Robot system and packaging bag unpacking method

Abstract

To provide a robot system capable of easily unpacking a packing bag.SOLUTION: A robot system 100 includes: a first robot arm 11 having a first hand 20 abutting on a packaging bag 200 storing an article 300 from one side; a second robot arm 12 having a second hand 30 for clamping and holding the packaging bag 200 together with the first hand 20 by abutting on the packaging bag 200 from the other side; and a cutting part 51 for moving along the first hand 20 or the second hand 30 to cut and unpack the packaging bag 200 which is in a state of being clamped by the first hand 20 and the second hand 30.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a robot system and a method for unpacking a packaging bag.

Background Art

[0002] Conventionally, robots for unpacking a package such as a case containing an object have been known (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a robot that cuts and opens a tape attached so as to connect flaps on the upper surface of a case containing an object. The robot of this Patent Document 1 cuts a tape attached so as to connect flaps from above a case formed of cardboard with a cutter.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In Patent Document 1 described above, the robot cuts and opens a tape connecting the flaps on the upper surface of a case containing an object with a cutter. Therefore, in the case of a case formed of cardboard that is somewhat hard, when cutting the tape attached so as to connect the flaps with a cutter, the cardboard flaps do not escape, so the tape connecting the flaps can be easily cut. However, when cutting a packaging bag formed of a soft member such as a film, there is a disadvantage that it is difficult to easily cut because the cut portion escapes when the cutter is applied. For this reason, there is a problem that it is difficult to easily unpack the packaging bag.

[0006] This disclosure was made to solve the above-mentioned problems, and one of its objectives is to provide a robotic system and a method for opening packaging bags that can be easily opened. [Means for solving the problem]

[0007] To achieve the above objective, the robot system in the first phase comprises: a first robot arm including a first hand that contacts a packaging bag containing an object from one side; a second robot arm including a second hand that contacts the packaging bag from the other side and holds the packaging bag together with the first hand; and a cutting device that moves along the first hand or the second hand to cut and unpack the packaging bag that is held between the first and second hands. The cutting device includes a cutting unit for cutting the packaging bag and a third robotic arm for moving the cutting unit. The first and second hands are formed to extend along the cutting direction of the packaging bag and hold the packaging bag between them with their longitudinal directions substantially parallel to each other. The third robotic arm moves the cutting unit along the longitudinal direction of the first or second hand to cut the packaging bag. .

[0008] In the robot system according to the first phase, as described above, the packaging bag, which is held between the first and second hands, is cut and unpacked by a cutting device that moves along either the first or second hand. This allows the first and second hands to hold the packaging bag and retain the cutting portion, so even if the packaging bag is made of a soft material such as film, it is possible to prevent the cutting portion from slipping away from the cutting device. As a result, the packaging bag can be easily unpacked. The robot system in the first phase comprises a first robot arm including a first hand that contacts a packaging bag containing an object from one side, a second robot arm including a second hand that contacts the packaging bag from the other side and holds the packaging bag together with the first hand, and a cutting device that moves along the first hand or the second hand to cut and unpack the packaging bag that is held by the first and second hands, the first hand having a first gripping part for grasping the packaging bag and a plurality of parts for suctioning the packaging bag. The robotic arm and the robotic arm have a first suction part, and the second hand has a second gripping part for gripping the packaging bag and a plurality of second suction parts for adsorbing the packaging bag, the first gripping part is provided in a pair at both ends in the direction in which the plurality of first suction parts are arranged, and the second gripping part is provided in a pair at both ends in the direction in which the plurality of second suction parts are arranged, and the first robotic arm and the second robotic arm grip the packaging bag with the first gripping part and the second gripping part and maintain the opening of the packaging bag in an open state in order to remove items from the opened packaging bag.

[0009] The 3 The method for unpacking a packaging bag by the following steps include: bringing the first hand of the first robot arm into contact with the packaging bag from one side; bringing the second hand of the second robot arm into contact with the packaging bag from the other side, and holding the packaging bag together with the first hand; and unpacking the packaging bag, which is being held by the first and second hands, by moving a cutting device along the first or second hand and cutting it. The cutting device includes a cutting unit for cutting the packaging bag and a third robotic arm for moving the cutting unit. The first and second hands are formed to extend along the cutting direction of the packaging bag. In the step of gripping and holding the packaging bag, the first and second hands grip and hold the packaging bag with their longitudinal directions substantially parallel to each other. In the step of unpacking, the third robotic arm moves the cutting unit along the longitudinal direction of the first or second hand to cut the packaging bag. .

[0010] The 3In this method of unpacking a packaging bag, as described above, the packaging bag, which is held between the first and second hands, is unpacked by moving a cutting device along either the first or second hand to cut it. This allows the first and second hands to hold the packaging bag and retain the cut portion, so even if the packaging bag is made of a soft material such as film, it is possible to prevent the cut portion from slipping away from the cutting device. This provides a method for unpacking packaging bags that allows for easy unpacking. [Effects of the Invention]

[0011] According to this disclosure, the packaging bag can be easily opened as described above. [Brief explanation of the drawing]

[0012] [Figure 1] This is a perspective view showing a robot system according to one embodiment. [Figure 2] This is a block diagram showing the control configuration of a robot system according to one embodiment. [Figure 3] This is a first perspective view showing the first and second hands of a robot system according to one embodiment. [Figure 4] This is a second perspective view showing the first and second hands of a robot system according to one embodiment. [Figure 5] This is a first perspective view showing the hand of the third robot arm of a robot system according to one embodiment. [Figure 6] This is a second perspective view showing the hand of the third robot arm of a robot system according to one embodiment. [Figure 7] This figure illustrates the process of holding the cut portion of a packaging bag in a robotic system according to one embodiment. [Figure 8] This diagram illustrates the process of cutting the cutting portion of a packaging bag using a robot system according to one embodiment. [Figure 9]It is a diagram for explaining the process of opening the opening of the packing bag of the robot system according to an embodiment. [Figure 10] It is a perspective view for explaining the conveyance of the packing bag of the robot system according to an embodiment. [Figure 11] It is a perspective view for explaining the adsorption of the cut portion of the packing bag of the robot system according to an embodiment. [Figure 12] It is a perspective view for explaining the lifting of the cut portion of the packing bag of the robot system according to an embodiment. [Figure 13] It is a perspective view for explaining the holding of the cut portion of the packing bag of the robot system according to an embodiment. [Figure 14] It is a perspective view for explaining the cutting of the cut portion of the packing bag of the robot system according to an embodiment. [Figure 15] It is a perspective view for explaining the state after cutting the cut portion of the packing bag of the robot system according to an embodiment. [Figure 16] It is a perspective view for explaining the lifting of the cut portion after cutting the packing bag of the robot system according to an embodiment. [Figure 17] It is a perspective view for explaining the opening of the opening of the packing bag of the robot system according to an embodiment. [Figure 18] [[ID=2�]]It is a perspective view for explaining the gripping of the opening of the packing bag of the robot system according to an embodiment. [Figure 19] It is a perspective view for explaining the state in which the opening of the packing bag of the robot system is gripped. [Figure 20] It is a perspective view for explaining the cutting of one side surface of the packing bag of the robot system according to an embodiment. [Figure 21] It is a perspective view for explaining the cutting of the other side surface of the packing bag of the robot system according to an embodiment. [Figure 22] It is a diagram for explaining the process of gripping the opening of the packing bag of the robot system according to an embodiment. [Figure 23]This is a diagram illustrating the cutting process of the side of a packaging bag by a robotic system according to one embodiment. [Figure 24] This diagram illustrates the process of removing an object from a packaging bag using a robot system according to one embodiment. [Modes for carrying out the invention]

[0013] A robot system 100 according to one embodiment will be described with reference to Figures 1 to 24.

[0014] The robot system 100 unpacks the packaging bag 200 and removes the contents 300 from the packaging bag 200. As shown in Figure 1, the robot system 100 includes a dual-arm robot 10 with a first robot arm 11 and a second robot arm 12, a third robot arm 40, a control unit 70 (see Figure 2), and a transport unit 80.

[0015] The first robot arm 11 has a first hand 20 attached to its tip. The second robot arm 12 has a second hand 30 attached to its tip. The third robot arm 40 has a hand 50 attached to its tip.

[0016] The first robot arm 11 and the second robot arm 12 are mounted on a common base 13. The first robot arm 11 rotates around rotation axes A1 and A2 extending in the vertical direction, and moves in the vertical direction A4, moving the first hand 20 attached to its tip. The second robot arm 12 rotates around rotation axes A1 and A3 extending in the vertical direction, and moves in the vertical direction A5, moving the second hand 30 attached to its tip.

[0017] The third robot arm 40 rotates around a rotation axis A1 extending vertically, a rotation axis B2 extending perpendicular to rotation axis A1, a rotation axis B3 extending parallel to rotation axis B2, a rotation axis B4 extending perpendicular to rotation axis B3, a rotation axis B5 extending perpendicular to rotation axis B4, and a rotation axis B6 extending perpendicular to rotation axis B5, thereby moving the hand 50 provided at its tip.

[0018] The control unit 70 controls the operation of the dual-arm robot 10, which includes the first robot arm 11 and the second robot arm 12, and the third robot arm 40. The control unit 70 also controls the transport operation by the transport unit 80.

[0019] The transport unit 80 transports the items 300 contained in the packaging bag 200. The transport unit 80 includes, for example, a belt conveyor. The transport unit 80 also includes a holding unit 81, as shown in Figure 10. The holding unit 81 holds the packaging bag 200 transported by the transport unit 80 at the work position. The packaging bag 200 transported to the work position by the transport unit 80 is unpacked by the first robot arm 11, the second robot arm 12, and the third robot arm 40. The packaging bag 200 is made of a sheet-like material such as an aluminum sheet.

[0020] As shown in Figure 4, the first hand 20 includes a plurality of first suction parts 21. The first hand 20 also includes a pair of first gripping parts 22. The plurality of first suction parts 21 suction the packaging bag 200. The pair of first gripping parts 22 are provided at both ends in the direction in which the plurality of first suction parts 21 are arranged. Furthermore, as shown in Figures 3 and 4, the first hand 20 is switched between a state in which the first suction parts 21 are used and a state in which the first gripping parts 22 are used by rotating the first suction parts 21 and the first gripping parts 22. Specifically, the first hand 20 rotates around the rotation axis C1 to switch between a state in which the first suction parts 21 are used and a state in which the first gripping parts 22 are used.

[0021] The first suction part 21 is provided on the lower surface of the first hand 20. A negative pressure generating device is connected to the first suction part 21, and the negative pressure from the negative pressure generating device is used to attract the packaging bag 200.

[0022] Each of the pair of first gripping portions 22 includes a first one-sided gripping portion 22a positioned on the inside in the direction in which the pair of first gripping portions 22 are arranged, and a first other-sided gripping portion 22b positioned on the outside of the first one-sided gripping portion 22a. The first one-sided gripping portion 22a slides outward and the first other-sided gripping portion 22b rotates inward, thereby gripping the packaging bag 200 with the first one-sided gripping portion 22a and the first other-sided gripping portion 22b.

[0023] As shown in Figures 3 and 4, the second hand 30 includes a plurality of second suction parts 31. The second hand 30 also includes a pair of second gripping parts 32. The plurality of second suction parts 31 suction the packaging bag 200. The pair of second gripping parts 32 are provided at both ends in the direction in which the plurality of second suction parts 31 are arranged. The second hand 30 is switched between a state in which the second suction parts 31 are used and a state in which the second gripping parts 32 are used by rotating the second suction parts 31 and the second gripping parts 32. Specifically, the second hand 30 rotates around the rotation axis C2 to switch between a state in which the second suction parts 31 are used and a state in which the second gripping parts 32 are used.

[0024] The second suction section 31 is provided on the side of the second hand 30. A negative pressure generating device is connected to the second suction section 31, and the negative pressure from the negative pressure generating device is used to attract the packaging bag 200.

[0025] Each of the pair of second gripping portions 32 includes a second one-sided gripping portion 32a positioned on the inside in the direction in which the pair of second gripping portions 32 are arranged, and a second other-sided gripping portion 32b positioned on the outside of the second one-sided gripping portion 32a. The second one-sided gripping portion 32a slides outward and the second other-sided gripping portion 32b rotates inward, thereby gripping the packaging bag 200 with the second one-sided gripping portion 32a and the second other-sided gripping portion 32b.

[0026] As shown in Figure 7, the first hand 20 contacts the packaging bag 200 from one side. The second hand 30 then contacts the packaging bag 200 from the other side, and together with the first hand 20, grips and holds the packaging bag 200. Specifically, the first hand 20 and the second hand 30 are formed to extend along the cutting direction of the packaging bag 200, and grip and hold the packaging bag 200 with their longitudinal directions substantially parallel to each other.

[0027] Furthermore, as shown in Figure 3, the second hand 30 has a groove 33 into which the cutting portion 51 fits. The groove 33 has a groove-shaped recess. The groove 33 is located below the cutting position of the packaging bag 200, and the cutting portion 51 fits into it when the packaging bag 200 is cut.

[0028] As shown in Figures 5 and 6, the hand 50 provided on the third robot arm 40 includes a cutting section 51 and a cut end suction section 52. The cutting section 51 cuts the cut portion 210 of the packaging bag 200. The cutting section 51 has a rotating blade 51a, a guide section 51b, and a pressing section 51c.

[0029] The rotating blade 51a cuts the cutting portion 210 of the packaging bag 200, which is moved by the third robot arm 40 while being driven to rotate. As shown in Figure 8, the guide portion 51b fits into the groove portion 33 of the second hand 30, which has a groove-shaped recess. The pressing portion 51c presses the packaging bag 200 against the outer portion of the groove portion 33.

[0030] As shown in Figure 6, the end-suction section 52 adsorbs the cut end 211 (see Figure 8) of the packaging bag 200 that has been cut by the cutting section 51. A negative pressure generating device is connected to the end-suction section 52, and the negative pressure from the negative pressure generating device adsorbs the cut end 211 of the packaging bag 200.

[0031] As shown in Figure 24, the third hand 60 removes the object 300 from the opened packaging bag 200. The third hand 60 is attached to the tip of the third robot arm 40 in place of the hand 50 which has the cutting section 51. In other words, the third robot arm 40 moves the third hand 60 with the third hand 60 attached in place of the cutting section 51 to remove the object 300 from the opened packaging bag 200. Specifically, the third robot arm 40 opens the packaging bag 200 with the cutting section 51, then removes the hand 50 which includes the cutting section 51, and attaches the third hand 60. Then, the third hand 60 removes the object 300 from the packaging bag 200.

[0032] In this embodiment, as shown in Figure 8, the cutting unit 51 moves along the second hand 30 to cut and unpack the packaging bag 200, which is being held between the first hand 20 and the second hand 30. Specifically, the third robot arm 40 moves the cutting unit 51 along the longitudinal direction of the second hand 30 to cut the packaging bag 200.

[0033] Furthermore, the third robot arm 40 moves the cutting section 51 along the second hand 30 while the rotating blade 51a of the cutting section 51 is rotating, thereby cutting the packaging bag 200.

[0034] Furthermore, in this embodiment, as shown in Figure 9, after the packaging bag 200 is cut, the first robot arm 11 and the second robot arm 12, with the first suction part 21 suctioning one side of the packaging bag 200 and the second suction part 31 suctioning the other side of the packaging bag 200, move relative to each other so as to separate the first suction part 21 and the second suction part 31, thereby opening the cut opening of the packaging bag 200.

[0035] Furthermore, as shown in Figure 22, the first robot arm 11 and the second robot arm 12 grip the packaging bag 200 with the first gripping part 22 and the second gripping part 32, and maintain the opening of the packaging bag 200 in an open state in order to remove the item 300 from the opened packaging bag 200.

[0036] Furthermore, as shown in Figures 20 and 21, with the packaging bag 200 being held by the first gripping part 22 and the second gripping part 32, the third robot arm 40 moves the cutting part 51 along the vertical direction to cut the side portion of the packaging bag 200, which has been opened and its opening widened after unpacking.

[0037] (Unpacking the packaging bag) The unpacking process for the packaging bag 200 will be explained with reference to Figures 7 to 24.

[0038] As shown in Figures 7(A) and 10, the first robot arm 11 positions the first hand 20 above the cut portion 210 of the packaging bag 200. As shown in Figures 7(B) and 11, the first robot arm 11 moves the first hand 20 to bring it into contact with the cut portion 210 of the packaging bag 200. The first suction part 21 of the first hand 20 also suctions the cut portion 210.

[0039] As shown in Figures 7(C) and 12, the first robot arm 11 moves the first hand 20 upward to lift the cut portion 210 of the packaging bag 200. At the same time, the second robot arm 12 moves the second hand 30 and inserts the second hand 30 below the cut portion 210. As shown in Figures 7(D) and 13, the first robot arm 11 moves the first hand 20 downward to grip and hold the cut portion 210 of the packaging bag 200 between the first hand 20 and the second hand 30.

[0040] As shown in Figure 8(A), the third robot arm 40 lowers the cutting section 51 to move it to the cutting position of the packaging bag 200. As shown in Figure 8(B), the third robot arm 40 moves the cutting section 51 so that the guide section 51b of the cutting section 51 is aligned with the groove 33 of the second hand 30.

[0041] As shown in Figures 8(C1), 8(C2), and 14, the third robot arm 40 moves the cutting unit 51 along the groove 33 of the second hand 30. The rotating blade 51a of the cutting unit 51 is rotated to cut the cutting portion 210 of the packaging bag 200. Note that Figure 8(C1) is a view from the side, and Figure 8(C2) is a view from above. At this time, the pressing unit 51c presses the packaging bag 200 against the outer part of the groove 33. Once the cutting portion 210 has been cut, as shown in Figures 8(D) and 15, the third robot arm 40 moves the cutting unit 51 upward. Then, the third robot arm 40 moves the end suction unit 52. The end suction unit 52 then suctions the cut end 211 of the packaging bag 200 that has been cut by the cutting unit 51. Subsequently, the third robot arm 40 moves the end-suction unit 52, and the cut end 211 is discarded into the waste unit 90.

[0042] As shown in Figures 9(A) and 16, the first robot arm 11 moves the first hand 20 upward to lift the cut portion 210 of the packaging bag 200. The second robot arm 12 also moves the second hand 30 upward. As shown in Figure 9(B), the second robot arm 12 moves the second hand 30 upward and the second suction part 31 of the second hand 30 picks up the packaging bag 200 from the opposite side of the first hand 20.

[0043] As shown in Figures 9(C) and 17, the first robot arm 11 moves the first hand 20, which is attached to one side of the packaging bag 200 by the first suction part 21. The second robot arm 12 moves the second hand 30, which is attached to the other side of the packaging bag 200 by the second suction part 31. In other words, the first robot arm 11 and the second robot arm 12 move the first hand 20 and the second hand 30, respectively, to separate the first suction part 21 and the second suction part 31. This opens the opening of the cut packaging bag 200.

[0044] At this time, the imaging unit may perform imaging to recognize the state of the opening of the packaging bag 200.

[0045] Subsequently, the suction of the packaging bag 200 by the first suction part 21 and the second suction part 31 is released. The first suction part 21 and the first gripping part 22 of the first hand 20 are rotated to switch from the state in which the first suction part 21 is used to the state in which the first gripping part 22 is used. The second suction part 31 and the second gripping part 32 of the second hand 30 are rotated to switch from the state in which the second suction part 31 is used to the state in which the second gripping part 32 is used.

[0046] As shown in Figures 18 and 22(A), the first robot arm 11 moves the first hand 20 above the packaging bag 200. The second robot arm 12 also moves the second hand 30 above the packaging bag 200. As shown in Figure 22(B), the first gripping portion 22a of the first hand 20 is slid outward. This positions the first gripping portion 22a closer to the inside of the packaging bag 200. Similarly, the second gripping portion 32a of the second hand 30 is slid outward. This positions the second gripping portion 32a closer to the inside of the packaging bag 200.

[0047] As shown in Figures 19 and 22(C), the first other gripping portion 22b of the first hand 20 is rotated inward. This causes the packaging bag 200 to be gripped between the first gripping portion 22a and the first other gripping portion 22b. Similarly, the second other gripping portion 32b of the second hand 30 is rotated inward. This causes the packaging bag 200 to be gripped between the second gripping portion 32a and the second other gripping portion 32b.

[0048] As shown in Figures 20 and 23(A) to (C), with the packaging bag 200 being held by the first gripping part 22 and the second gripping part 32, the cutting part 51 is moved by the third robot arm 40 to cut one side of the packaging bag 200. As shown in Figures 21 and 23(A) to (C), with the packaging bag 200 being held by the first gripping part 22 and the second gripping part 32, the cutting part 51 is moved by the third robot arm 40 to cut the other side of the packaging bag 200. At this time, the side of the packaging bag 200 is cut to a position above the contents 300 inside the packaging bag 200.

[0049] Subsequently, the hand 50 is removed from the third robot arm 40, and the third hand 60 is attached to the third robot arm 40 in its place.

[0050] As shown in Figure 24(A), the third robot arm 40 moves the third hand 60 above the opening of the packaging bag 200. As shown in Figure 24(B), the third robot arm 40 moves the third hand 60 downward, bringing the third hand 60 closer to the object 300 contained in the packaging bag 200.

[0051] As shown in Figure 24(C), the pair of gripping parts 61 of the third hand 60 are moved closer together to grip the object 300. As shown in Figure 24(D), with the object 300 being gripped by the pair of gripping parts 61, the third robot arm 40 moves the third hand 60 upward to remove the object 300 from the packaging bag 200.

[0052] Subsequently, the packaging bag 200 from which the object 300 has been removed is carried to the disposal unit 90 by the first robot arm 11 and the second robot arm 12 while being held by the first gripping unit 22 and the second gripping unit 32, and then disposed of.

[0053] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0054] In this embodiment, as described above, the packaging bag 200, which is held between the first hand 20 and the second hand 30, is cut and unpacked by the cutting portion 51, which moves along the second hand 30. As a result, the first hand 20 and the second hand 30 can hold the packaging bag 200 and retain the cutting portion 210, so even if the packaging bag 200 is made of a soft material such as film, it is possible to prevent the cutting portion 210 from slipping away from the cutting portion 51. This makes it possible to easily unpack the packaging bag 200.

[0055] Furthermore, in this embodiment, as described above, the first hand 20 and the second hand 30 are formed to extend along the cutting direction of the packaging bag 200, and they hold the packaging bag 200 by sandwiching it with their longitudinal directions substantially parallel to each other. As a result, the first hand 20 and the second hand 30 can stably hold the cut portion 210 of the packaging bag 200, so that the cut portion 210 can be effectively prevented from slipping away from the cut portion 51.

[0056] Furthermore, in this embodiment, as described above, the third robot arm 40 moves the cutting section 51 along the longitudinal direction of the second hand 30 to cut the packaging bag 200. This allows the third robot arm 40 to move the cutting section 51 and easily cut the packaging bag 200 into the desired shape.

[0057] Furthermore, in this embodiment, as described above, the second hand 30 has a groove 33 into which the cutting portion 51 fits. This allows the blade of the cutting portion 51 to escape into the groove 33 of the second hand 30 when cutting the packaging bag 200, thereby preventing the blade of the cutting portion 51 from contacting the second hand 30. Also, since the cutting portion 51 fits into the groove 33 of the second hand 30, it is possible to prevent the cutting portion 51 from contacting the items 300 contained in the packaging bag 200. This prevents damage to the items 300 contained in the packaging bag 200.

[0058] Furthermore, in this embodiment, as described above, the groove portion 33 has a groove-shaped recess, and the cutting portion 51 has a guide portion 51b that fits into the groove-shaped recess and a pressing portion 51c that presses the packaging bag 200 against the outer portion of the groove portion 33. This allows the guide portion 51b of the cutting portion 51 to move along the groove-shaped recess of the second hand 30. Also, since the pressing portion 51c of the cutting portion 51 can press the packaging bag 200 against the outer portion of the groove portion 33 of the second hand 30, it is possible to prevent the packaging bag 200 from slipping away when the cutting portion 51 cuts it. As a result, the packaging bag 200 can be cut more reliably.

[0059] Furthermore, in this embodiment, as described above, the third robot arm 40 is equipped with a cut end suction unit 52 that is attached to the third robot arm 40 and suctions the cut end 211 of the packaging bag 200 cut by the cutting unit 51. This allows the cut end 211 of the packaging bag 200 cut by the cutting unit 51 to be suctioned by the cut end suction unit 52, transported, and disposed of.

[0060] Furthermore, in this embodiment, as described above, the third robot arm 40 moves the cutting section 51 along the vertical direction of the packaging bag 200 after it has been unpacked and the opening has been widened, thereby cutting the side of the packaging bag 200. By cutting the side of the packaging bag 200, the opening of the packaging bag 200 can be widened even further, making it easy to remove the contents 300 from the packaging bag 200.

[0061] Furthermore, in this embodiment, as described above, the third robot arm 40 moves the third hand 60 with the third hand 60 attached in place of the cutting unit 51 to remove the object 300 from the opened packaging bag 200. As a result, the object 300 can be removed from the packaging bag 200 by the third robot arm 40 which moves the cutting unit 51, eliminating the need for a separate device to remove the object 300 from the packaging bag 200. Consequently, the system configuration can be simplified.

[0062] Furthermore, in this embodiment, as described above, the cutting unit 51 has a rotating blade 51a, and the third robot arm 40 moves the cutting unit 51 along the second hand 30 while the rotating blade 51a of the cutting unit 51 is rotating, thereby cutting the packaging bag 200. As a result, the packaging bag 200 is cut by the rotating blade 51a, making it easy and reliable to cut the packaging bag 200.

[0063] Furthermore, in this embodiment, as described above, the first hand 20 has a first suction part 21 for suctioning the packaging bag 200. The second hand 30 has a second suction part 31 for suctioning the packaging bag 200. After the packaging bag 200 is cut, the first robot arm 11 and the second robot arm 12, with the first suction part 21 suctioning one side of the packaging bag 200 and the second suction part 31 suctioning the other side of the packaging bag 200, move relative to each other so as to separate the first suction part 21 and the second suction part 31, thereby opening the opening of the cut packaging bag 200. As a result, one side and the other side of the packaging bag 200 are suctioned and held, so the packaging bag 200 can be reliably held even if there is no gap between one side and the other side of the packaging bag 200 after it has been cut and unpacked. Furthermore, since the opening of the opened packaging bag 200 can be opened using the first hand 20 and the second hand 30, which grip and hold the packaging bag 200 when cutting, there is no need to provide a separate device for opening the opening of the packaging bag 200.

[0064] Furthermore, in this embodiment, as described above, the first hand 20 has a first gripping part 22 for gripping the packaging bag 200. The second hand 30 has a second gripping part 32 for gripping the packaging bag 200. The first robot arm 11 and the second robot arm 12 grip the packaging bag 200 with the first gripping part 22 and the second gripping part 32, and maintain the opening of the packaging bag 200 in an open state in order to remove the item 300 from the opened packaging bag 200. As a result, the packaging bag 200 can be gripped and held by the first gripping part 22 and the second gripping part 32 in an open state, so the packaging bag 200 can be held more reliably than when it is held by suction. As a result, the opening of the packaging bag 200 can be reliably maintained in an open state.

[0065] Furthermore, in this embodiment, as described above, the first hand 20 has a plurality of first suction parts 21 for adsorbing the packaging bag 200. The second hand 30 has a plurality of second suction parts 31 for adsorbing the packaging bag 200. A pair of first gripping parts 22 are provided at both ends in the direction in which the plurality of first suction parts 21 are arranged. A pair of second gripping parts 32 are provided at both ends in the direction in which the plurality of second suction parts 31 are arranged. As a result, the plurality of first suction parts 21 and the plurality of second suction parts 31 can reliably adsorb and hold the packaging bag 200 when opening the opening of the packaging bag 200. In addition, since the pair of first gripping parts 22 and the pair of second gripping parts 32 can hold the four corners of the packaging bag 200, the opening of the packaging bag 200 can be widened and held in a rectangular shape.

[0066] Furthermore, in this embodiment, as described above, the first hand 20 can be switched between a state in which the first suction part 21 is used and a state in which the first gripping part 22 is used by rotating the first suction part 21 and the first gripping part 22. The second hand 30 can be switched between a state in which the second suction part 31 is used and a state in which the second gripping part 32 is used by rotating the second suction part 31 and the second gripping part 32. As a result, the state in which the first hand 20 is used and the state in which the first gripping part 22 is used can be easily switched by rotating the first suction part 21 and the first gripping part 22. Similarly, the state in which the second hand 30 is used and the state in which the second gripping part 32 is used can be easily switched by rotating the second suction part 31 and the second gripping part 32.

[0067] Furthermore, in this embodiment, as described above, each of the pair of first gripping portions 22 includes a first one-sided gripping portion 22a positioned on the inside in the direction in which the pair of first gripping portions 22 are arranged, and a first other-sided gripping portion 22b positioned on the outside of the first one-sided gripping portion 22a. The first one-sided gripping portion 22a slides outward and the first other-sided gripping portion 22b rotates inward, thereby gripping the packaging bag 200 with the first one-sided gripping portion 22a and the first other-sided gripping portion 22b. Each of the pair of second gripping parts 32 includes a second one-sided gripping part 32a positioned on the inside in the direction in which the pair of second gripping parts 32 are arranged, and a second other-sided gripping part 32b positioned on the outside of the second one-sided gripping part 32a. The second one-sided gripping part 32a slides outward and the second other-sided gripping part 32b rotates inward, thereby gripping the packaging bag 200 with the second one-sided gripping part 32a and the second other-sided gripping part 32b. As a result, by sliding the first one-sided gripping part 22a, the packaging bag 200 can be brought into contact with the first one-sided gripping part 22a even if the position of the opened packaging bag 200 is not constant. Furthermore, by rotating the first other-sided gripping part 22b inward, the packaging bag 200 can be held by being sandwiched between the first one-sided gripping part 22a and the first other-sided gripping part 22b. Furthermore, by sliding the second gripping portion 32a, the packaging bag 200 can be brought into contact with the second gripping portion 32a even if the position of the opened packaging bag 200 is not constant. Also, by rotating the second gripping portion 32b inward, the packaging bag 200 can be held by being sandwiched between the second gripping portion 32a and the second gripping portion 32b.

[0068] Furthermore, in this embodiment, as described above, the first robot arm 11 and the second robot arm 12 are a dual-arm robot 10 mounted on a common base 13. This allows the first robot arm 11 and the second robot arm 12 to be mounted on a common base 13, thus simplifying the system configuration compared to when they are mounted on separate bases. In addition, it is easy to control the operation of the first robot arm 11 and the second robot arm 12 so that they do not interfere with each other, allowing the first robot arm 11 and the second robot arm 12 to efficiently perform work on the packaging bag 200.

[0069] (modified version) It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the embodiments above, and includes all modifications within the meaning and scope equivalent to the claims.

[0070] For example, the above embodiment shows an example in which the cutting part is moved by a third robot arm to cut the packaging bag, but the disclosure is not limited thereto. In this disclosure, the cutting part may be moved by a moving mechanism that moves along a linear axis, etc., without using a robot arm, to cut the packaging bag.

[0071] Furthermore, although the above embodiment shows an example in which the cutting portion is moved along the second hand to cut the packaging bag, the present disclosure is not limited thereto. In this disclosure, the cutting portion may be moved along the first hand to cut the packaging bag. In this case, the groove into which the cutting portion enters may be provided in the first hand.

[0072] Furthermore, while the above embodiment shows an example in which a third hand is attached to the third robot arm in place of the cutting unit, and an item is removed from the packaging bag by the third hand, the present disclosure is not limited to this. In this disclosure, an item may be removed from the packaging bag by a device separate from the third robot arm that moves the cutting unit. Alternatively, the item may be removed from the packaging bag by moving the third hand with the third robot arm without removing the cutting unit from the third robot arm.

[0073] Furthermore, although the above embodiment shows an example of a dual-arm robot in which the first robot arm and the second robot arm are mounted on a common base, the disclosure is not limited to this. In this disclosure, the first robot arm and the second robot arm may be separate robot arms mounted on separate bases. Also, the first robot arm and the second robot arm may be vertical articulated robots.

[0074] Furthermore, in the above embodiment, an example was shown in which the first hand and the second hand are provided with a first gripping portion and a second gripping portion, respectively, and the packaging bag is gripped by the first gripping portion and the second gripping portion to maintain the opening of the packaging bag in an enlarged state. However, the present disclosure is not limited to this. In this disclosure, the packaging bag may be held in an enlarged state by adsorption using the first suction portion of the first hand and the second suction portion of the second hand. In this case, gripping portions may not be provided.

[0075] Furthermore, although the above embodiment shows an example in which the packaging bag is cut by rotating the rotating blade of the cutting unit, the present disclosure is not limited thereto. In this disclosure, the cutting unit may include a non-rotating blade, and the packaging bag may be cut by the non-rotating blade. Alternatively, the cutting unit may cut the packaging bag by irradiating it with a laser. [Explanation of Symbols]

[0076] 11. First robotic arm 12. Robot Arm No. 21 20 First Hand 21 1st suction part 22 1st grip part 22a First grip part 22b First other grip part 30 Second Hand 31 2nd suction part 32 Second grip part 32a Second one grip part 32b Second other grip part 33 Groove 40. Third robotic arm 51 Cut section 51a Rotary blade 51b Guide section 51c Pressing part 52 Incisal suction part 60 Third Hand 100 Robot Systems 200 packing bags 300 items

Claims

1. A first robotic arm including a first hand that contacts a packaging bag containing an object from one side, A second robot arm including a second hand that contacts the packaging bag from the other side and holds the packaging bag together with the first hand, The device comprises a cutting device that moves along the first hand or the second hand to cut and unpack the packaging bag, which is held between the first hand and the second hand, The cutting device includes a cutting unit for cutting the packaging bag and a third robotic arm for moving the cutting unit. The first hand and the second hand are formed to extend along the cutting direction of the packaging bag, and hold the packaging bag by sandwiching it with their longitudinal directions substantially parallel to each other. The robotic system includes a third robotic arm that moves the cutting section along the longitudinal direction of the first hand or the second hand to cut the packaging bag.

2. A first robot arm including a first hand that contacts a packaging bag containing an object from one side, A second robot arm including a second hand that contacts the packaging bag from the other side and holds the packaging bag together with the first hand, The device comprises a cutting device that moves along the first hand or the second hand to cut and unpack the packaging bag, which is held between the first hand and the second hand, The first hand has a first gripping portion for gripping the packaging bag and a plurality of first suction portions for adsorbing the packaging bag. The second hand has a second gripping portion for gripping the packaging bag and a plurality of second suction portions for adsorbing the packaging bag. The first gripping portion is provided in pairs at both ends in the direction in which the plurality of first suction portions are arranged. The second gripping portion is provided in pairs at both ends in the direction in which the plurality of second suction portions are arranged. A robotic system comprising a first robotic arm and a second robotic arm, which grasp the packaging bag with the first gripping portion and the second gripping portion, and maintain the opening of the packaging bag in an open state in order to remove an object from the opened packaging bag.

3. The robot system according to claim 1, wherein one of the first hand and the second hand has a groove into which the cutting portion enters.

4. The aforementioned groove portion has a groove-shaped recess, The robot system according to claim 3, wherein the cutting portion has a guide portion that fits into the groove-shaped recess and a pressing portion that presses the packaging bag against the outer portion of the groove.

5. The robot system according to any one of claims 1, 3, or 4, further comprising a cut end suction unit attached to the third robot arm for suctioning the cut end of the packaging bag cut by the cutting unit.

6. The robot system according to any one of claims 1, 3 to 5, wherein the third robot arm moves the cutting part along the vertical direction with respect to the packaging bag, which has been opened and its opening widened, to cut the side portion of the packaging bag.

7. The robot system according to any one of claims 1, 3 to 6, wherein the third robot arm has a third hand attached in place of the cutting part, and moves the third hand to remove an object from the opened packaging bag.

8. The cutting section has a rotating blade, The robot system according to any one of claims 1, 3 to 7, wherein the third robot arm moves the cutting section along the first hand or the second hand while the rotating blade of the cutting section is rotating, thereby cutting the packaging bag.

9. The first hand has a first suction part that adsorbs the packaging bag, The second hand has a second suction part that adsorbs the packaging bag, The robot system according to any one of claims 1, 3 to 8, wherein, after the packaging bag has been cut, the first robot arm and the second robot arm, with the first suction part suctioning one side of the packaging bag and the second suction part suctioning the other side of the packaging bag, move relative to each other so as to separate the first suction part and the second suction part to open the cut opening of the packaging bag.

10. The first hand has a first gripping portion for gripping the packaging bag, The second hand has a second gripping portion for gripping the packaging bag, The robot system according to any one of claims 1, 3 to 9, wherein the first robot arm and the second robot arm grasp the packaging bag with the first gripping portion and the second gripping portion, and maintain the opening of the packaging bag in an open state in order to remove an object from the opened packaging bag.

11. The first hand has a plurality of first suction parts that adsorb the packaging bag, The second hand has a plurality of second suction parts that adsorb the packaging bag, The first gripping portion is provided in pairs at both ends in the direction in which the plurality of first suction portions are arranged. The robot system according to claim 10, wherein the second gripping portion is provided in pairs at both ends in the direction in which the plurality of second suction portions are arranged.

12. The first hand is configured such that the first suction part and the first gripping part rotate to switch between a state in which the first suction part is used and a state in which the first gripping part is used. The robot system according to claim 2 or 11, wherein the second hand has a second suction part and a second gripping part that rotate to switch between a state in which the second suction part is used and a state in which the second gripping part is used.

13. Each of the pair of first gripping portions includes a first one-sided gripping portion positioned on the inside in the direction in which the pair of first gripping portions are arranged, and a first other-sided gripping portion positioned on the outside of the first one-sided gripping portion, and the first one-sided gripping portion slides outward and the first other-sided gripping portion rotates inward, thereby gripping the packaging bag with the first one-sided gripping portion and the first other-sided gripping portion. The robot system according to claim 11 or 12, wherein each of the pair of second gripping portions includes a second one-hand gripping portion positioned on the inside in the direction in which the pair of second gripping portions are arranged, and a second other-hand gripping portion positioned on the outside of the second one-hand gripping portion, and the second one-hand gripping portion slides outward and the second other-hand gripping portion rotates inward, thereby gripping the packaging bag with the second one-hand gripping portion and the second other-hand gripping portion.

14. The robot system according to any one of claims 1 to 13, wherein the first robot arm and the second robot arm are a dual-arm robot mounted on a common base.

15. The first step of bringing the first hand of the first robot arm into contact with the packaging bag containing the object from one side, The steps include bringing the second hand of the second robot arm into contact with the packaging bag from the other side, and holding the packaging bag together with the first hand, The process includes the step of unpacking the packaging bag, which is held between the first hand and the second hand, by moving a cutting device along the first hand or the second hand to cut it, The cutting device includes a cutting unit for cutting the packaging bag and a third robotic arm for moving the cutting unit. The first hand and the second hand are formed to extend along the cutting direction of the packaging bag, In the step of gripping and holding the packaging bag, the first hand and the second hand grip and hold the packaging bag with their longitudinal directions substantially parallel to each other. A method for unpacking a packaging bag, wherein in the unpacking step, the third robot arm moves the cutting part along the longitudinal direction of the first hand or the second hand to cut the packaging bag.

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