Unpacking device

Abstract

To provide an unpacking device which can be separated into an upper wall and a box body, even in the case where the upper wall of a box is inclined with respect to a horizontal surface or dented.SOLUTION: An unpacking device 1000 includes a cutting device 100, and a support mechanism 400. The support mechanism 400 supports the cutting device 100 in a movable and rotatable manner with respect to a box 500. The cutting device 100 includes: a first contact part 60 having a first horizontal plate 61 and a first erected plate 62; a second contact part 70 having a second horizontal plate 71 and a second erected plate 72; a movement mechanism 80 for moving the second contact part 70 with respect to the first contact part 60; a first cutting mechanism 10 for cutting a second wall 520 of the box 500; and a second cutting mechanism 20 for cutting a third wall 530 of the box 500. The first horizontal plate 61 and the second horizontal plate 71 come into contact with first walls 511, 512 respectively, the first erected plate 62 comes into contact with the second wall 520, and the second erected plate 72 comes into contact with the third wall 530.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an unpacking device. [Background technology]

[0002] Devices are known that can automatically cut or open boxes or other containers (see, for example, US Pat. No. 5,629,399).

[0003] The device described in Patent Document 1 includes a conveyor, a programmable motion device having a cutting head, and a controller. The conveyor moves boxes to positions corresponding to the programmable motion device. The programmable motion device is located near the conveyor. The controller controls the cutting head of the programmable motion device to execute a programmed cutting pattern. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Patent No. 7,720,567 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a box is being transported, the top wall of the box may become tilted or recessed relative to the horizontal plane due to factors such as an item being placed on top of the box. However, with the device described in Patent Document 1, if the top wall of the box is tilted or recessed relative to the horizontal plane, the cutting head may not strike the appropriate position on the side wall around the box, making it impossible to separate the top wall from the box body. In other words, the success rate of opening the box was low.

[0006] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide an unpacking device that can separate the top wall and the box body even if the top wall of the box is tilted or recessed relative to the horizontal plane. [Means for solving the problem]

[0007] According to one aspect of the present invention, an unpacking device includes a cutting device and a support mechanism. The support mechanism supports the cutting device movably and rotatably relative to a box. The cutting device includes a first contact portion having a first horizontal plate and a first standing plate perpendicular to the first horizontal plate, a second contact portion having a second horizontal plate and a second standing plate perpendicular to the second horizontal plate, a moving mechanism that moves the second contact portion relative to the first contact portion, a first cutting mechanism that cuts a second wall of the box connected to a first wall of the box that intersects with a first direction, and a second cutting mechanism that cuts a third wall of the box connected to the first wall. The second wall and the third wall face each other in a second direction, the second direction intersects with the first direction, the first horizontal plate and the second horizontal plate each contact the first wall, the first upright plate contacts the second wall, and the second upright plate contacts the third wall, and the moving mechanism moves the second contact portion along the second direction relative to the first contact portion.

[0008] In the unpacking device of the present invention, the support mechanism may support the cutting device so that the cutting device moves in the X direction, Y direction, and Z direction and rotates about an X rotation axis along the X direction, a Y rotation axis along the Y direction, and a Z rotation axis along the Z direction.

[0009] The unpacking device of the present invention may further include a control unit that controls the support mechanism and the moving mechanism, and the cutting device may further include a first detection unit attached to the first contact portion and a second detection unit attached to the second contact portion, and the control unit may control the support mechanism and the moving mechanism based on the detection results of the first detection unit and the detection results of the second detection unit.

[0010] In the unpacking device of the present invention, the first detection unit may include a first horizontal plate contact sensor attached to the first horizontal plate and a first upright plate contact sensor attached to the first upright plate, and the second detection unit may include a second horizontal plate contact sensor attached to the second horizontal plate and a second upright plate contact sensor attached to the second upright plate.

[0011] In the unpacking device of the present invention, the cutting device may further include a suction part that suctions the first wall.

[0012] In the unpacking device of the present invention, the control unit may be configured to adsorb the first wall along the first direction using the suction unit, then cut the second wall along a third direction using the first cutting mechanism, and cut the third wall along the third direction using the second cutting mechanism, wherein the first direction is an upward direction and the third direction is perpendicular to the first direction and the second direction.

[0013] In the unpacking device of the present invention, the suction portion may include a first suction mechanism and a second suction mechanism, and the first suction mechanism may suction the first wall on the second wall side, and the second suction mechanism may suction the first wall on the third wall side.

[0014] In the unpacking device of the present invention, the first suction mechanism may include a plurality of suction members arranged along the third direction, and the second suction mechanism may include a plurality of suction members arranged along the third direction.

[0015] In the unpacking device of the present invention, the first cutting mechanism may include a first blade that slopes upward from the outside to the inside of the box, and the second cutting mechanism may include a second blade that slopes upward from the outside to the inside of the box. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide an unpacking device that can separate the top wall and the box body even if the top wall of the box is tilted or recessed relative to the horizontal plane. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a perspective view showing the overall configuration of an unpacking system according to an embodiment of the present invention. [Figure 2] 1 is a side view showing the overall configuration of an unpacking system according to an embodiment. [Figure 3]1 is a plan view showing the overall configuration of a cutting device according to an embodiment. [Figure 4] FIG. 2 is a bottom view showing the overall configuration of the cutting device according to the embodiment. [Figure 5] 1 is a perspective view showing the overall configuration of a cutting device according to an embodiment. [Figure 6] FIG. 2 is a diagram illustrating functions of a control unit of the unpacking system according to the embodiment. [Figure 7] 10 is a flowchart showing an unpacking process of the unpacking system of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and description thereof will not be repeated.

[0019] An unpacking system 2000 according to a first embodiment of the present invention will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a perspective view showing the overall configuration of the unpacking system 2000 according to the first embodiment. Fig. 2 is a side view showing the overall configuration of the unpacking system 2000 according to the first embodiment. Fig. 1 shows the appearance of the unpacking system 2000 as seen from above and diagonally forward left. As shown in Figs. 1 and 2, the unpacking system 2000 includes a conveying device 600, a detecting device (not shown), and an unpacking device 1000.

[0020] A plurality of boxes 500 are placed on the conveying device 600. An article is packed in each of the plurality of boxes 500. The shape of each of the plurality of boxes 500 is, for example, a rectangular parallelepiped. The sizes of each of the plurality of boxes 500 may be the same or different. The material of each of the plurality of boxes 500 is, for example, paper. Specifically, each of the plurality of boxes 500 is a cardboard box.

[0021] The conveying device 600 is, for example, a roller conveyor. The conveying device 600 conveys the multiple boxes 500 one by one in a predetermined direction and stops them at a predetermined position. In the following description, the predetermined direction indicates the forward direction of the boxes 500. Furthermore, the left side of the box 500 as viewed in the forward direction is referred to as the left, and the right side as viewed in the forward direction is referred to as the right. In this specification, the term "parallel direction" includes a direction that is approximately parallel, and the term "orthogonal direction" includes a direction that is approximately orthogonal.

[0022] The transport device 600 may also include a mechanism for guiding the box 500 to a predetermined position, and may also include a mechanism for fixing the box 500 in a predetermined position.

[0023] Each of the multiple boxes 500 includes an upper left wall 511, an upper right wall 512, a front upper wall, a rear upper wall, a left wall 520, a right wall 530, a front wall 540, a rear wall 550, and a bottom wall 560. The upper left wall 511 and the upper right wall 512 are examples of "first walls." The upper left wall 511, the upper right wall 512, the front upper wall, and the rear upper wall each intersect with a first direction D1. The first direction D1 is an upward direction. Note that each of the multiple boxes 500 may be deformed during transportation, and the first direction D1 may deviate from the upward direction. Furthermore, the upper left wall 511, the upper right wall 512, the front upper wall, the rear upper wall, the left wall 520, the right wall 530, the front wall 540, the rear wall 550, and the bottom wall 560 may each be dented during transportation.

[0024] The upper left wall 511 is connected to the upper end of the left wall 520. The upper right wall 512 is connected to the upper end of the right wall 530. The upper front wall is connected to the upper end of the front wall 540. The upper rear wall is connected to the upper end of the rear wall 550. The upper front wall and the upper rear wall are located lower than the upper left wall 511 and the upper right wall 512. The front wall 540 is connected to the upper left wall 511 and the upper right wall 512 via an adhesive material such as duct tape. The upper rear wall is connected to the upper left wall 511 and the upper right wall 512 via an adhesive material such as duct tape. In other words, the upper left wall 511, the upper right wall 512, the front upper wall, and the rear upper wall are integrated and function as a lid. The upper left wall 511, the upper right wall 512, the front upper wall, and the rear upper wall do not have to be integrated.

[0025] The detection device is, for example, a sensor. The detection device detects the approximate size of the box 500. Specifically, the detection device measures the distance between the left wall 520 and the right wall 530. The detection device measures the distance between the front wall 540 and the rear wall 550. The detection device measures the distance between the upper left wall 511 and the upper right wall 512 and the bottom wall 560.

[0026] The unpacking device 1000 unpacks the box 500. Specifically, the upper left wall 511 is separated from the left wall 520, the front wall 540, and the rear wall 550; the upper right wall 512 is separated from the right wall 530, the front wall 540, and the rear wall 550; the upper front wall is separated from the left wall 520, the front wall 540, and the right wall 530; and the upper rear wall is separated from the right wall 530, the left wall 520, and the rear wall 550. Then, the upper left wall 511, the upper right wall 512, the upper front wall, and the upper rear wall are removed from the left wall 520, the right wall 530, the front wall 540, the rear wall 550, and the bottom wall 560. In this embodiment, even if the box 500 is deformed, the upper wall and the box main body can be separated by a configuration described below.

[0027] Specifically, the unpacking device 1000 includes a cutting device 100 and a robot arm 400. The robot arm 400 is an example of a "support mechanism." The robot arm 400 supports the cutting device 100. The robot arm 400 supports the cutting device 100 so that the cutting device 100 can move and rotate relative to the box 500. Specifically, the robot arm 400 supports the cutting device 100 so that the cutting device 100 can move in the X, Y, and Z directions and rotate about an X rotation axis along the X direction, a Y rotation axis along the Y direction, and a Z rotation axis along the Z direction. The robot arm 400 is, for example, a multi-joint robot arm. The robot arm 400 includes an arm 410 having multiple rotatable axes and an arm tip 420 to which the cutting device 100 is attached at the tip side of the arm 410. The arm tip 420 can change the orientation of the cutting device 100 relative to the arm 410. As a result, the robot arm 400 can move the cutting device 100 to any position within the range that can be moved by the arm 410, and can also move it in any horizontal, vertical, and rotational direction and posture.

[0028] The robot arm 400 is not limited to an articulated robot arm, but may be, for example, an orthogonal movement mechanism configured with three orthogonal sliding axes and three rotational axes. The three orthogonal sliding axes may be, for example, an orthogonal robot, and the three rotational axes may be realized by inserting a compliance unit or a rubber-like object between the arm tip 420 and the cutting device 100.

[0029] Next, a cutting device 100 according to an embodiment will be described with reference to FIGS. 1 to 5. FIG. 3 is a plan view showing the overall configuration of the cutting device 100 according to an embodiment. FIG. 4 is a bottom view showing the overall configuration of the cutting device 100 according to an embodiment. FIG. 5 is a perspective view showing the overall configuration of the cutting device 100 according to an embodiment. Note that FIG. 5 shows the external appearance of the cutting device 100 as viewed from below and diagonally rear left. As shown in FIGS. 1 to 5, the cutting device 100 includes a suction unit 30, a first cutting mechanism 10, a second cutting mechanism 20, a first contact unit 60, a second contact unit 70, a moving mechanism 80, a housing 90, a first detector 51, and a second detector 52.

[0030] The housing 90 is, for example, a flat plate with multiple openings. As a result, the housing 90 is lightweight. An arm tip 420 is attached to the center of the housing 90. In the following description, the side of the housing 90 to which the arm tip 420 is attached is referred to as the upper side, and the opposite side is referred to as the lower side. The direction from the second cutting mechanism 20 toward the first cutting mechanism 10 is referred to as the left direction, and the opposite direction is referred to as the right direction. Furthermore, the side of the first cutting mechanism 10 where the movement motor 13a is located is referred to as the rear side of the cutting device 100, and the opposite side is referred to as the front side of the cutting device 100. The upper direction is an example of the "first direction D1." The left direction is an example of the "second direction D2." The forward direction is an example of the "third direction D3."

[0031] The first contact portion 60 includes a first horizontal plate 61, a first standing plate 62, and two connecting portions 63. The first horizontal plate 61 is disposed perpendicular to the first direction D1. The first standing plate 62 is disposed perpendicular to the second direction D2. The left end of the first horizontal plate 61 is connected to the upper end of the first standing plate 62. A through-hole 62a is disposed in the first standing plate 62, penetrating the first horizontal plate 61 along the second direction D2. The through-hole 62a extends in a straight line along the third direction D3. The first contact portion 60 is disposed on the second direction D2 side of the housing 90. Specifically, each of the two connecting portions 63 is fixed to the second direction D2 side of the housing 90. As a result, the first standing plate 62 comes into contact with the left wall 520. The first horizontal plate 61 is disposed along the upper-left wall 511.

[0032] The first detection unit 51 is attached to the first contact unit 60. The first detection unit 51 may include a first upright plate contact sensor 51a that detects the left wall 520 and a first horizontal plate contact sensor 51b that detects the upper left wall 511. For example, the first upright plate contact sensor 51a may be a sensor that responds to a constant force and controls the amount by which the box 500 is clamped, thereby correcting any bulging of the side wall of the box 500. The first horizontal plate contact sensor 51b may be a sensor that responds to a constant force and controls the amount by which the robot arm 400 presses down on the box 500, thereby correcting any bulging of the top wall of the box 500. Furthermore, the first upright plate contact sensor 51a and the first horizontal plate contact sensor 51b may monitor the current value of a movement mechanism using, for example, a motor or the like and stop the mechanism by torque control, or may measure the distance to the box 500 using a distance sensor and stop the mechanism.

[0033] The moving mechanism 80 moves the second contact portion 70 relative to the first contact portion 60. Specifically, the moving mechanism 80 includes a first roller 81, a second roller 82, a moving motor 83, a belt 84, and two guide rails 85. The first roller 81 is disposed on the second direction D2 side of the housing 90. The second roller 82 is disposed on the opposite side of the housing 90 from the second direction D2. The belt 84 is disposed between the first roller 81 and the second roller 82. The moving motor 83 rotates the first roller 81. As a result, the belt 84 moves along the second direction D2. Furthermore, each of the two guide rails 85 extends along the second direction D2. As a result, various sizes of boxes 500 can be accommodated.

[0034] The second contact portion 70 includes a second horizontal plate 71, a second standing plate 72, two movable portions 73, and a fixed portion 74. The second horizontal plate 71 is disposed perpendicular to the first direction D1. The second standing plate 72 is disposed perpendicular to the second direction D2. The right end of the second horizontal plate 71 is connected to the upper end of the second standing plate 72. The second standing plate 72 has a through-hole 72a that penetrates along the second direction D2. The through-hole 72a extends in a straight line along the third direction D3. The second contact portion 70 is disposed on the opposite side of the housing 90 from the second direction D2. Specifically, the two movable portions 73 are movably attached to two guide rails 85. Each of the two movable portions 73 has a through-hole extending along the second direction D2. Each of the two guide rails 85 is inserted into the through-hole. The fixed portion 74 is fixed to one region of the belt 84. As a result, by rotating the first roller 81, the second contact portion 70 moves in the second direction D2 relative to the first contact portion 60. This causes the second standing plate 72 to come into contact with the right wall 530. The second horizontal plate 71 is disposed along the upper right wall 512. As a result, the box 500 is sandwiched and fixed between the first standing plate 62 and the second standing plate 72.

[0035] The second detection unit 52 is attached to the second contact unit 70. The second detection unit 52 may include a second upright plate contact sensor 52a that detects the right wall 530 and a second horizontal plate contact sensor 52b that detects the upper right wall 512. For example, the second upright plate contact sensor 52a may be a sensor that responds to a constant force and controls the amount by which the box 500 is clamped, thereby correcting any bulging of the side wall of the box 500. The second horizontal plate contact sensor 52b may be a sensor that responds to a constant force and controls the amount by which the robot arm 400 presses down on the box 500, thereby correcting any bulging of the top wall of the box 500. Furthermore, the second upright plate contact sensor 52a and the second horizontal plate contact sensor 52b may monitor the current value of a movement mechanism using, for example, a motor or the like and stop the movement by torque control, or may measure the distance to the box 500 using a distance sensor and stop the movement.

[0036] As a result, by moving the second contact portion 70 relative to the first contact portion 60 based on the detection results of the first detection portion 51 and the second detection portion 52 (for example, the amount of clamping), the first standing plate 62 comes into contact with the left wall 520, the first horizontal plate 61 is disposed along the upper-left wall 511, the second standing plate 72 comes into contact with the right wall 530, and the second horizontal plate 71 is disposed along the upper-right wall 512. At this time, even if the upper-left wall 511 and the upper-right wall 512 are tilted relative to the horizontal plane, the cutting device 100 is fixed along the upper-left wall 511 and the upper-right wall 512 of the box 500.

[0037] The suction unit 30 suctions the upper left wall 511 and the upper right wall 512. Specifically, the suction unit 30 includes a first suction mechanism 40 and a second suction mechanism 50.

[0038] The first suction mechanism 40 is fixed to the two connection portions 63. As a result, the first suction mechanism 40 suctions the upper left wall 511 on the left wall 520 side. Specifically, the first suction mechanism 40 includes a plurality of suction members 41 arranged along the third direction D3. As a result, the first suction mechanism 40 suctions the upper left wall 511 on the left wall 520 side along the third direction D3. Each of the plurality of suction members 41 is, for example, a cylindrical body and sucks air. The plurality of suction members 41 are, for example, four suction members 41 arranged at equal intervals. As a result, various recesses in the upper left wall 511 can be accommodated.

[0039] The second suction mechanism 50 has a configuration similar to that of the first suction mechanism 40, and is fixed to two movable parts 73. As a result, the second suction mechanism 50 suctions the upper right wall 512 on the right wall 530 side. Specifically, the second suction mechanism 50 includes a plurality of suction members 53 arranged along the third direction D3. As a result, the second suction mechanism 50 suctions the upper right wall 512 on the right wall 530 side along the third direction D3. Each of the plurality of suction members 53 is, for example, a cylindrical body and sucks air. The plurality of suction members 53 is, for example, four suction members 53 arranged at equal intervals. As a result, various recesses in the upper right wall 512 can be accommodated.

[0040] The first cutting mechanism 10 cuts the left wall 520 along the third direction D3. Specifically, the first cutting mechanism 10 includes a blade fixing portion 12 to which a first blade 11 is fixed, and a movement mechanism 13.

[0041] The movement mechanism 13 moves the blade fixing part 12 along the third direction D3. Specifically, the movement mechanism 13 has a first roller (not shown), a second roller (not shown), a movement motor 13a, a belt 13b, and a guide rail 13c. The first roller is disposed on the opposite side of the guide rail 13c in the third direction D3. The second roller is disposed on the third direction D3 side of the guide rail 13c. The belt 13b is disposed between the first roller and the second roller. The movement motor 13a rotates the first roller. As a result, the belt 13b moves along the third direction D3. The guide rail 13c extends along the third direction D3.

[0042] The blade fixing part 12 includes an attachment part, a movable part, and a main body part. The attachment part is disposed above the main body part. The attachment part is attached to a region of the belt 13b. The movable part is disposed above the attachment part. The movable part has a through hole extending along the third direction D3. A guide rail 13c is inserted into the through hole. As a result, by rotating the first roller, the blade fixing part 12 moves along the third direction D3.

[0043] The main body is disposed on the second direction D2 side of the first standing plate 62. A first blade 11 is fixed to the main body. The first blade 11 is not particularly limited, but may be, for example, a rectangular plate-shaped body with a blade formed on one side, such as a circular saw. The first blade 11 is inserted into the through hole 62a of the first standing plate 62. As a result, the first blade 11 cuts an appropriate position of the left wall 520 that comes into contact with the first standing plate 62. The first blade 11 is inclined upward in the direction opposite to the second direction D2. As a result, the first blade 11 is inclined upward from the outside to the inside of the box 500. This prevents damage to the items packed in the box 500.

[0044] The second cutting mechanism 20 has a configuration similar to that of the first cutting mechanism 10, and cuts the right wall 530 along the third direction D3. Specifically, the second cutting mechanism 20 includes a blade fixing unit 22 to which the second blade 21 is fixed, and a movement mechanism 23.

[0045] The movement mechanism 23 moves the blade fixing part 22 along the third direction D3. Specifically, the movement mechanism 23 has a first roller (not shown), a second roller (not shown), a movement motor 23a, a belt 23b, and a guide rail 23c. The first roller is disposed on the opposite side of the guide rail 23c in the third direction D3. The second roller is disposed on the third direction D3 side of the guide rail 23c. The belt 23b is disposed between the first roller and the second roller. The movement motor 23a rotates the first roller. As a result, the belt 23b moves along the third direction D3. The guide rail 23c extends along the third direction D3.

[0046] The blade fixing part 22 includes an attachment part, a movable part, and a main body part. The attachment part is disposed above the main body part. The attachment part is attached to a region of the belt 23b. The movable part is disposed above the attachment part. The movable part has a through hole extending along the third direction D3. The guide rail 23c is inserted into the through hole. As a result, by rotating the first roller, the blade fixing part 22 moves along the third direction D3.

[0047] The main body is disposed on the opposite side of the standing plate 72 in the second direction D2. A second blade 21 is fixed to the main body. The second blade 21 is, but is not limited to, a rectangular plate-shaped body with a blade formed on one side, such as a circular saw. The second blade 21 is inserted into the through hole 72a of the second standing plate 72. As a result, the second blade 21 cuts an appropriate position of the right wall 530 that comes into contact with the second standing plate 72. The second blade 21 is inclined upward in the second direction D2. As a result, the second blade 21 is inclined upward from the outside to the inside of the box 500. This makes it possible to prevent damage to the items packed in the box 500.

[0048] As described above with reference to FIGS. 1 to 5 , according to the unpacking device 1000, the cutting device 100 is fixed to the box 500 by the first horizontal plate 61, the second horizontal plate 71, the first upright plate 62, and the second upright plate 72. At this time, the robot arm 400 supports the cutting device 100 so that it can move and rotate relative to the box 500. Therefore, even if the upper left wall 511 and the upper right wall 512 of the box 500 are tilted with respect to the horizontal plane, the cutting device 100 is fixed along the upper left wall 511 and the upper right wall 512 of the box 500. Thereafter, the first cutting mechanism 10 and the second cutting mechanism 20 cut the left wall 520 and the right wall 530 along the third direction D3. Therefore, even if the upper left wall 511 and the upper right wall 512 of the box 500 are tilted with respect to the horizontal plane, the upper left wall 511 and the upper right wall 512 can be separated from the box main body.

[0049] Furthermore, according to the cutting device 100, the suction unit 30 suctions the upper left wall 511 and the upper right wall 512 along the first direction D1. As a result, even if the box 500 is dented downward, the dents in the left wall 520 and the right wall 530 can be eliminated. Thereafter, the first cutting mechanism 10 and the second cutting mechanism 20 cut the left wall 520 and the right wall 530 along the third direction D3. Therefore, even if the box is dented downward, it can be separated into the upper left wall 511 and the upper right wall 512 and the left wall 520 and the right wall 530. In particular, according to the cutting device 100, the first suction mechanism 40 and the second suction mechanism 50 suction the upper left wall 511 and the upper right wall 512 along the first direction D1. As a result, the dents in the left wall 520 and the right wall 530 can be eliminated more effectively.

[0050] Furthermore, because the first cutting mechanism 10 and the second cutting mechanism 20 can simultaneously cut the left wall 520 and the right wall 530 along the third direction D3, even a softened box 500 can be separated more accurately into the upper-left wall 511 and the upper-right wall 512 and the left wall 520 and the right wall 530 without deforming it. Furthermore, the first standing plate 62 contacts the left wall 520, the first horizontal plate 61 is disposed along the upper-left wall 511, the second standing plate 72 contacts the right wall 530, and the second horizontal plate 71 is disposed along the upper-right wall 512. As a result, if the box 500 is bulging, the bulges of the upper-left wall 511, the upper-right wall 512, the left wall 520, and the right wall 530 can be corrected. Therefore, even if the box 500 is bulging, it can be separated more accurately into the upper-left wall 511 and the upper-right wall 512 and the left wall 520 and the right wall 530. Furthermore, based on the detection results of the first detection unit 51 and the second detection unit 52 (for example, the amount of pinching), the first standing plate 62 comes into contact with the left wall 520, the first horizontal plate 61 is disposed along the upper left wall 511, the second standing plate 72 comes into contact with the right wall 530, and the second horizontal plate 71 is disposed along the upper right wall 512. Therefore, even when the box 500 is tilted with respect to the horizontal plane, it can be more accurately separated into the upper left wall 511 and the upper right wall 512, and the left wall 520 and the right wall 530.

[0051] Alternatively, by placing another unpacking device 1000 or by changing the direction of the cutting device 100 by 90°, the front wall 540 and the rear wall 550 are sandwiched and fixed between the first and second upright plates 62 and 72. The first and second cutting mechanisms 10 and 20 then cut the front and rear walls 540 and 550 along the third direction D3. This separates the box 500 into the upper left wall 511 and the upper right wall 512 and the box body. The first and second suction mechanisms 40 and 50 then suction the upper left wall 511 and the upper right wall 512 along the first direction D1. As a result, if the box 500 is dented downward, the dent in the front and rear walls 540 and 550 can be eliminated. The first and second cutting mechanisms 10 and 20 then cut the front and rear walls 540 and 550 along the third direction D3. Therefore, even if the box is dented downward, it can be separated into upper left wall 511, upper right wall 512, front wall 540, and rear wall 550. In other words, for a box 500 with a bulging top wall, the first contact portion 60 and second contact portion 70 press the top wall to correct the dent, and for a box 500 with a dent, the first suction mechanism 40 and second suction mechanism 50 suction the top wall of the box 500 to correct the dent. This allows the blade to hit the appropriate position for cutting, achieving a high success rate for opening the box.

[0052] Furthermore, by moving the cutting device 100 while the first suction mechanism 40 and the second suction mechanism 50 are holding the upper left wall 511 and the upper right wall 512 by suction along the first direction D1, the upper left wall 511 and the upper right wall 512 are removed. As a result, the items packed in the box 500 can be exposed. Also, by cutting the box 500 while holding the top wall of the box 500 by suction, and by continuing to suction the cut-off top wall after cutting the box 500, it is possible to prevent the top wall from shifting after cutting, and improve the success rate of disposing of the top lid after cutting.

[0053] Next, the function of the control unit 300 will be described with reference to Fig. 1 to Fig. 6. Fig. 6 is a diagram showing the function of the control unit 300 of the unpacking system 2000 of the embodiment. As shown in Fig. 6, the unpacking system 2000 further includes the control unit 300.

[0054] The control unit 300 includes a processor such as a CPU (Central Processing Unit). Specifically, the control unit 300 includes a conveying device control unit 310, a detecting device control unit 320, and an unpacking device control unit 330.

[0055] The conveying device control unit 310 controls the conveying device 600. Specifically, a plurality of boxes 500 are placed on the conveying device 600. The conveying device control unit 310 controls the conveying device 600 so that the conveying device 600 conveys the plurality of boxes 500 one by one in a predetermined direction and stops them at predetermined positions.

[0056] The detection device control unit 320 controls the detection device. Specifically, the detection device control unit 320 controls the detection device so that the detection device measures the distance between the left wall 520 and the right wall 530, the distance between the front wall 540 and the rear wall 550, and the distance between the upper left wall 511 and the upper right wall 512 and the lower wall 560.

[0057] The unpacking apparatus control unit 330 controls the unpacking apparatus 1000. Specifically, the unpacking apparatus control unit 330 controls the movement mechanism 80 and the robot arm 400 based on the detection results of the detection device, the detection results of the first detection unit 51, and the detection results of the second detection unit 52. More specifically, the unpacking apparatus control unit 330 controls the movement mechanism 80 so that the movement mechanism 80 moves the second contact unit 70 relative to the first contact unit 60. The unpacking apparatus control unit 330 also controls the robot arm 400 and the movement mechanism 80 so that the first standing plate 62 contacts the left wall 520, the first horizontal plate 61 is positioned along the upper-left wall 511, the second standing plate 72 contacts the right wall 530, and the second horizontal plate 71 is positioned along the upper-right wall 512.

[0058] The unpacking device control unit 330 also controls the first suction mechanism 40 and the second suction mechanism 50 to suction the upper left wall 511 and the upper right wall 512 along the first direction D1, and then controls the first cutting mechanism 10 to cut the left wall 520 along the third direction D3, and the second cutting mechanism 20 to cut the right wall 530 along the third direction D3. Specifically, the unpacking device control unit 330 controls the cutting device 100 so that the four suction members 41 suction the upper left wall 511 along the first direction D1, and then the first blade 11 cuts the left wall 520 along the third direction D3. The unpacking device control unit 330 also controls the cutting device 100 so that the four suction members 53 suction the upper right wall 512 along the first direction D1, and then the second blade 21 cuts the right wall 530 along the third direction D3.

[0059] Furthermore, the unpacking device control unit 330 controls the robot arm 400 so that the cutting device 100 moves to the disposal position. Thereafter, the unpacking device control unit 330 controls the cutting device 100 so that the first suction mechanism 40 and the second suction mechanism 50 stop suctioning the upper left wall 511 and the upper right wall 512. As a result, the upper left wall 511 and the upper right wall 512 are discarded.

[0060] Next, the unpacking process of the unpacking system 2000 will be described with reference to Fig. 1 to Fig. 7. Fig. 7 is a flowchart showing the unpacking process of the unpacking system 2000 of the embodiment. As shown in Fig. 7, the unpacking process includes steps S101 to S112.

[0061] First, in step S101, the conveying device control unit 310 controls the conveying device 600. Specifically, a plurality of boxes 500 are placed on the conveying device 600. The conveying device control unit 310 controls the conveying device 600 so that the conveying device 600 conveys the plurality of boxes 500 one box 500 at a time in a predetermined direction and stops the boxes 500 at a predetermined position. Then, the process proceeds to step S102.

[0062] Next, in step S102, the detection device control unit 320 controls the detection device. Specifically, the detection device control unit 320 controls the detection device so that the detection device measures the distance between the left wall 520 and the right wall 530, the distance between the front wall 540 and the rear wall 550, and the distance between the upper left wall 511 and the upper right wall 512 and the lower wall 560.

[0063] Next, in step S103 , the unpacking device control unit 330 controls the moving mechanism 80 so that the moving mechanism 80 moves the second contact portion 70 relative to the first contact portion 60 .

[0064] Next, in step S104, the unpacking device control unit 330 controls the robot arm 400 and the moving mechanism 80 based on the detection results of the first detection unit 51 and the second detection unit 52 so that the first standing plate 62 contacts the left wall 520, the first horizontal plate 61 is positioned along the upper left wall 511, the second standing plate 72 contacts the right wall 530, and the second horizontal plate 71 is positioned along the upper right wall 512. In other words, the cutting device 100 is fixed along the upper left wall 511 and the upper right wall 512 of the box 500.

[0065] Next, in step S105, the unpacking device control unit 330 adsorbs the upper left wall 511 and the upper right wall 512 along the first direction D1 using the first suction mechanism 40 and the second suction mechanism 50, and then cuts the left wall 520 along the third direction D3 using the first cutting mechanism 10, and cuts the right wall 530 along the third direction D3 using the second cutting mechanism 20.

[0066] Next, in step S106, the unpacking device control unit 330 controls the robot arm 400 to stop the first suction mechanism 40 and the second suction mechanism 50 from suctioning the upper left wall 511 and the upper right wall 512, and to move the cutting device 100 to a retracted position.

[0067] Next, in step S107 , the unpacking device control section 330 controls the moving mechanism 80 so that the moving mechanism 80 moves the second contact section 70 relative to the first contact section 60 .

[0068] Next, in step S108, the unpacking device control unit 330 controls the robot arm 400 and the moving mechanism 80 based on the detection results of the first detection unit 51 and the second detection unit 52 so that the first standing plate 62 contacts the rear wall 550, the first horizontal plate 61 is positioned along the upper left wall 511 and the right wall 530, the second standing plate 72 contacts the front wall 540, and the second horizontal plate 71 is positioned along the upper left wall 511 and the right wall 530. In other words, the cutting device 100 is fixed along the upper left wall 511 and the right right wall 512 of the box 500.

[0069] Next, in step S109, the unpacking device control unit 330 adsorbs the upper left wall 511 and the upper right wall 512 along the first direction D1 using the first suction mechanism 40 and the second suction mechanism 50, and then cuts the rear wall 550 along the third direction D3 using the first cutting mechanism 10, and cuts the front wall 540 along the third direction D3 using the second cutting mechanism 20.

[0070] Next, in step S110, the unpacking device control section 330 controls the robot arm 400 so that the cutting device 100 moves to the disposal position.

[0071] Next, in step S111, the unpacking device control unit 330 controls the robot arm 400 so that the first suction mechanism 40 and the second suction mechanism 50 stop suctioning the upper left wall 511 and the upper right wall 512.

[0072] Next, in step S112, the detection device control unit 320 determines whether or not the box 500 is placed on the conveying device 600. If it is determined that the box 500 is placed on the conveying device 600, the process returns to step S101. On the other hand, if it is determined that the box 500 is not placed on the conveying device 600, the process ends.

[0073] The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above embodiments and can be embodied in various forms without departing from the spirit and scope of the present invention. Furthermore, various inventions can be formed by appropriately combining multiple components disclosed in the above embodiments. For example, some components may be omitted from all components shown in the embodiments. Furthermore, components from different embodiments may be appropriately combined. The drawings mainly show each component in a schematic manner to facilitate understanding. The thickness, length, number, spacing, etc. of each illustrated component may differ from the actual components due to the convenience of drawing. Furthermore, the materials, shapes, dimensions, etc. of each component shown in the above embodiments are merely examples and are not particularly limited. Various modifications are possible within a scope that does not substantially deviate from the effects of the present invention.

[0074] In the above-described cutting device 100, an example has been shown in which the movement mechanism 80 moves the second contact portion 70 relative to the first contact portion 60, but the present invention is not limited to this. For example, the movement mechanism 80 may move both the first contact portion 60 and the second contact portion 70. [Industrial Applicability]

[0075] The present invention provides an unpacking device and has industrial applicability. [Explanation of symbols]

[0076] 10: 1st cutting mechanism 20:Second cutting mechanism 30: Adsorption part 60: 1st contact part 61: 1st horizontal plate 62: 1st standing board 70: 2nd contact part 71:Second horizontal plate 72:Second standing board 80: Movement mechanism 100: Cutting device 400: Robot arm (support mechanism) 500: box 511: Upper left wall (first wall) 512: Upper right wall (first wall) 520: Left wall (2nd wall) 530: Right wall (3rd wall) 1000:Opening device D1: Direction 1 D2: Second direction

Claims

1. a cutting device; a robot arm that movably and rotatably supports the cutting device relative to the box; Equipped with The cutting device is a first contact portion having a first horizontal plate and a first standing plate perpendicular to the first horizontal plate; a second contact portion having a second horizontal plate and a second standing plate perpendicular to the second horizontal plate; a moving mechanism that moves the second contact portion relative to the first contact portion; a first cutting mechanism configured to cut a second wall of the box connected to a first wall of the box that intersects with a first direction; a second cutting mechanism for cutting a third wall of the box connected to the first wall; Equipped with the second wall and the third wall face each other in a second direction, the second direction intersects with the first direction, each of the first horizontal plate and the second horizontal plate contacts the first wall; the first upright plate contacts the second wall, the second upright plate contacts the third wall, the moving mechanism is an unpacking device that moves the second contact portion relative to the first contact portion along the second direction, The unpacking device further includes a control unit that controls the robot arm and the movement mechanism, The cutting device is a first detection unit attached to the first contact unit; a second detection portion attached to the second contact portion; Further provided with the control unit controls the robot arm and the moving mechanism based on the detection result of the first detection unit and the detection result of the second detection unit so that the first standing plate comes into contact with the second wall, the first horizontal plate is disposed along the first wall on the second wall side, the second standing plate comes into contact with the third wall, and the second horizontal plate is disposed along the first wall on the third wall side; The robot arm moves and rotates the cutting device under the control of the control unit.

2. 2. The unpacking device of claim 1, wherein the robot arm supports the cutting device so that the cutting device moves in an X direction, a Y direction, and a Z direction and rotates about an X rotation axis along the X direction, a Y rotation axis along the Y direction, and a Z rotation axis along the Z direction.

3. The first detection unit a first horizontal plate contact sensor attached to the first horizontal plate; a first standing plate contact sensor attached to the first standing plate; Equipped with The second detection unit a second horizontal plate contact sensor attached to the second horizontal plate; a second standing plate contact sensor attached to the second standing plate; The unpacking device of claim 1 , comprising:

4. The unpacking device according to claim 1 , wherein the cutting device further comprises a suction portion that suctions the first wall.

5. the control unit causes the suction unit to suction the first wall along the first direction, and then causes the first cutting mechanism to cut the second wall along a third direction, and the second cutting mechanism to cut the third wall along the third direction; the first direction is an upward direction, The unpacking device of claim 4 , wherein the third direction is perpendicular to the first direction and the second direction.

6. the suction unit includes a first suction mechanism and a second suction mechanism, the first suction mechanism suctions the first wall on the second wall side; The unpacking device according to claim 5 , wherein the second suction mechanism suctions the first wall on the third wall side.

7. the first suction mechanism includes a plurality of suction members arranged along the third direction, The unpacking device according to claim 6 , wherein the second suction mechanism includes a plurality of suction members arranged along the third direction.

8. the first cutting mechanism includes a first blade that slopes upward from the outside toward the inside of the box; The unpacking device of claim 1 , wherein the second cutting mechanism comprises a second blade that slopes upward from the outside to the inside of the box.

9. a cutting device; a support mechanism that supports the cutting device movably and rotatably relative to the box; Equipped with The cutting device is a first contact portion having a first horizontal plate and a first standing plate perpendicular to the first horizontal plate; a second contact portion having a second horizontal plate and a second standing plate perpendicular to the second horizontal plate; a moving mechanism that moves the second contact portion relative to the first contact portion; a first cutting mechanism configured to cut a second wall of the box connected to a first wall of the box that intersects with a first direction; a second cutting mechanism for cutting a third wall of the box connected to the first wall; an adsorption portion that adsorbs the first wall; Equipped with the second wall and the third wall face each other in a second direction, the second direction intersects with the first direction, each of the first horizontal plate and the second horizontal plate contacts the first wall; the first upright plate contacts the second wall, the second upright plate contacts the third wall, the moving mechanism is an unpacking device that moves the second contact portion relative to the first contact portion along the second direction, The unpacking device further includes a control unit that controls the support mechanism and the movement mechanism, the control unit causes the suction unit to suction the first wall along the first direction, and then causes the first cutting mechanism to cut the second wall along a third direction, and the second cutting mechanism to cut the third wall along the third direction; the first direction is an upward direction, The unpacking device, wherein the third direction is perpendicular to the first direction and the second direction.

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