Unpacking system and unpacking method

Abstract

We provide an unpacking system that allows you to open a box using your hand. [Solution] The unpacking system unpacks a box 11 having a pair of opposing first surfaces 41, a pair of opposing second surfaces 42 intersecting the first surfaces 41, and a pair of opposing third surfaces 43 intersecting the first surfaces 41 and the second surfaces 42, where an inner flap is folded from the second surfaces 42 to the first surfaces 41 and an outer flap 50 is folded from the third surfaces 43. The unpacking system comprises a hand 21 for gripping the third surfaces 43 of the box 11, a moving mechanism for moving the hand 21, and a suction device 14 capable of suctioning the box 11. The moving mechanism moves the hand 21 gripping the box 11 to suction the outer flap 50 of the first surfaces 41 to the suction device 14, and the hand 21 rotates the box 11 in a direction that moves the first surfaces 41 away from the suction device 14 around the folded portion 49 of the outer flap 50 from the third surfaces 43, thereby opening the outer flap 50.

Description

Technical Field

[0001] The present invention relates to an unpacking system and an unpacking method for unpacking boxes.

Background Art

[0002] Conventionally, for example, an unpacking device described in Patent Document 1 below is known. In this unpacking device, one side of a box is cut by a cutter arranged on the hand of a robot, a part of the cut side of the box is removed and opened by a suction part arranged on the hand, and the box is gripped by the hand and converted to a posture with the open side of the box facing downward to take out the contents stored in the box.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above unpacking device, the box is cut and unpacked by a cutter arranged on the hand, but there may be cases where it is necessary to unpack the box without cutting the box.

[0005] The problem to be solved by the present invention is to provide an unpacking system and an unpacking method that can unpack a box using a hand.

Means for Solving the Problems

[0006] The present invention relates to an unpacking system for unpacking a box having a pair of opposing first surfaces, a pair of opposing second surfaces intersecting the first surfaces, and a pair of opposing third surfaces intersecting the first and second surfaces, wherein an inner flap is folded from the second surfaces to the first surface and an outer flap is folded from the third surface to the first surface, and the system comprises a hand for gripping the second or third surface of the box, a moving mechanism for moving the hand, and a suction device capable of adsorbing the box, wherein the moving mechanism moves the hand gripping the box to adsorb the outer flap of the first surface to the suction device, and the box gripped by the hand is rotated in a direction that moves the first surface away from the suction device around the folded portion of the outer flap from the third surface to release the outer flap. [Effects of the Invention]

[0007] According to the present invention, the box can be opened using a hand. [Brief explanation of the drawing]

[0008] [Figure 1] This shows an unpacking system illustrating one embodiment of the present invention, where (a) is a side view, (b) is a top view, and (c) is a top view of the hand. [Figure 2] The image shows a box to be opened using the same unpacking system, with (a) being a perspective view of the box in its sealed state and (b) being a perspective view of the box with the first side open. [Figure 3] Figures (a) and (b) illustrate the opening operation of the outer flap of the box by the same unpacking system. [Figure 4] Figures (a) and (b) illustrate the opening operation of the second side of the box using the same unpacking system. [Figure 5] Figures (a) and (b) illustrate the differences in the opening operation of the box due to the difference in the center of rotation for opening the second side of the box using the same unpacking system. [Figure 6] This is an explanatory diagram showing steps 1 to 8 of the box unpacking method using the same unpacking system. [Figure 7] This is an explanatory diagram showing steps 9 to 14 of the unpacking method, following Figure 6 above. [Modes for carrying out the invention]

[0009] Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

[0010] Figure 1 shows the unpacking system 10. The unpacking system 10 unpacks a box 11, which is a sealed storage material containing contents, and removes the contents from inside the box 11. The unpacking system 10 includes a transport device 12 that transports the box 11 to a predetermined position, a robot device 13 which is the main body of the unpacking device that grips and moves the box 11 that has been transported to the predetermined position by the transport device 12, unpacks the box 11, and removes the contents, and a suction device 14 that unpacks the box 11 in cooperation with the robot device 13. The transport device 12, the robot device 13, and the suction device 14 are each installed on a mounting surface such as the floor. The unpacking system 10 also includes a contents conveyor 15 (see Figure 7) for transporting the contents removed from the box 11 by the robot device 13, and an empty box conveyor (not shown) for transporting the empty box 11 from which the contents have been removed.

[0011] The robot device 13 comprises a moving mechanism 20 and a hand 21 that is moved by the moving mechanism 20.

[0012] The mobile mechanism 20 is, for example, a multi-joint robot. The mobile mechanism 20 comprises a base 22 and a multi-joint robot arm 23 that is rotatably mounted on the base 22. The robot arm 23 has multiple rotatable axes and a hand attachment part 24 on its tip end for attaching the hand 21. The mobile mechanism 20 allows the hand 21 to be moved to any position within the range of movement of the robot arm 23, and can be moved in any direction and orientation in the horizontal, vertical, and rotational directions. The mobile mechanism 20 is installed so that the transport device 12 and the suction device 14 are positioned within the range of movement of the hand 21. Note that the mobile mechanism 20 is not limited to a multi-joint robot, but may also be an orthogonal mobile mechanism composed of, for example, three orthogonal sliding axes.

[0013] The hand 21 comprises a base 25 attached to the hand mounting portion 24 of the robot arm 23, a pair of palm-like gripping portions 26 provided on the base 25, and suction pads 27 disposed on the opposing inner surfaces at the tip ends of the pair of gripping portions 26. Of the pair of gripping portions 26, at least one gripping portion 26 is movable toward and away from the other gripping portion 26, and is open and closed. The hand 21 grips the side surface (third surface 43) of the box 11 with the pair of gripping portions 26 and holds the side surface of the box 11 by suction with the suction pads 27.

[0014] The hand 21 is switchable between a first gripping position that provides a gripping force to grasp the contents inside the box 11 from the outside, and a second gripping position in which the distance between the pair of gripping parts 26 is wider than in the first gripping position, allowing the contents to be released from inside the box 11 by their own weight while still gripping the box 11. When moving the box 11 gripped by the hand 21 using the moving mechanism 20, the hand 21 grips the box 11 in the first gripping position, and when releasing the contents from the box 11, the moving mechanism 20 switches from the first gripping position to the second gripping position with the open side of the box 11 facing downwards to release the contents. In addition, the contents can be released downwards while the box 11 is being sucked in by operating only the suction pad 27.

[0015] The suction device 14 comprises a suction base 30 and a plurality of suction pads 31 arranged on the upper surface of the suction base 30. The suction base 30 is rectangular in shape when viewed from above, and an opening 33 is provided along the longitudinal direction on the suction base surface 32 of the upper surface of the suction base 30. A plurality of suction pads 31, which serve as suction members, are arranged along the longitudinal direction of this opening 33. A substantially right-angle corner portion 34, which serves as a bending fulcrum, is provided at the end of the upper surface of the suction base 30 in the short direction that intersects with the arrangement direction of the plurality of suction pads 31. The distance between the corner portion 34 and the center of the suction pad 31 is shorter than the height dimension (short-direction dimension) of the second surface 42 of the box 11, which will be described later. A rubber sheet, for example, may be attached to the suction base surface 32. The suction base surface 32 is positioned outside the suction pads 31 and functions as a contact member that abuts the box 11 on the outside of the suction pads 31 when the box 11 is suctioned, and the contact member has a corner portion 34 at its outer end.

[0016] Figure 2 shows a box 11. Box 11 is, for example, a cardboard box, and is sealed with contents 40 inside. Box 11 is rectangular in shape and has a pair of opposing first faces 41 which are the top and bottom faces, a pair of opposing second faces 42 which are the width faces intersecting the first faces 41, and a pair of opposing third faces 43 which are the length faces intersecting the first faces 41 and the second faces 42. Box 11 may also be cubic in shape.

[0017] The second surface 42 and the third surface 43 are folded together via a crease 44, separating them at one point. The inner surface of the second surface 42 is bonded and fixed to a joint 45 folded inward from the third surface 43 by adhesive 46, so that the pair of second surfaces 42 and the pair of third surfaces 43 are assembled into a rectangular frame.

[0018] The inner flap 48, which is the first flap, is bent to each first surface 41 through the bending portion 47 which is the crease (score) at the upper and lower ends of the second surface 42. The outer flap 50, which is the second flap, is bent onto the inner flap 48 of each first surface 41 through the bending portion 49 which is the crease (score) at the upper and lower ends of the third surface 43. The adhesive portion 51 where the inner flap 48 and the outer flap 50 overlap is adhered by the adhesive 46, whereby the box 11 is assembled into a sealed state.

[0019] In other words, the box 11 has a hollow cylindrical side portion formed by a pair of second surfaces 42 and a pair of third surfaces 43. One first surface 41 as the bottom is formed at the opening at one end of this side portion, and the other first surface 41 as the lid is formed at the opening at the other end of this side portion, thereby constituting a hollow box body. Further, at least the lid portion is connected to a part (second surface 42) of the other end of the side portion and is bent inside the box 11 to form an inner flap 48, and is connected to the other part (third surface 43) of the other end of the side portion and is bent inside the box 11 and overlapped on the outer surface of the inner flap 48 to form an outer flap 50. Thus, the box 11 has a hollow cylindrical side portion with the bottom and the lid formed at the openings at both ends thereof, and at least the lid portion includes the inner flap 48 and the outer flap 50.

[0020] The box 11 is conveyed to a predetermined position by the conveying device 12 with the first surface 41 on the upper surface side facing upward and one of the second surfaces 42 which is the width surface facing in the conveying direction, and the third surfaces 43 on both sides which are the length surfaces are gripped by the hands 21. [[ID=P10]]

[0021] Note that the box 11 may be in a box form in which the outer flap 50 is provided only on one of the third surfaces 43 and covers the entire first surface 41 with this outer flap 50.

[0022] [[ID=P15]] Figure 3 shows the operation of opening the outer flap 50 of a box 11 using a suction device 14 by a robotic device 13. As shown in Figure 3(a), the first surface 41 of the box 11, which is grasped by the hand 21, is turned downwards, and one outer flap 50 is placed on the upper surface of the suction base 30, and the suction pad 31 is used to suction the one outer flap 50. At this time, the width direction along the folded portion 49 of one outer flap 50 is aligned with the direction in which the multiple suction pads 31 on the suction base 30 are arranged, so that the entire width of one outer flap 50 is suctioned by the multiple suction pads 31, and the adhesive portion 51 of one outer flap 50 is positioned at the location of the suction pad 31. Next, as shown in Figure 3(b), the hand 21 is rotated around the bent portion 49 of one of the outer flaps 50 in a direction that separates the first surface 41 of the box 11 from the suction base 30 (clockwise direction in Figure 3), thereby releasing the adhesive 46 between one of the outer flaps 50 and the inner flap 48 and opening one of the outer flaps 50. Releasing the adhesive 46 between the outer flaps 50 and the inner flap 48 includes cases where the adhesive 46 is peeled off, and cases where the adhesive 46 is not peeled off but the surface of the adhesive outer flap 50 or inner flap 48 breaks and peels off. The suction force of the outer flap 50 by the suction pad 31 is greater than the breaking strength of any of the adhesive 46, inner flap 48, or outer flap 50. The other outer flap 50 is then opened in the same manner. Furthermore, rotation in the direction that separates the first surface 41 of the box 11 from the suction base 30 (clockwise direction in Figure 3) is also the direction that separates the inner flap 48 from the outer flap 50 while the outer flap 50 is attached.

[0023] Figure 4 shows the operation of opening the second surface 42 of the box 11 using the suction device 14 by the robotic device 13. When the contents 40 are tightly packed inside the box 11, simply releasing the adhesive fixing between the inner flap 48 and the outer flap 50 of the box 11 and opening it, and turning the opened first surface 41 downwards, may not allow the contents 40, which are trapped between the pair of second surfaces 42 and the pair of third surfaces 43, to fall out under their own weight and be removed. Therefore, by opening the second surface 42 at the same time as opening the outer flap 50 of the box 11, the pinching around the contents 40 is weakened, making it easier to remove. In this case, if the entire second surface 42 is opened, there is a risk that the contents 40 will fly out or fall out from the opened second surface 42, so it may be better to open only a part of the second surface 42 on the side of the opened first surface 41 and leave a part of it closed.

[0024] As shown in Figure 4(a), the second surface 42 of the box 11, which is grasped by the hand 21, is turned downwards, and the second surface 42 is placed on the upper surface of the suction base 30, and the second surface 42 is adsorbed by the suction pad 31. At this time, the width direction along the bent portion 47 of the second surface 42 is aligned with the direction in which the multiple suction pads 31 of the suction base 30 are arranged, so that the entire width direction of the second surface 42 is adsorbed by the multiple suction pads 31, and the position of the second surface 42 inward from the opposite end (bent portion 47) to the open first surface 41 side is aligned with the position of the corner 34 of the suction base 30. Next, as shown in Figure 4(b), the hand 21 is rotated around the corner 34 of the suction base 30 in a direction that moves away from the suction base 30 (clockwise direction in Figure 4), thereby releasing the adhesive 46 fixing between one side of the second surface 42 in the width direction and the joint 45, and breaking the fold 44 between the other side of the second surface 42 in the width direction and the third surface 43, thereby opening a part of the second surface 42. In other words, the suction base surface 32 of the suction base 30 is a contact member, and with the outer end, which is the corner 34 of this contact member, positioned inward from one end (bottom side) of the side of the box 11, the box 11 is rotated around this outer end in a direction that moves the surface of the side of the box 11 away from the suction device 14 (the lid moves away from the suction device 14 and the bottom moves closer to the suction device 14), thereby opening the second surface 42 as part of the side. In other words, the box 11 is rotated by the moving mechanism 20 while maintaining contact between the end of the contact member, which acts as a virtual axis of rotation formed on the adsorbed surface of the side, and the box 11, thereby bending the adsorbed surface of the side along the virtual axis of rotation and opening a portion of the side. The opened portion of the side is open from the fold at the point of contact with the contact member towards the lid side (the other end), while the portion from the fold at the point of contact with the contact member towards the bottom side (the other end) remains connected to the rest of the side, thus partially opening a portion of the side.

[0025] Figure 5 shows details of releasing the adhesive fixation between the second surface 42 and the joint 45 using adhesive 46, illustrating the difference in the opening operation depending on the position of the rotation center for opening the second surface 42. Since the entire joint 45 is bonded to the second surface 42 with adhesive 46, the adhesive strength and breaking strength between the second surface 42 and the joint 45 may be stronger than the adhesive strength and breaking strength between the inner flap 48 and the outer flap 50. Furthermore, when opening the second surface 42, the crease between the other side of the second surface 42 in the width direction and the third surface 43 is broken, so the material strength of the box 11 is also added. Hot melt adhesives with elasticity and flexibility are often used as the adhesive 46.

[0026] As shown in Figure 5(a), if the rotation radius d1 from the rotation center of the hand 21 to the center of the suction pad 31 is large, the area of ​​peeling of the adhesive 46 or the area of ​​fracture of the second surface 42 or joint 45 is large. As a result, the suction force of the suction pad 31 may be insufficient to overcome the adhesive strength and fracture strength, and the second surface 42 may detach from the suction pad 31 before the adhesive fixing between the second surface 42 and the joint 45 is released.

[0027] As shown in Figure 5(b), when the rotation radius d2 from the rotation center of the hand 21 to the center of the suction pad 31 is small, the area of ​​peeling of the adhesive 46 or the area of ​​fracture of the second surface 42 or joint 45 is small. As a result, the suction force of the suction pad 31 is less likely to be overcome by the adhesive strength and fracture strength, and the suction of the second surface 42 by the suction pad 31 can continue until the adhesive fixing between the second surface 42 and the joint 45 is released.

[0028] Therefore, as explained in Figure 4, by positioning the second surface 42 inward from the opposite end (bent portion 47) of the open first surface 41 to the corner 34 of the suction base 30, and rotating the hand 21 around the corner 34 of the suction base 30 in a direction that moves the second surface 42 of the box 11 away from the suction base 30 (clockwise direction in Figure 4), the radius of rotation from the center of rotation of the hand 21 to the center of the suction pad 31 is reduced, making it possible to reliably remove the adhesive 46 fixing between the second surface 42 and the joint 45.

[0029] Furthermore, the second surface 42 to be opened is not limited to the second surface 42 whose joint 45 is bonded and fixed with adhesive 46, but may also be the other second surface 42 on the opposite side of the first second surface 42, which is continuous on both sides in the width direction via a crease between it and the third surface 43. In this case, the creases between the second surface 42 and the third surfaces 43 on both sides in the width direction are broken to open it. In addition, if the stored items 40, etc., are not likely to fall from the second surface 42 even if the entire second surface 42 is opened, the entire second surface 42 may be opened.

[0030] Next, the method for unpacking the box 11 using the unpacking system 10 will be explained with reference to Figures 6 and 7.

[0031] The robot device 13 grasps the third surface 43 of the box 11 that has been transported to the stopping position of the transport device 12 with its hand 21, and moves the hand 21 while directing the first surface 41 of the top or bottom surface of the box 11 to be opened downwards and above the suction device 14, thereby starting the unpacking operation of the box 11.

[0032] As shown in step 1 of Figure 6, the hand 21 gripping the box 11 is moved so that one outer flap 50 of the box 11 faces the suction surface 32 of the suction base 30 parallel to it. At this time, the width direction of one outer flap 50 is aligned with the direction in which the multiple suction pads 31 of the suction base 30 are arranged, and the adhesive portion 51 of the outer flap 50 is positioned at the location of the suction pads 31.

[0033] As shown in step 2 of Figure 6, the hand 21 is lowered to bring one outer flap 50 of the box 11 into contact with the suction pad 31 of the suction base 30, and the suction pad 31 is used to adsorb one outer flap 50.

[0034] As shown in step 3 of Figure 6, the box 11 is rotated together with the hand 21 around the folded portion 49 of one of the outer flaps 50, releasing the adhesive fixing between one of the outer flaps 50 and the inner flap 48, and opening one of the outer flaps 50. Releasing this adhesive fixing includes cases where the adhesive 46 is peeled off, and cases where the adhesive 46 is not peeled off but the surface of the bonded outer flap 50 or inner flap 48 is broken and peeled away. After rotating the hand 21 by a predetermined angle, the suction by the suction pad 31 is released.

[0035] As shown in step 4 of Figure 6, after rotating the hand 21 by a predetermined angle to open one of the outer flaps 50, the hand 21 is raised and moved while rotating in the opposite direction to the rotation in step 3 so that the other outer flap 50 of the box 11 is parallel to the suction surface 32 of the suction platform 30.

[0036] As shown in step 5 of Figure 6, the hand 21 is lowered to bring the other outer flap 50 of the box 11 into contact with the suction pad 31, and the suction pad 31 adsorbs the other outer flap 50.

[0037] As shown in step 6 of Figure 6, the box 11 is rotated together with the hand 21 around the folded portion 49 of the other outer flap 50, releasing the adhesive fixing between the other outer flap 50 and the inner flap 48, and opening the other outer flap 50. After rotating the hand 21 by a predetermined angle, the suction of the suction pad 31 is released.

[0038] As shown in step 7 of Figure 6, after rotating the hand 21 by a predetermined angle to open the other outer flap 50, the hand 21 is raised.

[0039] Because the hand 21 is gripping the contents 40 inside the box 11 from the outside of the box 11 in the first gripping position, the contents 40 will not fall out of the box 11 even if the first surface 41 of the box 11, which is facing downwards, is opened.

[0040] As shown in step 8 of Figure 6, move the hand 21 so that the second side 42 of the box 11, which has the joint 45, faces downwards.

[0041] As shown in step 9 of Figure 7, the hand 21 is moved so that the second surface 42 of the box 11 is parallel to the suction surface 32 of the suction base 30. At this time, the width direction of the second surface 42 is aligned with the direction in which the multiple suction pads 31 of the suction base 30 are arranged, and the second surface 42 is positioned so that the inner side of the second surface 42 relative to the end side of the open outer flap 50 is aligned with the position of the corner 34 of the suction base 30.

[0042] As shown in step 10 of Figure 7, the hand 21 is lowered to bring the second surface 42 of the box 11 into contact with the suction pad 31 of the suction base 30, and the suction pad 31 adheres to the second surface 42.

[0043] As shown in step 11 of Figure 7, the box 11 is rotated together with the hand 21 around the corner 34 of the suction base 30, releasing the adhesive 46 from one side of the second surface 42 in the width direction and the joint 45, and breaking the fold 44 between the other side of the second surface 42 in the width direction and the third surface 43, thereby opening a portion of the second surface 42. After rotating the hand 21 by a predetermined angle, the suction by the suction pad 31 is released.

[0044] As shown in step 12 of Figure 7, after rotating the hand 21 by a predetermined angle to open a portion of the second surface 42, the hand 21 is raised and moved upward toward the top of the storage conveyor 15.

[0045] As shown in step 13 of Figure 7, the hand 21 is moved to move the box 11 above the storage conveyor 15 and to move the box 11 so that the open first surface 41 faces downward.

[0046] As shown in step 14 of Figure 7, the hand 21 is lowered to bring the box 11 closer to the top surface of the contents conveyor 15, the gripping position of the hand 21 is switched from the first gripping position to the second gripping position, and the contents 40 inside the box 11 are dropped and discharged by their own weight while the box 11 is gripped. The contents 40 that have fallen and discharged from the box 11 are received by the contents conveyor 15 and transported downstream.

[0047] Then, the hand 21 is moved to transfer the empty boxes 11 to the empty box conveyor, and the empty boxes 11 are transported downstream by the empty box conveyor.

[0048] In the unpacking system 10 of this embodiment, the box 11 is grasped with the hand 21, the hand 21 is moved to cause the outer flap 50 of the box 11 to adhere to the suction device 14, and the hand 21 is rotated so that the first surface 41 of the outer flap 50 moves away from the suction device 14, with the folded portion 49 from the third surface 43 as the center. This releases the outer flap 50 from its attachment (adhesive fixing) to the inner flap 48, allowing the box 11 to be unpacked using the hand 21.

[0049] By moving the hand 21 to attach the second surface 42 of the box 11 to the suction device 14, and rotating the hand 21 so that the second surface 42 moves away from the suction device 14, the attachment (adhesive fixation) of the second surface 42 to the joint 45 can be detached, or the fold 44 between the second surface 42 and the third surface 43 can be broken to open it, and the box 11 can be unpacked using the hand 21.

[0050] When opening the second side 42 of the box 11, the hand 21 is positioned so that the part of the second side 42 of the box 11 that is open is positioned inward from the opposite end of the first side 41, and the hand 21 is rotated around the corner 34 of the suction base 30 in a direction that moves the second side 42 away from the suction device 14. This opens only a portion of the second side 42 of the box 11, leaving the other portion closed. This makes it easy to remove the contents 40 from the first side 41 while preventing the contents 40 from flying out or falling from the second side 42.

[0051] The hand 21, by gripping the contents 40 inside the box 11 from the outside of the box 11 in the first gripping position, can prevent the contents 40 from falling out of the box 11 even when the first and second sides 41 and 42 of the box 11 are opened downwards by the unpacking operation. Furthermore, by switching from the first gripping position to the second gripping position when the contents 40 are released with the first side 41 of the box 11 facing downwards, the hand 21 can grip the box 11 while allowing the contents 40 to be released from inside the box 11 by their own weight.

[0052] If it is not necessary to open the second side 42 of the box 11 to accommodate the contents 40, then only the outer flap 50 needs to be opened. In this case, the hand 21 may grasp either the second side 42 or the third side 43 of the box 11.

[0053] Furthermore, the suction device 14 may be installed with the suction pad 31 facing downwards or sideways, for example, in an area above the conveying surface of the conveying device 12. In this case, the suction device 14 may be installed in the area above the contents conveyor 15, and the contents 40 inside the box 11 may be released onto the contents conveyor 15 after the box 11 has been unpacked, allowing for efficient unpacking using the hand 21.

[0054] Alternatively, the surface gripped by the pair of gripping parts 26 may be designated as the second surface 42, and the moving mechanism 20 may be operated to open the third surface 43 after opening the outer flap 50.

[0055] Embodiments of the present invention and their variations have been described above, but various combinations of configurations, as well as partial omissions, substitutions, and modifications, are also possible. [Explanation of symbols]

[0056] 10 Unpacking System 11 boxes 14 Adsorption device 20 Moving mechanism 21 Hand 26 Gripping part 30 Suction table 31 Adsorption pads as adsorption members 32 Adhesion base surface as contact member 40 items to store 41 Page 1 42 Side 2 43 Page 3 48 Inner flap 49 Folding section 50 Outer flap

Claims

1. An unpacking system for unpacking a box having a pair of opposing first surfaces, a pair of opposing second surfaces intersecting the first surfaces, and a pair of opposing third surfaces intersecting the first and second surfaces, wherein an inner flap is folded from the second surfaces to the first surfaces and an outer flap is folded from the third surfaces, A hand for gripping the second or third surface of the box, A moving mechanism for moving the aforementioned hand, A suction device capable of adsorbing the aforementioned box, Equipped with, The aforementioned moving mechanism moves the hand that grips the box, causing the outer flap on the first surface to be attached to the suction device, and rotates the box gripped by the hand in a direction that moves the first surface away from the suction device, centering on the folded portion of the outer flap from the third surface, thereby releasing the outer flap. A packaging unpacking system characterized by the following features.

2. An unpacking system for unpacking a box having a pair of opposing first surfaces, a pair of opposing second surfaces intersecting the first surfaces, and a pair of opposing third surfaces intersecting the first and second surfaces, wherein an inner flap is folded from the second surfaces to the first surfaces and an outer flap is folded from the third surfaces, A hand for gripping the third side of the box, A moving mechanism for moving the aforementioned hand, A suction device capable of adsorbing the aforementioned box, Equipped with, The aforementioned moving mechanism moves the hand that grips the box, causing the second surface to be attached to the suction device, and rotates the box, which is gripped by the hand, so that the second surface of the box moves away from the suction device, with the end of the second surface as the pivot point, thereby releasing the second surface. A packaging unpacking system characterized by the following features.

3. An unpacking system for unpacking a box having a pair of opposing first surfaces, a pair of opposing second surfaces intersecting the first surfaces, and a pair of opposing third surfaces intersecting the first and second surfaces, wherein an inner flap is folded from the second surfaces to the first surfaces and an outer flap is folded from the third surfaces, A hand for gripping the third side of the box, A moving mechanism for moving the aforementioned hand, A suction device capable of adsorbing the aforementioned box, Equipped with, With the aforementioned moving mechanism, The hand gripping the box is moved to cause the outer flap of the first surface to be attached to the suction device, and the box gripped by the hand is rotated so that the first surface moves away from the suction device, with the folded portion of the outer flap from the third surface as the pivot point, thereby releasing the outer flap. The hand is moved to cause the second surface to be attached to the suction device, and the box gripped by the hand is rotated in a direction that causes the second surface to move away from the suction device, with the end of the second surface opposite to the open first surface side as the pivot point, thereby opening the second surface. A packaging unpacking system characterized by the following features.

4. The adsorption device comprises an adsorption platform on which the second surface of the box is placed, and an adsorption member that adsorbs the second surface placed on the adsorption platform. The moving mechanism moves the hand that grips the box so that it is positioned inside the edge of the second surface and aligned with the edge of the suction platform, and rotates the box gripped by the hand so that the second surface moves away from the suction device around the edge of the suction platform, thereby opening a portion of the second surface. The unpacking system according to claim 2 or 3, characterized in that it is as described above.

5. The hand has a pair of gripping parts for gripping the box, The device is switchable between a first gripping position in which the contents inside the box are gripped from the outside of the box, and a second gripping position in which the distance between the pair of gripping parts is wider than in the first gripping position, allowing the contents to be released from inside the box by their own weight while gripping the box, and the movement mechanism switches from the first gripping position to the second gripping position in a position in which the contents are released with the first surface of the box facing downwards. The unpacking system according to claim 1 or 3, characterized by the features described above.

6. An unpacking method for unpacking a box, which includes a cylindrical side portion, a bottom portion provided at one opening of the side portion, and a lid portion provided at the other opening of the side portion, using an unpacking system comprising a moving mechanism for moving a hand that grips the box, and an suction device having a suction member and a contact member disposed on the outside of the suction member, The moving mechanism moves the hand to position the side portion inward from one end of the side portion at the outer end of the contact member, causing the side portion to be attached to the suction member. The box gripped by the hand is then rotated around the outer end of the contact member in a direction that separates the attached surface of the side portion from the suction member, thereby releasing a portion of the side portion. A method for unpacking characterized by the following features.

7. In the step of opening a portion of the side portion, when the box held by the hand is rotated, the surface of the side portion that is to be suctioned is bent around the outer end. The unpacking method according to feature 6.

8. An unpacking method for unpacking a box having a cylindrical side portion, a bottom portion provided at one opening of the side portion, and a lid portion provided at the other opening of the side portion, wherein the lid portion includes an inner flap that is folded inward from a part of the other end of the side portion, and an outer flap that is folded inward from the other part of the other end of the side portion and overlaps the outer surface of the inner flap, the unpacking method comprising an unpacking system for moving a hand that grips the box, and an unpacking system for which the box can be attached by suction, The steps include: grasping the side portion of the box with the hand, The moving mechanism moves the hand to cause the outer flap to be attached to the suction device, and the box held by the hand is rotated in a direction that separates the inner flap from the outer flap to release the outer flap. The moving mechanism moves the hand to cause the side portion to be attached to the suction device, and the box gripped by the hand is rotated in a direction such that the surface of the side portion to be attached moves away from the suction device, thereby opening a part of the side portion. An unpacking method characterized by comprising the following features.

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