cutting head, and its function is to confirm that the replacement blade is in the replacement blade storage unit.

[0110] Detecting that there is a new blade in the accommodating portion is performed by the blade presence sensor 37 when the cutting device 34 is positioned above the replacement blade accommodating portion 72.

Claims

1. A method for opening a box, Equipment (10) including a main conveyor extending in the longitudinal direction and having a moving direction is provided. In the moving direction, the equipment includes: A cutting station (30) including a cutting robot (32) having a cutting device (34) with a blade (35); A discharge station (40) located downstream of the cutting station, the discharge station including a gripping robot (42) having a gripping device (44), in this order; The opening method includes: A step of placing the box at an inlet (12a) of the main conveyor (12), the box having a main body with an upper wall (102); A step of transporting the box (100) to the cutting station (30) by the main conveyor (12); A step of cutting along a cutting path by the cutting device (34) with respect to the upper wall (102) of the box (100), the cutting path (C) forming a continuous open loop, the continuous open loop including at least one first continuous cutting line (LC1) and at least one first uncut region (x1) such that a cut wall portion (110) connected to the main body of the box (100) through at least one first connection portion (112) is formed. Then, A step of transporting the cut box to the discharge station (40) by the main conveyor (12). Then, A step of gripping the cut wall portion (110) by the gripping device (44), and the gripping device moving to separate the cut wall portion (110) from the main body (101) of the box (100) by breaking the first connection portion. Then, A step of discharging the cut wall portion (110) by the gripping device (44) The method including.

2. The method according to claim 1, wherein the length of the first uncut region is 10% or less of the length of the first continuous cutting line (LC1).

3. The method according to claim 1 or 2, wherein the cutting is performed such that the continuous loop further includes a second continuous cutting line (LC2) and a second uncut region (Z2), so that the cut wall portion is connected to the main body of the box via the first connection portion (112) and the second connection portion (114), and the first and second continuous cutting lines (LC1, LC2) are separated from each other via the first and second connection portions (112, 114).

4. The method according to any one of claims 1 to 3, wherein the facility further includes a measurement station located upstream of the cutting station, the measurement station (20) includes at least one measuring device (22), the dimensions (L, l, H) of the box are measured by the measuring device, and the cutting path (C) is determined based on the dimensions measured by the measuring device.

5. The method according to any one of claims 1 to 4, wherein the position of the box (100) in the horizontal plane (P) is corrected before the step of cutting the upper wall.

6. The method according to any one of claims 1 to 5, wherein the facility further includes a sub-conveyor, and the cut wall portion (110) is discharged onto the sub-conveyor (60) by the gripping device.

7. The method according to any one of claims 1 to 6, wherein between each of two consecutive cuts of two boxes, an image of the blade is acquired by an image acquisition device (37) attached to the cutting device (34), and wear or breakage of the blade (35) is determined based on the image.

8. The method according to claim 7, wherein the facility further has an exchange blade storage portion in a drawer adjacent to the cutting robot, and the worn or broken blade is exchanged with an exchange blade when it is broken or when the determined wear is greater than a predetermined threshold.

9. The method according to any one of claims 1 to 8, wherein the cutting device has two cutting depths, thickness data representing the thickness of the upper wall is transmitted to the cutting robot, and the cutting depth is selected based on the thickness data.

10. Equipment (10) for carrying out the method according to any one of claims 1 to 9, comprising a main conveyor (12) extending in the longitudinal direction (D) and having a moving direction (S), and with respect to the moving direction, the equipment A cutting station (30) including a cutting robot (32) having a cutting device (34) with a blade (35), A discharge station (40) located downstream of the cutting device (30), the discharge station including a gripping robot equipped with a gripping device, The equipment having them in this order.

11. The equipment according to claim 10, further comprising a measuring station (20) located at the cutting station (30), the measuring station having a measuring device (22) for measuring the dimensions (L, l, H) of the box (100).

12. The equipment according to claim 10 or 11, further comprising a secondary conveyor (60) parallel to the main conveyor, and the gripping robot (42) is located between the main conveyor (12) and the secondary conveyor (60).

13. The equipment according to any one of claims 10 to 12, wherein the cutting device (34) has two cutting depths.

14. The equipment according to any one of claims 10 to 13, wherein the cutting device (34) includes an image acquisition device (37) for acquiring an image of the blade (35).

15. The equipment according to any one of claims 10 to 14, A housing in which the cutting station (30) and the discharge station (40) are arranged, An equipment further comprising a replacement blade housing part (72) which is contained in a drawer attached so as to slide in an opening provided in the housing.

16. The equipment according to any one of Claims 10 to 15, wherein the gripping device (44) has a suction member (46).

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