Unpacking device and unpacking system

Abstract

The present invention comprises: a supporting means that is provided with a supporting member which supports an article stack from below and which is provided so as to be movable in the vertical direction; a pressing means that is provided with a pressing member which is brought close to the article stack from above and which limits disturbance to the stack when a binding member is removed; a cutting means that is provided with a cutting member which is capable of moving toward and away from a side surface of the article stack and which cuts the binding member; a holding means that is provided with a holding member which holds the binding member to be cut; and a control unit that controls the supporting means, the pressing means, the cutting means, and the holding means.

Description

Unpacking device and unpacking system

[0001] The present disclosure relates to an unpacking device and an unpacking system.

[0002] Conventionally, trays containing electronic components are transported in a stacked state bound by binding members. The transported stacked trays are supplied to an arrival area. After arrival, the binding members are removed from the stacked trays, the trays are separated one by one from the stacked trays, and the electronic components contained in the trays are then removed. The binding members are removed by cutting them using a cutting unit. The cut binding members are discarded in a recovery section. The binding members bind the components in a first direction and a second direction perpendicular to the first direction. The binding members may also bind multiple locations spaced apart in the same direction. To remove the cut binding member, hold a portion of the binding member and move it as if pulling it out.

[0003] Japanese Patent Application Laid-Open No. 2021-095138

[0004] However, when removing the cut binding member by pulling it out, the cut end of the binding member may move irregularly, and the irregularly moving cut end may become tangled in the device or tray. If the cut end becomes tangled in part of the device, the cut member cannot be removed, and the device must be stopped. Furthermore, if the cut end of the binding member becomes tangled in the tray, there is a risk that the stacked trays will collapse. Furthermore, the irregular movement of the cut end can be reduced by slowing down the movement speed when pulling out the binding member, but this reduces work efficiency, leaving room for improvement in this area.

[0005] The present disclosure provides an unpacking device and an unpacking system that can improve the efficiency of unpacking packaged products that are bound with binding members.

[0006] In order to solve the above problems, the present disclosure employs the following aspects: (1) An unpacking device according to one aspect of the present disclosure is an unpacking device that unpacks a stacked product at an unpacking position, in which a plurality of individual trays, each containing an item, are stacked and packaged with a binding member, and includes: a support means that supports the stacked product from below and includes a support member that is movable in the vertical direction; a pressing means that includes a pressing member that suppresses disturbance of the stacked product when the binding member is removed; a cutting means that moves toward and away from a side surface of the stacked product and includes a cutting member that cuts the binding member; and a holding means that includes a holding member that holds the binding member to be cut.

[0007] According to this aspect, the pressing member of the pressing means is brought from above toward the stacked products packaged with binding members supported from below by the support members of the support means, and then the cutting member is brought toward the side of the stacked products to cut the binding members. Since the binding members packaging the stacked products are supported by the holding members of the holding means, the movement of the cut binding members is suppressed, preventing irregular movement of the cut ends of the binding members. This prevents problems such as the cut ends of the binding members becoming tangled in parts of the device, making it impossible to remove the cut binding members, and problems such as the cut ends of the binding members becoming tangled in parts of the stacked products, causing the stacked products to collapse, thereby improving work efficiency.

[0008] An unpacking system according to another aspect of the present disclosure is an unpacking system equipped with the unpacking device described above, and includes the unpacking device, a separation waiting means for waiting the stacked product from which the binding member has been removed, a separation means for separating the individual trays from the stacked product waiting in the separation waiting means, and a guide means for guiding the sides of the individual trays separated by the separation means.

[0009] According to this aspect, the trays can be separated one by one from the stack of trays from which the binding member has been removed. Effect of disclosure

[0010] According to the unpacking device and unpacking system according to the aspects of the present disclosure, it is possible to improve the efficiency of unpacking packaged products that are bound with binding members.

[0011] 8 is a plan view showing the overall configuration of a packaging and unpacking device according to an embodiment; FIG. 9 is a perspective view showing a series of operations for stacking and packaging a plurality of components to form a first laminate; FIG. 10 is a perspective view showing a series of operations for unpacking the packaged first laminate to form a plurality of components; FIG. 11 is a perspective view showing the configuration of the packaging and unpacking device; FIG. 12 is a perspective view showing the configuration of a first conveying device; FIG. 13 is a perspective view showing the configuration of a collecting and separating section; FIG. 14 is a perspective view showing an input / output transfer mechanism of a laminate input / output section; FIG. 15 is a perspective view showing an input / output port of the laminate input / output section; FIG. 16 is a perspective view of the input / output port shown in FIG. 10 with the outer wall omitted; FIG. 17 is a perspective view of the packaging section as seen from the rear, opposite the second transfer device side; FIG. 18 is a perspective view of the packaging section as seen from the front; FIG. 19 is a perspective view showing the configuration of the unpacking section; FIG. 19 is a perspective view of the conveying means and supporting means of the unpacking section as seen obliquely from above; FIG. 19 is a perspective view of the supporting means as seen obliquely from below; FIG. 19 is a perspective view of the pressing means as seen obliquely from above; FIG. 19 is a perspective view of a pressing portion main body of the pressing means as seen obliquely from below; FIG. 19 is a plan view of the cutting means as seen from above; FIG. 19 is a perspective view of the holding means as seen obliquely from above; FIG. 19 is a side view of a pressing portion of the pressing means; FIG. 19 is a view showing the operation flow of the pressing means; FIG. 19 is a view showing the operation flow of the pressing means. 21B is an enlarged view of the pressing portion shown in parts I and II of FIG. 21B; FIG. 22 is an enlarged view of the main parts of parts III and IV shown in FIG. 22; FIG. 23 is a plan view seen from above for explaining the cutting position of the support means; FIG. 24 is an enlarged view of the pressing portion shown in parts I and II of FIG. 21B; FIG. 25 is an enlarged view of the main parts of parts III and IV shown in FIG. 22; FIG. 26 is a plan view seen from above for explaining the cutting position of the support means;

[0012] A packaging and unpacking device and a packaging and unpacking method according to embodiments of the present disclosure will be described with reference to the drawings. In the following embodiments and variations, corresponding components may be designated by the same reference numerals, and their description may be omitted. In the following description, expressions indicating relative or absolute arrangements, such as "parallel," "orthogonal," "center," and "coaxial," not only strictly refer to such arrangements, but also refer to a state in which the two surfaces are relatively displaced by an angle or distance to a degree that allows tolerance or the same function to be obtained. In this embodiment, "facing" does not only refer to cases in which the orthogonal directions (normal directions) of the two surfaces are aligned with each other, but also includes cases in which the orthogonal directions intersect.

[0013] FIG. 1 is a plan view showing the overall configuration of a packaging and unpacking apparatus 1. As shown in FIG. 1, the packaging and unpacking apparatus 1 is an apparatus that has both a packaging function and an unpacking function for laminated products 100 (100A, 100B). Here, the laminated product 100 includes a first laminated product 100A that is in a standalone state packaged with a strip-shaped binding member 11, and a second laminated product 100B that is in an unpackaged state and does not include the binding member 11 (see FIG. 2). In the following description, the laminated product 100 will be referred to as the first laminated product 100A or the second laminated product 100B as needed.

[0014] [Laminated Product 100] First, the laminated product 100 to be packaged and unpacked by the packaging and unpacking device 1 will be described. FIG. 2 is a perspective view showing a series of operations for stacking and packing multiple components 10 to form a first laminated product 100A. FIG. 3 is a perspective view showing a series of operations for unpacking the packaged first laminated product 100A to obtain multiple components 10 (target products). The laminated product 100 (100A, 100B) shows multiple components 10 stacked together. The components 10 each include a housing body 101 for housing electronic components (e.g., chips) that are rectangular in plan view, a storage tray 102 equipped with the housing body 101, and a cover 103 that covers the housing body 101. Two types of covers 103 are used: a first cover 103A used during transportation within a housing case 12 (described later), and a second cover 103B used during packaging.

[0015] In the following description, the direction along the short side of the component 10 and the laminated product 100 is referred to as the lateral direction X1 (first direction), and the direction along the longitudinal direction is referred to as the longitudinal direction X2 (second direction). That is, the component 10 (storage tray 102, laminated product 100) has a first length in the lateral direction X1 and a second length in the longitudinal direction X2 that is longer than the first length.

[0016] Before packaging, the multiple components 10 are stored in a storage case 12, arranged one above the other in a vertical direction. The storage case 12 is a cubic box shape having length, width, and depth, with an opening 12a formed on one side for the components 10 to enter and exit. A lid 121 can be attached and detached to the opening 12a. Inside the storage case 12, multiple partitions 122 extending horizontally define areas for storing each component 10. The storage case 12 can be transported with the lid 121 closed.

[0017] Next, the operation of stacking and packaging multiple components 10 stored in the storage case 12 to form the first laminate 100A will be described with reference to Figure 2. First, in operation S11, the lid 121 of the storage case 12 is opened and the multiple stored components 10 are removed. Then, in operation S12, the first cover 103A is removed from the storage body 101 for each component 10, and in operation S13, the second cover 103B is attached. That is, the first cover 103A of the component 10 removed from the storage case 12 is replaced with the second cover 103B.

[0018] Then, in operation S14, multiple components 10 are stacked, and the stacked components 10 (second laminate 100B) are sandwiched between upper and lower base cover plates 104A, 104B. The base cover plates 104A, 104B each have a rectangular shape that is approximately the same as the shape of the components 10 in a plan view. The upper cover plate 104A is placed on top of the second laminate 100B. The lower cover plate 104B is placed below the second laminate 100B. In the following description, the upper and lower base cover plates 104A, 104B may be referred to as the second laminate 100B.

[0019] Thereafter, in operation S15, the second laminate 100B is bound with the binding member 11 to form the first laminate 100A, completing the series of operations. Here, the binding member 11 that binds in the short-side direction X1 is referred to as the first binding member 11A, and the binding member 11 that binds in the long-side direction X2 is referred to as the second binding member 11B. In this embodiment, the second laminate 100B is bound at three locations, the center and each end, in the long-side direction X2, with the binding member 11 (first binding member 11A), and at one location in the center in the short-side direction X1 with the binding member 11 (second binding member 11B).

[0020] Next, the operation of unpacking the first laminate 100A and storing the separated components 10 in the storage case 12 will be described with reference to FIG. 3 . First, in operation S21, the binding members 11 (11A, 11B) of the first laminate 100A are cut and removed. Then, in operation S22, the plates 104A and 104B arranged above and below the stacked components 10 are removed. Thereafter, in operation S23, the second cover 103B is removed from the storage body 101 for each component 10, and in operation S24, the first cover 103A is attached. That is, the second cover 103B of each component 10 separated from the first laminate 100A is replaced with the first cover 103A. Thereafter, in operation S25, the multiple components 10 are stored in the storage case 12, the lid 121 is closed, and the series of operations is completed.

[0021] [Packaging and Unpacking Apparatus 1] As shown in Figure 1, the packaging and unpacking apparatus 1 includes a packing unit 20, an unpacking unit 30, a collecting and separating unit 40, and a stacked product input / output unit 50. The packaging and unpacking apparatus 1 also includes a first transfer device 60, a second transfer device 70, and a control unit 80. The packaging and unpacking apparatus 1 includes a base frame BF that integrally supports the packing unit 20, the unpacking unit 30, the collecting and separating unit 40, and the stacked product input / output unit 50. The base frame BF includes a packing placement unit BF2 in which the packaging unit 20 is disposed, an unpacking placement unit BF3 in which the unpacking unit 30 is disposed, a collecting and separating placement unit BF4 in which the collecting and separating unit 40 is disposed, and a stacked product input / output placement unit BF5 in which the stacked product input / output unit 50 is disposed. The base frame BF also integrally includes the first transfer device 60, the second transfer device 70, and the control unit 80. The base frame BF further includes a first transfer arrangement section BF6 in which the first transfer device 60 is disposed, a second transfer arrangement section BF7 in which the second transfer device 70 is disposed, and a control arrangement section BF8 in which the control section 80 is disposed. The base frame BF is formed by connecting a plurality of frame members with fastening members such as bolts or by welding.

[0022] The packaging and unpacking apparatus 1 also includes a partition member SF that surrounds the work area A, where the packing section 20, the unpacking section 30, the collecting and separating section 40, the stacked product input / output section 50, the first transfer device 60, and the second transfer device 70 are located. Surrounding the work area A with the partition member SF separates the work area from the outside. The partition member SF is attached to the base frame BF. A portion of the partition member SF has an opening through which the stacked products 100 and components 10 can be transferred between the inside and outside of the work area. The openings in the partition member SF are, for example, located in a portion corresponding to the input / output 50a of the stacked product input / output section 50, and in a portion corresponding to the input / output area S, which serves as the input / output section for the components 10, as described below. The partition member SF also includes a work input / output section 76 that allows a maintenance worker to move between the inside and outside of the work area when performing maintenance on various devices located in the work area A. The work entrance / exit section 76 is provided at a position that allows easy access to the second transfer device 70. For example, an openable / closable door DS is provided at the work entrance / exit section 76. The packaging / unpacking device 1 performs either an unpacking operation or a packing operation for the laminated product 100.

[0023] 4 is a perspective view showing the configuration of the packaging and unpacking apparatus 1. As shown in FIGS. 1 and 4, the laminated product 100 can be transferred between the packaging section 20 and the unpacking section 30. The packaging section 20, the unpacking section 30, the collecting and separating section 40, and the laminated product input / output section 50 are each arranged to be transferable via a second transfer device 70. The first transfer device 60 is arranged to be able to transfer one component 10 between the collecting and separating section 40 and an input / output area S through which one component 10 is input / output. The laminated product input / output section 50 is connected to the outside of the packaging and unpacking apparatus 1, and the laminated product 100 (first laminated product 100A in a state packaged with binding members 11) is input / output between the packaging and unpacking apparatus 1 and the outside.

[0024] [Gathering / Separating Unit 40] As shown in Fig. 4, the gathering / separating unit 40 stacks a plurality of components 10. The gathering / separating unit 40 also separates one component 10 from the stack 100. Fig. 5 is a perspective view showing the configuration of the first transfer device 60. Fig. 6 is a perspective view showing the configuration of the positioning mechanism 40i. As shown in Figs. 4 to 6, the gathering / separating unit 40 includes a gathering / transferring unit 41 and a conveying gripping unit 42.

[0025] The transport gripper 42 shown in FIG. 4 is configured to be able to hold one component 10. The transport gripper 42 is attached to the first transfer device 60 and is moved between the collecting and transferring section 41 and the entrance / exit area S. As shown in FIG. 5, the transport gripper 42 has a holder 43 that holds one component 10 in a horizontal position by clamping opposing outer peripheries of the component 10 from both sides. The holder 43 is capable of attaching and detaching one component 10 between the collecting and transferring section 41 and a predetermined position in the entrance / exit area S. The transport gripper 42 stacks the components 10 in the collecting and transferring section 41 by using the holder 43 to release the component 10 that has been transferred to the delivery position 41a (see FIG. 6) of the collecting and transferring section 41. The transport gripper 42 also separates one of the stacked components 10 by gripping the topmost component 10 in the collecting and transferring section 41.

[0026] As shown in FIG. 6 , the collecting and transferring unit 41 has a transfer position 41a where components 10 are transferred one by one between the collecting and transferring unit 41 and the first transfer device 60 using the transfer gripper 42. The collecting and transferring unit 41 includes a first transfer conveyor 44 on which multiple components 10 are stacked and a positioning mechanism 45 including positioning guides 45A and 45B that align the positions of the multiple components 10 on the first transfer conveyor 44 in one direction (here, the short-side direction X1) at the transfer position 41a. The collecting and transferring unit 41 also includes a base 41P that supports the positioning guides 45A and 45B (positioning mechanism 45). The base 41P is supported by a support frame 41F (see FIG. 4 ) installed in the collecting and separating / placing unit BF4 of the base frame BF shown in FIG. 1 . As shown in FIG. 4 , the support frame 41F is a frame member of a predetermined length that positions and supports the base 41P at a predetermined height from the base frame BF.

[0027] The positioning mechanism 45 includes a pair of positioning guides 45A, 45B on both sides of the width direction X1, one on each side of the longitudinal direction X2 of the area where the components 10 are located. The pair of positioning guides 45A, 45B are provided protruding upward from the base portion 41P. The pair of positioning guides 45A, 45B move toward and away from each other in the width direction X1 by a cylinder 451 equipped with a rod that extends and retracts in the width direction X1. The multiple components 10 on the first transfer conveyor 44 are positioned at predetermined positions in the width direction (a direction perpendicular to the second transfer direction F2 described below) relative to the first transfer conveyor 44 by closing the pair of positioning guides 45A, 45B in the direction toward each other. These positioning guides 45A, 45B also function to guide each component 10 of the stack 100 transported by the first transfer conveyor 44 to prevent misalignment in the width direction X1.

[0028] The transfer direction of the first transfer conveyor 44 is a direction (first transfer direction F1) perpendicular to the second transfer direction F2 (described later) of the second transfer device 70 in a plan view. The components 10 stacked on the first transfer conveyor 44 are arranged with their longitudinal direction X2 oriented in the first transfer direction F1. The first transfer conveyor 44 is provided with a pair of conveyor sections 441, each of which includes a drive pulley and a driven pulley spaced apart on both sides of the width in the first transfer direction F1, an endless member (e.g., a belt) wound around the drive pulley and the driven pulley and operable, and a drive motor with a rotating shaft connected to the drive pulley. The components 10 are placed such that both ends of the short side direction X1 span the pair of conveyor sections 441. The first transfer conveyor 44 also includes a detection sensor for detecting the components 10 placed on the pair of conveyor sections 441.

[0029] The first transfer conveyor 44 transfers the stack 100, which is a stack of multiple components 10, in the first transfer direction F1. That is, the stack 100 collected and stacked by the first transfer conveyor 44 is transferred to the second transfer device 70 by the operation of the conveyor section 441 (see FIG. 4 ). The stack 100 transferred from the second transfer device 70 is delivered to the first transfer conveyor 44 by the operation of the conveyor section 441. In this way, during packaging, the components 10 carried in one by one from the first transfer device 60 are stacked in multiple units in the collecting and transferring section 41, and the stack 100, which is a stack of multiple components 10, is delivered to the second transfer device 70. Meanwhile, during unpacking, the stack 100 delivered from the second transfer device 70 is transferred to the transfer position 41a of the collecting and separating section 40 by the collecting and transferring section 41. Then, the components 10 are separated one by one from the stack 100 at the transfer position 41a by the first transfer device 60 and carried out to the entrance / exit area S1.

[0030] 4 and 5, the first transfer device 60 transfers a plurality of components 10 one by one between the entrance / exit area S and the collecting / separating section 40. The first transfer device 60 includes a first horizontal guide rail 61 and an elevating mechanism 62 that moves while being guided by the first horizontal guide rail 61 and is equipped with a conveying gripper 42. The first horizontal guide rail 61 is supported by a support frame 61F that is installed in the first transfer placement section BF6 of the base frame BF. The support frame 61F is a frame member of a predetermined length that positions and supports the first horizontal guide rail 61 at a predetermined height from the base frame BF.

[0031] The first horizontal guide rail 61 extends in a first transfer direction F1 so that the conveying gripper 42 is located above the transfer position 41a of the collecting and transferring section 41 and above a predetermined transfer section in the entrance / exit area S. In this embodiment, the extension direction of the first horizontal guide rail 61 (first transfer direction F1) is set to a direction that coincides with the movement direction of the first transfer conveyor 44 of the collecting and separating section 40 and the longitudinal direction X2 of the stacked product 100 positioned at the transfer position 41a.

[0032] The lifting mechanism 62 is movable along the first horizontal guide rail 61. The lifting mechanism 62 has a guide body 63 that is guided by the first horizontal guide rail 61, and a lifting shaft 64 that moves up and down relative to the guide body 63. The transport gripper 42 is attached to the lower end 64a of the lifting shaft 64. That is, the transport gripper 42 moves along the first horizontal guide rail 61 together with the lifting mechanism 62 between the delivery position 41a and the entrance / exit area S.

[0033] Here, the entrance / exit area S is an area where the storage cases 12 shown in Figures 2 and 3 described above are transported in and out of the packaging / unpacking device 1, and where parts 10 are stored in or removed from the storage cases 12 one by one.

[0034] 1 and 4 , the laminated product input / output section 50 has an input / output transfer mechanism 50A that can transfer the first laminated product 100A, which is packaged with the binding member 11, in both directions between the second transfer device 70 and the outside (outside the work area) of the packaging and unpacking device 1. One end 50b of the laminated product input / output section 50 is positioned at a position where the first laminated product 100A can be delivered to and from the second transfer device 70.

[0035] FIG. 7 is a perspective view showing an input / output transfer mechanism 50A of the laminate input / output section 50. As shown in FIG. 7, the input / output transfer mechanism 50A has multiple conveyor belts 51 (see FIG. 9). The extension direction of the input / output transfer mechanism 50A coincides with the first transfer direction F1 of the second transfer device 70 in a plan view. The input / output transfer mechanism 50A transfers the first laminate 100A (see FIG. 4) on the conveyor belt 51 in the first transfer direction F1 while it is placed on the conveyor belt 51. That is, as shown in FIG. 4, the first laminate 100A carried into the laminate input / output section 50 is transferred by the input / output transfer mechanism 50A and delivered to the second transfer device 70. Meanwhile, the first laminate 100A delivered from the second transfer device 70 to the input / output transfer mechanism 50A is transferred to the outside of the laminate input / output section 50 by the input / output transfer mechanism 50A. In the input / output transfer mechanism 50A, the first laminate 100A is placed with its short side direction X1 facing in the direction that coincides with the first transfer direction F1.

[0036] The loading / unloading transfer mechanism 50A includes a conveyor base member 51BP extending in the first transfer direction F1, a plurality of motors 51m for operating the plurality of conveyor belts 51, and a plurality of pulleys 51p rotatably mounted on the conveyor base member 51BP and around which the conveyor belts 51 operated by the operating force of the motors 51m are wound. The plurality of conveyor belts 51 are arranged in pairs spaced apart in a width direction intersecting the first transfer direction F1 of the loading / unloading transfer mechanism 50A. The loading / unloading transfer mechanism 50A also includes a connecting member 51r connecting the opposing pulleys 51p, 51p, around which the pair of conveyor belts 51 are wound, thereby interlocking the operation of the pair of opposing conveyor belts 51. The input / output transfer mechanism 50A is configured as a single transport unit U by connecting conveyor belts 51, 51 arranged opposite to each other with a widthwise gap between them using connecting members 51r. A plurality of transport units U are arranged in the first transfer direction F1 to form a single transport track. The input / output transfer mechanism 50A also includes a pair of guide members 51G that guide the movement of the first stack 100A along the opposing conveyor belts 51, 51. The input / output transfer mechanism 50A is supported by a support frame 51F installed in the stack input / output placement section BF5 of the base frame BF. The support frame 51F is a frame member of a predetermined length that positions and supports the conveyor base member 51BP at a predetermined height from the base frame BF.

[0037] The inlet / outlet transfer mechanism 50A includes a plurality of detection sensors 51s spaced at predetermined intervals in the first transfer direction F1 to detect the first laminate 100A being conveyed. The plurality of detection sensors 51s are provided for each of the conveying units U that form the conveying track. The plurality of detection sensors 51s are provided as a first detection sensor 51s1 and a second detection sensor 51s2 that detect the first laminate 100A being conveyed. The first detection sensor 51s1 is used as a detection signal to stop the conveying unit U at a first position during operation (unpacking operation) of the first laminate 100A being conveyed toward the inlet / outlet 50a, as described below. The second detection sensor 51s2 is used as a detection signal to stop the conveying unit U at a second position during operation (packing operation) of the first laminate 100A being conveyed from the inlet / outlet 50a side toward the second transfer device 70 side.

[0038] FIG. 8 is a perspective view showing the entrance / exit 50a of the laminated product entrance / exit section 50. FIG. 9 is a perspective view of the entrance / exit 50a shown in FIG. 8 , with the partition member SF omitted. As shown in FIG. 8 , the entrance / exit 50a of the laminated product entrance / exit section 50 is set at a height that allows a worker M to easily load and unload the first laminated product 100A while standing. That is, the length of the support frame 51F supporting the entrance / exit transfer mechanism 50A is set to a length that makes the entrance / exit transfer mechanism 50A the same height as the entrance / exit 50a, thereby aligning the height of the entrance / exit transfer mechanism 50A. As shown in FIG. 9 , the entrance / exit 50a of the laminated product entrance / exit section 50 is provided with stoppers 52, 52 that stop the laminated product 100 being transferred toward the entrance / exit 50a. The entrance / exit 50a of the laminated product entrance / exit section 50 is also provided with an alignment member 52a used to align the laminated product 100 when setting it into the entrance / exit 50a. When the laminated product 100 is set in the inlet / outlet 50a of the laminated product inlet / outlet section 50, the stoppers 52, 52 define a first opposing side of the laminated product 100, and the alignment member 52a defines a second opposing side of the laminated product 100.

[0039] As shown in FIG. 8 , a height detector 52s is provided at the entrance 50a of the laminate entrance / exit section 50 to detect the height of the first laminate 100A placed on the entrance / exit transfer mechanism 50A. In this embodiment, a laser sensor is used as the height detector 52s, which is provided above the entrance 50a. By providing the height detector 52s above the entrance 50a, height information about the first laminate 100A that can be handled by the packaging and unpacking apparatus 1 can be confirmed. Height information about the first laminate 100A at the entrance 50a can be obtained by detecting the first laminate 100A present at the entrance 50a with the height detector 52s. The packaging and unpacking apparatus 1 then calculates the number of components 10 to be stacked on the first laminate 100A based on the obtained height information about the first laminate 100A and height (thickness) information about each component 10 previously set in the control unit 80.

[0040] Furthermore, the entrance / exit 50a of the laminated product entrance / exit section 50 is provided with a reader R that acquires identification information (such as a two-dimensional code: not shown) assigned to the components 10 of the first laminated product 100A. The reader R may include an IC card reader, a barcode reader, a QR Code (registered trademark) reader, or the like. By acquiring the identification information assigned to the components 10 of the first laminated product 100A with the reader R, it is possible to associate and manage information on the components 10 of the laminated product 10 processed by the packaging / unpacking device 1 with information on the electronic components housed in the components 10.

[0041] As shown in FIG. 8 , a switching operation unit 81 for setting the operation of the packing and unpacking device 1 to either a packing operation or an unpacking operation is provided near the entrance 50a of the stacked product entrance / exit section 50. While the switching operation unit 81 is a touch panel type in FIG. 8 , it may also be, for example, a switching lever or a switching button. The operation of the packing and unpacking device 1 may also be set based on a switching signal from a host computer. A work completion switch CS may also be provided near the entrance 50a of the stacked product entrance / exit section 50, and used by the control unit 80 to confirm that the worker has completed the removal of the first laminate 100A or the insertion of the first laminate 100A. Operation of the work completion switch CS causes the control unit 80 to execute a work completion process at the entrance / exit 50a.

[0042] 1 and 4 , the second transfer device 70 transfers the stacked products 100 between the collecting / separating section 40 and the packing section 20, and between the collecting / separating section 40 and the unpacking section 30. The second transfer device 70 includes a second horizontal guide rail 71 (transfer path section) extending in the second transfer direction F2, a transfer platform 72 (first conveying section) that moves while being guided by the second horizontal guide rail 71, and a delivery mechanism 73 (second conveying section) that is supported by the transfer platform 72 and delivers the stacked products 100 in the first transfer direction F1 to the collecting / separating section 40 and the input / output transfer mechanism 50A of the stacked product input / output section 50. The second horizontal guide rail 71 is supported by a support frame 71F installed in the second transfer placement section BF7 of the base frame BF. The support frame 71F is a frame member of a predetermined length, and positions and supports the second horizontal guide rail 71 at a predetermined height from the base frame BF.

[0043] The second horizontal guide rail 71 extends in the second transfer direction F2 so that the transfer platform 72 can be positioned adjacent to both the collecting and transferring section 41 in the collecting and separating section 40 and the end 50b of the input / output transfer mechanism 50A.

[0044] 4, the transfer platform 72 is movable in a second transfer direction F2 along a second horizontal guide rail 71. The delivery mechanism 73 is supported by the transfer platform 72 and includes a second transfer conveyor 74 on which the laminated product 100 is placed. The transfer platform 72 may also include a rotation mechanism (not shown) that horizontally rotates the laminated product 100 placed on the second transfer conveyor 74 by 90 degrees.

[0045] The second transfer conveyor 74 moves the laminated products 100 in a first transfer direction F1. The second transfer conveyor 74 is provided with a pair of conveyor belts movable in the first transfer direction F1 on both sides of the width direction, which is the second transfer direction F2. The pair of conveyor belts are spaced apart to support both ends of the laminated products 100 in the short direction X1 as they are transferred in the first transfer direction F1. The second transfer conveyor 74 also has a pair of guide portions 74G that guide the movement of the laminated products 100. The pair of guide portions 74G are provided along each of the pair of conveyor belts. The pair of guide portions 74G are spaced apart to guide both ends of the laminated products 100 as they are transferred in the first transfer direction F1 with the longitudinal direction X2 of the laminated products 100 parallel to the second transfer direction F2. The second transfer conveyor 74 also has a detection sensor 74S that detects the laminated products 100 placed on the conveyor belts. The detection sensor 74S includes a first detection sensor 74S1 that detects one side of the first transfer direction F1 of the stacked products 100, and a second detection sensor 74S2 that detects the other side of the first transfer direction F1 of the stacked products 100. The operation of the pair of conveyor belts of the second transfer conveyor 74 is stopped when the first detection sensor 74S1 detects the stacked products 100 being transferred in one side of the first transfer direction F1. The operation of the pair of conveyor belts of the second transfer conveyor 74 is stopped when the second detection sensor 74S2 detects the stacked products 100 being transferred in the other side of the first transfer direction F1.

[0046] The stack 100 on the second transfer conveyor 74 is transferred to the collecting / separating section 40 by the movement of the conveyor belt in one direction. The stack 100 on the second transfer conveyor 74 is transferred to the stack input / output section 50 by the movement of the conveyor belt in the opposite direction. That is, during packaging, the stack 100, in which a plurality of parts 10 are stacked, is transferred to the second transfer conveyor 74 in the collecting / separating section 40, and the second transfer conveyor 74 transfers the stack 100 to the packaging section 20 along the second horizontal guide rail 71. Meanwhile, during unpacking, the stack 100 transferred from the unpacking section 30 by the second transfer device 70 is transferred from the second transfer conveyor 74 to the collecting / separating section 40.

[0047] As shown in FIG. 1 , the second horizontal guide rail 71 and the unpacking section 30 are disposed on the base frame BF with a predetermined gap therebetween. Similarly, the second horizontal guide rail 71 and the stacked product loading / unloading section 50 are disposed on the base frame BF with a predetermined gap therebetween. The gap between the second horizontal guide rail 71 and the unpacking section 30 and the stacked product loading / unloading section 50 defines a movement space MS in which a second transfer conveyor 74 supported by a transfer platform 72 can move along the second horizontal guide rail 71. The movement space MS includes a work path 75 as well as a space between a work entry / exit section 76 and the movement space MS. The work path 75 is formed to connect the work entry / exit section 76 to the stacked product loading / unloading section 50. The work path 75 leads to the work entry / exit section 76, which allows workers to move between the work area of ​​the packaging / unpacking device 1 and outside the work area. The work path 75 is used as a maintenance passageway.

[0048] 1 and 4, the packaging unit 20 is provided on one side of the second transfer device 70. That is, the packaging unit 20 is disposed on one side 71a (upper side in FIG. 1) of the second horizontal guide rail 71 of the second transfer device 70. Specifically, the packaging unit 20 is disposed on one side where the second transfer conveyor 74 moving on the second horizontal guide rail 71 transfers the laminated product 100.

[0049] Fig. 10 is a perspective view of the packing unit 20 as seen from the rear, opposite the second transfer device 70. Fig. 11 is a perspective view of the packing unit 20 as seen from the front. As shown in Figs. 10 and 11, the packing unit 20 includes a packing mechanism 21 that packs (binds) the unpackaged (unbound) second laminate 100B with the binding members 11 to form the first laminate 100A.

[0050] The packaging mechanism 21 can transfer the laminated product 100 to and from the second transfer conveyor 74 of the second transfer device 70. The packaging mechanism 21 includes a support frame 22, a press guide unit 23, and an alignment unit 26. The support frame 22 has a packaging position P1 inside which the laminated product 100B is bound with the binding members 11. The support frame 22 is formed in a gate shape spanning above the conveying path 24 along the first transfer direction F1. Various devices are mounted on the support frame 22 for binding the laminated product 100 with the binding members 11. The packaging mechanism 21 binds the laminated product 100 placed at the packaging position P1 with the binding members 11 in a direction parallel to the second transfer direction F2. At the packaging position P1, when the longitudinal direction X2 of the laminated product 100 is oriented in the second transfer direction F2, a predetermined binding portion extending in the longitudinal direction X2 is bound with the second binding members 11B. Furthermore, at the packaging position P1, when the widthwise direction X1 of the laminated product 100 is oriented in the second transfer direction F2, the predetermined bundling portions extending in the widthwise direction X1 are bound by the first bundling members 11A. In this embodiment, the predetermined bundling portions extending in the widthwise direction X1 of the laminated product 100 are provided at three locations at predetermined intervals in the lengthwise direction X2 of the laminated product 100.

[0051] In the packaging section 20, transfer conveyors 25 that move the stacked products 100 in the first transfer direction F1 are provided on both sides of the support frame 22. The support frame 22 and the transfer conveyor 25 are supported by a support base frame 20F installed in the packaging placement section BF2 of the base frame BF. The support base frame 20F is formed of multiple frame members formed to predetermined dimensions and positions and supports the support frame 22 and the transfer conveyor 25 at a predetermined height from the base frame BF. The conveying surfaces of the transfer conveyor 25 and the second transfer conveyor 74 are aligned so that they are at the same height. The stacked products 100 are aligned at the packaging position P at the binding point by the operation of the transfer conveyors 25, 25. The transfer conveyor 25 also moves the stacked products 100 between the second transfer conveyor 74 of the second transfer device 70.

[0052] The pressure guide unit 23 includes a pressure member 23a that moves toward and away from the upper part of the stacked product 100, and a pressure operation mechanism 23b that moves the pressure member 23a toward and away from the upper part of the stacked product 100. The pressure guide unit 23 is supported by a support member 23f provided in the packaging section 20. The pressure guide unit 23 operates the pressure operation mechanism 23b to move the pressure member 23a from above the stacked product 100 that has been transferred to the packaging position P1. The pressure member 23a then abuts against the upper part of the stacked product 100, thereby pressing down on the stacked product 100. The pressure guide unit 23 also operates the pressure operation mechanism 23b to move the pressure member 23a away from the stacked product 100 that it is pressing down, thereby releasing the pressure on the stacked product 100.

[0053] The alignment unit 26 includes a pair of side abutment members 26 a, 26 a spaced a predetermined distance apart in a direction intersecting the first transfer direction F1, which is the transfer direction of the laminated products 100, and a side movement mechanism 26 b that moves the pair of side abutment members 26 a, 26 a toward and away from each other. The alignment unit 26 is supported by a support member 26 f provided in the packaging section 20. The alignment unit 26 operates the side movement mechanism 26 b with respect to the laminated products 100 transferred to the packaging position P1, thereby causing the pair of side abutment members 26 a, 26 a to approach and abut against the sides of the laminated products 100 from one side and the other side in a direction intersecting the first transfer direction F1. The pair of side abutment members 26 a, 26 a then abut against the laminated products 100, thereby aligning the laminated products 100 at the packaging position P1 in a direction intersecting the conveyance direction of the transfer conveyor 25.

[0054] 1 and 4, the unpacking unit 30 is disposed on the other side 71b (the lower side of the paper in FIG. 1) of the second horizontal guide rail 71 of the second transfer device 70. Specifically, the unpacking unit 30 is disposed on the other side where the second transfer conveyor 74 moving on the second horizontal guide rail 71 transfers the laminated product 100.

[0055] Fig. 12 is a perspective view showing the configuration of the unpacking unit 30. Fig. 13 is a perspective view of the conveying means 31 and supporting means 32 of the unpacking unit 30, seen obliquely from above. Fig. 14 is a perspective view of the supporting means 32, seen obliquely from below. The unpacking unit 30 unpacks the laminated product 100A, which is packaged with the binding members 11, by removing the binding members 11. As shown in Fig. 12, the unpacking unit 30 includes the conveying means 31, the supporting means 32, the pressing means 33, the cutting means 34, the holding means 35, and the collecting means 36. The unpacking unit 30 also includes an unpacking control unit 37 (see Fig. 1) that controls the various means of the unpacking unit 30.

[0056] As shown in FIGS. 12 and 13 , the conveying means 31 transports the stack 100 to the unpacking position P2 and includes a pair of conveyor belts 311 arranged in a second transfer direction F2. The distance between the pair of conveyor belts 311 is set to be at least smaller than the length of the stack 100 in the short-side direction X1. The pair of conveyor belts 311 are operably wound around a plurality of pulleys 311a, respectively. The plurality of pulleys 311a are rotatably mounted opposite each other at predetermined, line-symmetrical positions on a base frame 311f. One of the plurality of pulleys 311a is connected to the drive shaft of a motor 311m and is used to drive the pair of conveyor belts 311. The pair of pulleys 311a, which are arranged differently from the pulley 311a to which the drive shaft of the motor 311m is connected and which are arranged opposite each other, are connected by a connecting member 311r. The pair of conveyor belts 311 are operated by rotation of drive pulleys 311a caused by operation of motors 311m and transmission of the rotational motion by connecting members 311r, thereby enabling the transport of the laminated products 100. The transport means 31 transports the laminated products 100 in a first transport direction F1 while the laminated products 100 are placed on the transport surface 31a of the conveyor belts 311.

[0057] The conveying means 31 includes a first transfer section M1 where the laminated product 100 is transferred, a second transfer section M2 where the laminated product 100 is transferred, and a storage section SP1 where a portion of the support means 32 (described later) is waiting below the transfer surface. The first transfer section M1 is provided on the second transfer device 70 side and transfers the laminated product 100. The second transfer section M2 is provided on the side of the first transfer section M1 that is separated from the second transfer device 70 and transfers the laminated product 100. The storage section SP1 is provided between the first transfer section M1 and the second transfer section M2 and receives a portion of the support means 32 (described later). In this embodiment, the first transfer section M1, the second transfer section M2, and the storage section SP1 are formed by the arrangement of multiple pulleys 311a that wind around a pair of conveyor belts 311. In addition, the part corresponding to the first transfer section M1 may be replaced with a first conveyor unit, and the part corresponding to the second transfer section M2 may be replaced with a second conveyor unit, and the storage section SP1 may be formed by separating the first conveyor unit and the second conveyor unit.

[0058] The conveying means 31 is equipped with a plurality of detection sensors 311s that detect the stacked products 100. The plurality of detection sensors 311s includes a first detection sensor 311s1 that detects the stacked products 100 at a first stop position where the stacked products 100 transferred to one side in the first transfer direction F1 by the conveying means 31 are stopped, and a second detection sensor 311s2 that detects the stacked products 100 at a second stop position different from the first stop position. That is, the stacked products 100 transferred by the second transfer device 70 (see FIG. 12) are handed over to the conveying means 31 and moved to a predetermined unpacking position P2 by a pair of conveyor belts 311. The stacked products 100 transferred from the second transfer device 70 to the unpacking position P2 are first detected by the first detection sensor 311s1 and then detected by the second detection sensor 311s2. When the longitudinal direction X2 of the stacked products 100 being transferred from the second transfer device 70 side to the unpacking position P2 is the same as the first transfer direction F1, the position detected by the second detection sensor 311s2 becomes the stop position of the unpacking position P2. When the lateral direction X1 of the stacked products 100 being transferred from the second transfer device 70 side to the unpacking position P2 is the same as the first transfer direction F1, the position detected by the first detection sensor 311s1 becomes the stop position of the unpacking position P2.

[0059] The conveying means 31 also includes a pair of support rollers 311n that support the ends of the laminate 100 in the longitudinal direction X2 when the laminate 100 is conveyed with its widthwise direction X1 oriented in the same direction as the first conveying direction F1. The pair of support rollers 311n are provided on the sides of the pair of conveyor belts 311 in portions that correspond to the storage section SP1. The pair of support rollers 311n assist the laminate 100 in transferring between the first conveying section M1 and the second conveying section M2 when the laminate 100 is conveyed with its widthwise direction X1 oriented in the same direction as the first conveying direction F1. The conveying means 31 also includes a guide section 311g that guides the movement of the laminate 100 when the laminate 100 is conveyed with its widthwise direction X1 oriented in the same direction as the first conveying direction F1.

[0060] 13 and 14 , the support means 32 supports the laminated product 100 from below and includes a laminated product receiving member 320 (support member) that is vertically movable. The laminated product receiving member 320 includes a plate-shaped receiving portion 321 (support portion) on which the laminated product 100 is placed and supported, and a lower guide portion 322 that is provided on an upper surface 321a (lower abutment portion) of the receiving portion 321 and corresponds to a portion of the binding member 11 located below the laminated product 100, guiding the movement of the binding member 11. The upper surface 321a of the receiving portion 321 can abut against the lower surface 100b (see FIG. 12 ) of the laminated product 100. In this embodiment, the lower guide portion 322 is formed in a groove shape extending from one side to the other in the short-side direction X1. That is, the lower guide portion 322 has a plurality of first lower guide portions 322A corresponding to the first binding member 11A that binds the laminate 100 in the short direction X1, and a second lower guide portion 322B corresponding to the second binding member 11B that binds the laminate 100 in the long direction X2.

[0061] 2 and 3 , the laminate 100 in this embodiment is bound by three first binding members 11A and one second binding member 11B. The first lower guide portions 322A are provided at positions corresponding to the three first binding members 11A. The second binding member 11B is provided at a position corresponding to the one second binding member 11B. The first lower guide portions 322A and the second lower guide portions 322B are spaced apart at a distance greater than the width of the binding member 11 and include a pair of guide walls of a predetermined height to guide the movement of the binding member 11. The first lower guide portions 322A are provided on the laminate support member 320 along the respective ends of the three first binding members 11A that bind the laminate 100 in the short-side direction X1. The second lower guide portion 322B is provided on the laminated product receiving member 320 along from one end to the other end of one second bundling member 11B that binds the laminated product 100 in the longitudinal direction X2.

[0062] The receiving portion 321 includes a first receiving portion 321A (first support portion) corresponding to the length of the laminate 100 in the short-side direction X1, and a second receiving portion 321B (second support portion) corresponding to the length of the laminate 100 in the long-side direction X2. The conveying means 31 includes a storage portion 31b (see FIG. 13) in which the receiving portion 321 is arranged so as to be able to wait at a position below the conveying surface 31a of the conveying means 31. As shown in FIG. 12, the laminate 100 supported from below by the receiving portion 321 can be changed in direction by a rotation drive mechanism 323 (described later) between a first support position where the long-side direction X2 of the laminate 100 is oriented in the second transfer direction F2, and a second support position where the short-side direction X1 of the laminate 100 is oriented in the second transfer direction F2. The first receiving portion 321A waits in the storage portion 31b. The second receiving portion 321B waits in the storage portion 31b, or in both the storage portion 31b and the storage portion SP1. When the receiving portion 321 is oriented such that the longitudinal direction X2 of the stack 100 faces the second transfer direction F2, the second receiving portion 321B waits in the storage portion SP1 (see FIG. 13).

[0063] 13 and 14 , the support means 32 includes a rotation drive mechanism 323 that rotatably supports the stacked product receiving member 320, and an elevating mechanism 325 that raises and lowers the rotation drive mechanism 323. The rotation drive mechanism 323 includes a motor 323m for rotation drive, a transmission mechanism 323n that transmits power from the motor 323m, and the stacked product receiving member 320 that is rotated by the transmission mechanism 323n. The stacked product receiving member 320 is rotated about a vertically extending rotation axis by the drive of the rotation drive mechanism 323. The elevating mechanism 325 includes an elevating body 325p on which the rotation drive mechanism 323 is mounted, and an elevating drive mechanism 326 that raises and lowers the elevating body 325p. The elevating mechanism 325 is supported by a support column 324 to which the elevating drive mechanism 326 is attached and which is installed in the unpacking and placement section BF3 of the base frame BF. The support pillars 324 are frame members of a predetermined length, and position the support means 32 at a predetermined height from the base frame BF.

[0064] The support means 32 also includes a detection sensor 323s that detects the rotational position of the stacked product receiving member 320. The detection sensor 323s may be, for example, a proximity switch that detects metal. The detection sensor 323s detects the second receiving section 321B waiting in the storage section SP1. The unpacking control unit 37 determines the orientation of the stacked product receiving member 320 in its standby position based on the detection state of the detection sensor 323s, and controls the operation of the support means 32 to change the posture of the stacked product receiving member 320. The support means 32 uses the lifting mechanism 325 to raise the stacked product receiving member 320 together with the rotation drive mechanism 323, thereby separating the stacked products 100 from the conveyor belt 311. After separating the stacked products 100 from the conveyor belt 311, the rotation drive mechanism 323 rotates the stacked product receiving member 320 by a predetermined angle (90° in plan view), completing the change in the orientation of the stacked products 100. Thereafter, the laminate receiving member 320 is lowered to place the changed direction laminate 100 onto the conveyor belt 311 .

[0065] The receiving portion 321 is capable of abutting against the lower portion of the laminate 100. The lower guide portions 322 (322A, 322B) are formed with a width greater than that of the binding member 11 along the binding member 11 at positions corresponding to the binding member 11, and guide the movement of the binding member 11 to be removed. The laminate receiving member 320 supports and lifts the first laminate 100A, and changes its orientation, thereby enabling the binding member 11 to be positioned at positions corresponding to a first cutting position Q1 (see FIGS. 13 and 14) and a second cutting position Q2 (see FIGS. 13 and 14) where the binding member 11 is cut.

[0066] As shown in Figures 13 and 14, the first cutting position Q1 in this embodiment is set to correspond to the first binding member 11A that binds the laminate 100. The first cutting position Q1 in this embodiment is set to correspond to the second binding member 11B that binds the laminate 100. Specifically, the first cutting position Q1 is supported by the laminate receiving member 320 and is set on a tangent line CR1L that is tangent to a circular path CR1 through which the end of the rotated laminate 100 in the short direction X1 passes, as shown in Figure 24. The second cutting position Q2 is supported by the laminate receiving member 320 and is set on a tangent line CR2L that is tangent to a circular path CR2 through which the end of the rotated laminate 100 in the long direction X2 passes. In this embodiment, the first cutting position Q1 and the second cutting position Q2 are each set on one side intersecting with the first transfer direction F1, which is the transfer direction of the conveying means 31. The tangent lines CR1L and CR2L are set to extend in the first transfer direction F1, which is the transfer direction of the conveying means 31. The first cutting position Q1 is set at a predetermined position on the tangent line CR1L corresponding to the corresponding first binding member 11A when the longitudinal direction X2 of the laminate 100 is oriented in the same direction as the first transfer direction F1. The laminate 100 of this embodiment has three first binding members 11A arranged at predetermined intervals, so three first cutting positions Q1 are set. The second cutting position Q2 is set at a predetermined position on the tangent line CR2L when the short side direction X1 of the laminate 100 is oriented in the same direction as the first transfer direction F1. The laminate 100 of this embodiment has one second binding member 11B arranged therein, so one second cutting position Q2 is set.

[0067] FIG. 15 is a perspective view of the pressing means 33 as viewed obliquely from above. FIG. 16 is a perspective view of the pressing unit main body 331 of the pressing means 33 as viewed obliquely from below. As shown in FIG. 12, the pressing means 33 moves the pressing unit 330 (pressing member) toward the stacked product 100 from above to suppress turbulence during removal of the binding member 11. As shown in FIGS. 15 and 16, the pressing unit 330 is movable up and down by a vertical drive mechanism 339 so as to move toward and away from the stacked product 100. The pressing unit 330 includes a plate-shaped pressing unit main body 331 and an upper guide portion 332 provided on a lower surface 331a of the pressing unit main body 331 and configured to guide the movement of the binding member 11. The pressing unit main body 331 has a rectangular outer shape similar to the planar shape of the stacked product 100, with the longitudinal direction X2 oriented in the first transfer direction F1, when viewed from above.

[0068] As shown in FIG. 16 , the upper guide portion 332 is provided to correspond to a portion of the binding member 11 located on the upper side of the stack 100. Specifically, the upper guide portion 332 includes an upper contact portion 333 that can contact the upper surface 100a (see FIG. 12 ) of the stack 100, and an upper guide path 334 that guides the movement of the binding member 11. The upper guide path 334 has a first upper guide path 334A that corresponds to the first binding member 11A in the short-side direction X1. The upper guide path 334 also has a second upper guide path 334B that corresponds to the second binding member 11B in the long-side direction X2. The upper guide path 334 is spaced apart at a distance greater than the width of the binding member 11 and is formed to include a pair of guide walls of a predetermined height, and is formed from one side of the pressing portion main body 331 along the binding member 11.

[0069] As shown in FIGS. 15 and 16 , the holding unit 330 includes a first detection means 336 that detects the upper part (upper surface 100 a) of the laminate 100, and a second detection means 337 that detects the upper part (upper surface 100 a) of the laminate 100. The first detection means 336 and the second detection means 337 are provided on the holding unit 330 at different heights. In this embodiment, the first detection means 336 is provided on the holding unit main body 331 so as to be closer to the laminate 100. In other words, the first detection means 336 is provided on the holding unit main body 331 so as to be farther from the holding unit main body 331. The second detection means 337 is provided on the holding unit main body 331 so as to be farther from the laminate 100 than the first detection means 336. In other words, the second detection means 337 is provided on the holding unit main body 331 so as to be closer to the holding unit main body 331 than the first detection means 336. The distance between the first detecting means 336 and the second detecting means 337 is the same as the distance between the height dimensions of one component 10 .

[0070] The unpacking control unit 37 controls the movement of the pressing unit 330 in response to changes in the detection states of the first detection unit 336 and the second detection unit 337, and the pressing unit 33 stops at an arbitrary position and a position preset in accordance with the height of the stacked products 100. The first detection unit 336 monitors the detection state of the stacked products 100 between the standby position of the pressing unit 330 and the pressing stop position of the pressing unit 330, which is set in accordance with the height of the stacked products 100. The second detection unit 337 monitors the detection state of the stacked products 100 between a target stop position, which is set at a position closer to the standby position than the pressing stop position, and the pressing stop position. The unpacking control unit 37 moves the pressing unit main body 331 of the pressing unit 33 toward each of the standby position, target stop position, and pressing position. The pressing unit 33 is supported by a support frame 33F installed in the unpacking placement unit BF3 of the base frame BF. The support frame 33F is provided by combining a plurality of frame members of a predetermined length, and positions and supports the pressing means 33 at a predetermined height from the base frame BF.

[0071] 17 is a plan view of the cutting means 34 as viewed from above. As shown in FIGS. 12 and 17, the cutting means 34 includes a cutting member that can move toward and away from the side surface 100c (see FIGS. 2 and 3) of the laminate 100 and cuts the binding members 11. The cutting means 34 includes a cutting unit 340 that cuts the binding members 11, and a movement mechanism 341 that supports the cutting unit 340 and moves the cutting unit 340 relative to the binding members 11.

[0072] The cutting unit 340 includes a cutting blade 342 as a cutting member, and a guide mechanism 343 that contacts the laminate 100 and maintains a constant distance between the cutting blade 342 and the binding member 11. The cutting unit 340 also includes a mounting plate 347 on which the cutting blade 342 and the guide mechanism 343 are mounted. The cutting unit 340 is disposed on one side of the conveying means 31 (see FIGS. 1 and 4).

[0073] The moving mechanism 341 has a first moving mechanism 345 including a first guide rail extending along the second transfer direction F2 and a second moving mechanism 346 including a second guide rail extending along the first transfer direction F1. The cutting unit 340 is movably mounted on the second guide rail of the second moving mechanism 346 along the first transfer direction F1, and the second moving mechanism 346 is movably mounted on the first guide rail of the first moving mechanism 345 along the second transfer direction F2, so that the cutting unit 340 is movable toward and away from the side surface 100c of the stacked products 100 placed at the unpacking position P2. In other words, the moving mechanism 341 moves the cutting unit 340 so that the cutting blade 342 comes into contact with the binding members 11 that bind the stacked products 100 and cuts the binding members 11 by moving the cutting unit 340 along the first transfer direction F1.

[0074] 17 , the mounting plate 347 is attached to a sliding portion 348 that is provided so as to be movable in the first transfer direction F1 along the second guide rail of the second moving mechanism 346. A cutting blade 342 and a guide mechanism 343 are arranged on the upper surface of the mounting plate 347. In this embodiment, the cutting blade 342 is, for example, an ultrasonic cutter or the like that includes a blade portion and an operating mechanism for operating the blade portion.

[0075] The guide mechanism 343 includes a contact portion that contacts the side of the laminated product 100, a base 349 that is provided with the contact portion and is supported by a mounting plate 347 so as to be movable in the second transfer direction F2, a one-side restricting portion 347a that restricts movement of the base 349 in one direction and an other-side restricting portion 347b that restricts movement of the base 349 in the other direction, and a biasing member 349A that continuously applies a biasing force that moves the base 349 toward the laminated product 100 located on one side. In this embodiment, for example, a tension spring member is used as the biasing member 349A. The contact portion is a pair of pressing rollers 343a, 343b that are rotatably provided on a tip portion 349a of the base 349 that is located on the laminated product 100 side and is located on one side of the base 349. The pair of pressure rollers 343a, 343b are provided at a predetermined interval in the first transfer direction F1, and are provided on the base 349 so that the cutting blade 342 is disposed therebetween.

[0076] The guide mechanism 343 has an abutting portion abutting against one side surface 100c of the stack 100, and is further pressed to cause the cutting blade 342 to protrude from between the pair of pressure rollers 343a, 343b. The guide mechanism 343 also maintains the position of the cutting blade 342 relative to the side surface 100c required for cutting the binding members 11 of the stack 100, with the cutting blade 342 protruding from between the pair of pressure rollers 343a, 343b entering a space formed on the side surface of the stack 100. The cutting unit 340 is moved in the first transport direction F1 to align with the positions of the binding members 11 of the stack 100 arranged at the unpacking position P2, thereby cutting the binding members 11.

[0077] Figure 18 is a perspective view of the holding means 35 seen from diagonally above. As shown in Figures 12 and 18, the holding means 35 is disposed on the other side of the conveying means 31, i.e., on the opposite side of the cutting means 34 across the laminate 100 disposed at the unpacking position P2. The holding means 35 includes a holding unit 350 that holds the binding member 11, and a moving mechanism 351 that supports the holding unit 350 and moves the holding unit 350.

[0078] The holding unit 350 includes a holding portion 352 that holds the binding material 11 to be cut, a contact portion 353 that contacts the side surface 100c, and a detection portion 354 that detects the binding material 11 in the holding area of ​​the holding portion 352. The holding portion 352 includes one holding piece 352A and the other holding piece 352B that are spaced apart and can move toward and away from each other in the first transfer direction F1, and a holding piece moving mechanism 352M that moves the one holding piece 352A and the other holding piece 352B. The one holding piece 352A and the other holding piece 352B each have an extension of a predetermined length that extends in the second transfer direction F2. A recess is formed on the extension of the one holding piece 352A facing the other holding piece 352B. A protrusion is formed on the extension of the other holding piece 352B facing the one holding piece 352A.

[0079] The holding piece moving mechanism 352M employs an actuator including a drive mechanism for moving a first moving body to which one holding piece 352A is attached and a second moving body to which the other holding piece 352B is attached. Operation of the holding piece moving mechanism 352M moves the first holding piece 352A and the other holding piece 352B to their respective standby positions and holding positions. The holding positions are set as a first holding position H1 corresponding to the first binding member 11A binding the stacked product 100, and a second holding position H2 corresponding to the second binding member 11B binding the stacked product 100. In this embodiment, the stacked product 100 includes three first binding members 11A spaced a predetermined distance apart, resulting in three first holding positions H1. Also, since one second binding member 11B is provided, one second holding position H2 is set. Furthermore, the standby positions are set corresponding to the first holding position H1 and the second holding position H2. In this embodiment, three first preparation positions W1 are set corresponding to the three first holding positions H1, and one second preparation position W2 is set corresponding to one second holding position H1. The preparation positions may be combined into one preparation position. The holding piece moving mechanism 352M also includes a first detection sensor 352Sa that detects the position of one holding piece 352A and a second detection sensor 352Sb that detects the position of the other holding piece 352B. The first detection sensor 352Sa detects the standby position status of the one holding piece 352A. The second detection sensor 352Sb detects the standby position status of the other holding piece 352B. The holding portion 352 securely holds the binding member 11 between the first holding piece 342A and the other holding piece 342B by bringing the first holding piece 342A and the other holding piece 342B close to each other and abutting the protrusions and recesses formed on their respective extensions so that they fit together.

[0080] The abutment portion 353 has one abutment portion 353a on one side and the other abutment portion 353b on the other side, sandwiching the one holding piece 342A and the other holding piece 342B therebetween. The one abutment portion 353a and the other abutment portion 353b are configured on the movement line of the one holding piece 342A and the other holding piece 342B. The one abutment portion 353a and the other abutment portion 353b each have an abutment surface that abuts against the side surface 100c. The abutment surface of the one abutment portion 353a and the abutment surface of the other abutment portion 353b are arranged to be on the same plane. The tips of the extensions of one retaining piece 342A and the other retaining piece 342B are arranged on the same plane as the abutment surface of one abutment portion 353a and the abutment surface of the other abutment portion 353b so as not to protrude toward the side surface 100c.

[0081] The holding means 35 moves the holding unit 350 so that the binding member 11 is disposed between the spaced apart holding pieces 342A and 342B, and abuts the abutting portion 353 against the side surface 100c. Thereafter, the cut binding member 11 is cut, bringing the pair of holding pieces 352A and 352B closer to each other, thereby enabling the binding member 11 to be held.

[0082] 18 , the holding unit 350 includes an attachment member 357 provided with a holding portion 352 and an abutment portion 353. The attachment member 357 is attached to a sliding portion 358 provided to be movable in the first transfer direction F1 along the second guide rail of the second movement mechanism 356.

[0083] 12 , the moving mechanism 351 includes a first moving mechanism 355 having a first guide rail extending along the second transfer direction F2, and a second moving mechanism 356 having a second guide rail extending along the first transfer direction F1. The holding unit 350 is attached to a sliding portion 358 that is movably mounted on the second guide rail of the second moving mechanism 356 along the first transfer direction F1, and the second moving mechanism 356 is movably mounted on the first guide rail of the first moving mechanism 355 along the second transfer direction F2, thereby being movable toward and away from the side surface 100c of the stacked products 100 placed at the unpacking position P2. That is, when the moving mechanism 351 moves the holding unit 350, the holding portion 352 and the abutting portion 353 come into proximity and abut against the binding member 11 that binds the stacked products 100, thereby holding the cut binding member 11.

[0084] The cutting means 34 and the holding means 35 are supported by a support frame 34F installed in the unpacking and placement section BF3 of the base frame BF. The support frame 34F is formed by combining a plurality of frame members of a predetermined length, and positions and supports the cutting means 34 and the holding means 35 at a predetermined height from the base frame BF.

[0085] As shown in FIG. 12 , the recovery means 36 recovers the binding members 11 cut by the cutting means 34. The recovery means 36 includes a storage section 361 that recovers the binding members 11 and a recovery guide section 362 that guides the binding members 11 to the storage section 361 immediately after cutting. The recovery guide section 362 is, for example, hopper-shaped. The recovery guide section 362 is located on the side of the conveying means 31, directly below the unpacking position P2. The recovery guide section 362 is located above the storage section 361. After the binding members 11 are cut, the holding means 35 is moved to a retracted position from the stack 100, and the holding means 35 releases its hold on the cut binding members 11. The cut binding members 11 fall downward and are guided by the recovery guide section 362 to the storage section 361 for recovery.

[0086] As shown in FIG. 1 , the unpacking control unit 37 in the unpacking section 30 controls the conveying means 31, the supporting means 32, the pressing means 33, the cutting means 34, and the holding means 35. The unpacking control unit 37 controls the movement of the pressing means 330 to a stop position that is set according to the height of the laminated product 100. The unpacking control unit 37 controls the movement and cutting operation of the cutting unit 340 to a cutting position of the binding member 11 that binds the laminated product 100. The unpacking control unit 37 controls the movement of the holding unit 350 to a holding position of the binding member 11 to be cut, controls the holding operation of the holding unit 350 with respect to the cut binding member 11, and controls the movement of the holding unit 350 while maintaining the held state of the cut binding member 11, thereby removing the cut binding member 11. The unpacking control unit 37 controls the movement of the laminated product receiving member 320 relative to the cutting positions of the first binding member 11A and the second binding member 11B that bind the laminated product 100 at the unpacking position P2.

[0087] [Operation of Pressing Means] Here, the operation of the pressing means 33 will be specifically described. Figure 19 is a side view of the pressing portion 330 of the pressing means 33. Figures 20A, 20B, and 20C are diagrams showing the operation flow of the pressing means 33. Figures 21A, 21B, and 21C are diagrams showing the operation flow of the pressing means 33. Figures 20A to 20C and 21A to 21C each show the operating state from left to right on the page. Figure 22 is an enlarged view of the pressing portion 330 shown in parts I and II of Figure 21B. Figure 23 is an enlarged view of the main parts of parts III and IV shown in Figure 22.

[0088] 19, the pressing section 330 of the pressing means 33 includes support pieces 335A and 335B that are substantially L-shaped in side view, at both ends of the pressing section main body 331 in the first transfer direction F1. The support pieces 335A and 335B are provided in two stages, upper and lower, with a first detection means 336 provided on the lower mounting member 335A and a second detection means 337 provided on the upper mounting member 335B. In FIG. 19, symbol R1 indicates a first detection axis of the first detection means 336, and symbol R2 indicates a second detection axis of the second detection means 337.

[0089] First, as shown in FIG. 20A , the first laminate 100A bound by the binding member 11 is supplied to a supply position P0 on the conveying means 31 (left diagram in FIG. 20A ). At this time, the short side direction X1 of the first laminate 100A faces the first transfer direction F1. Then, as shown in the right diagram in FIG. 20A , the first laminate 100A is transferred from the supply position P0 to an unpacking position P2 by the conveying means 31. At this time, the pressing means 33 is waiting above the unpacking position P2 of the conveying means 31. That is, the line indicated by the symbol T1 in FIGS. 20A and 20B indicates the waiting positions of the first detecting means 336 and the second detecting means 337. The line indicated by the symbol T2 indicates the height (conveying position) of the conveying surface 31a.

[0090] Next, as shown in the left diagram of Fig. 20B, the first laminate 100A transferred to the unpacking position P2 is supported from below by the laminate receiving member 320 of the support means 32 and raised to a height position (unpacking height T3) spaced above the conveying surface 31a. The unpacking height T3 in Fig. 20B is the height of the upper surface 321a of the laminate receiving member 320 (the position of the lower surface 100b of the first laminate 100A). The line designated by the symbol T4 is the height position (determined height position) determined by the first detection means 336.

[0091] After the first laminate 100A is positioned at unpacking height T3, as shown in the right diagram of FIG. 20B , the presser 330 of the presser means 33 descends and approaches the upper surface 100a of the first laminate 100A. Specifically, the presser 330 is moved up and down by a numerically controlled vertical drive mechanism 339 (see FIG. 15 ) toward a suppression position T5 (see FIG. 20C ) based on the height of the first laminate 100A that is set as the target for the cutting operation of the binding member 11. At this time, the first detection means 336 checks the detection state (presence or absence) of the upper surface 100a of the first laminate 100A. The setting value of the numerically controlled vertical drive mechanism 339 is, for example, set as a reference position where the lower surface 331a of the presser 330 is positioned at unpacking height T3. The reference position is set as "0" when the lower surface 331a of the pressing portion 330 abuts against the upper surface 321a of the stacked product receiving member 320. The operation of the pressing portion 330 under the numerical control of the vertical drive mechanism 339 is controlled by adding a numerical value when the lower surface 331a of the pressing portion 330 is moved in a direction away from the unpacking height T3 (upward), and by subtracting a numerical value when the lower surface 331a of the pressing portion 330 is moved in a direction approaching the unpacking height T3 (downward).

[0092] 20C , the position of the lower surface 331a of the holding unit 330 corresponding to the suppression position T5 in this embodiment is the height relative to the position at which the second detection means 337 detects the upper surface 100a of the first laminate 100A set as the work target after the first detection means 336 detects the upper surface 100a. Therefore, the position at which the second detection means 337 detects the upper surface 100a can be adjusted in the vertical direction. For example, when the lower surface 331a of the holding unit 330 is to be stopped at a position slightly spaced apart from the upper surface 100a of the first laminate 100A (e.g., a position higher by the height of one component of the first laminate 100A), the position is adjusted by adjusting the second detection means 337 in a direction away from the lower surface 331a. Furthermore, when the lower surface 331a of the pressing portion main body 331 of the pressing portion 330 is brought into contact with the upper surface 100a of the first laminate 100A to stop it, the position is adjusted by adjusting the second detection means 337 in a direction approaching the lower surface 331a.

[0093] The holding means 33 moves the holding unit 330 based on the information on the judgment height T4, and the first detection means 336 detects the top surface 100a of the stack 100A to be processed. That is, the unpacking control unit 37 (see FIG. 1 ) continues the operation if the information on the position of the holding unit 330 (the height of the top surface 100a of the stack 100A) detected by the first detection means 336 matches the information on the judgment height T4, but stops the operation if they do not match. A match occurs, for example, when the information on the position of the holding unit 330 detected by the first detection means 336 is detected within the detection range set as the information on the judgment height T4. A mismatch occurs, for example, when the information on the position of the holding unit 330 detected by the first detection means 336 is detected outside the detection range set as the information on the judgment height T4 (for example, when the information is detected before the judgment height T4 is reached or when the information is not detected even after the judgment height T4 is reached). The height of the first laminate 100A set as the work target is set based on height information detected by a detector 52s provided at the entrance / exit 50a of the laminate entrance / exit section 50, or on height information of the first laminate 100A input to the control section in advance.

[0094] As shown in the left diagram of Figure 20C, if the operation continues, the holding unit 330 moves closer to the first laminate 100A. The second detection means 337 detects the first laminate 100A, causing the holding unit 330 to stop descending. The holding unit 330 stops at the suppression position T5, which is the height position where preparation for holding is complete, completing preparation for holding. Since the first laminate 100A is positioned at the unpacking position P2 with its short side direction X1 facing the first transfer direction F1, the second binding member 11B, which binds the first laminate 100A along the long side direction X2, is cut and removed.

[0095] The second binding member 11B is cut by cutting means 34 (see FIG. 17) on one side of the second binding member 11B, which is bound along the longitudinal direction X2 of the first laminate 100A, and holding means 35 on the other side. The second binding member 11B, which has been cut and separated, is removed by moving the holding means 35 away from the first laminate 100A while holding the cut second binding member 11B. During the removal operation, one cut end of the second binding member 11B moves along an upper guide portion 332 (see FIG. 16) formed on the lower surface 331a of the pressing portion 330, and the other cut end of the second binding member 11B moves along a lower guide portion 322 (see FIG. 13) formed on the upper surface 321a of the receiving portion 321. This limits the movement of the second binding member 11B and allows the second binding member 11B to be removed smoothly. As shown in the right diagram of FIG. 20C, when the cutting operation of the second binding member 11B in the longitudinal direction X2 is completed, the pressing portion 330 moves away from the first laminate 100A and moves to the standby position T1 to wait.

[0096] Next, as shown in the left diagram of FIG. 21A , after the pressing portion 330 of the pressing means 33 waits at the standby position T1, the laminate receiving member 320 of the support means 32 is rotated 90 degrees around a vertical axis of rotation to change the orientation of the first laminate 100A. At this time, the longitudinal direction X2 of the first laminate 100A faces the first transport direction F1, and the first binding member 11A, which is aligned with the lateral direction X1, is positioned so that it can be cut. Then, as shown in the right diagram of FIG. 21A , after the orientation of the first laminate 100A is changed, the pressing portion 330 of the pressing means 33 is again brought close to the first laminate 100A and stopped at the judgment height position T4. Note that the detection operation by the first detection means 336 performed after the orientation change of the first laminate 100A can be omitted because the detection was also performed before the orientation change.

[0097] Next, as shown in the left diagram of Fig. 21B, the second detection means 337 detects the first laminate 100A, causing the lowering of the holding unit 330 to stop, and the holding unit 330 stops at the suppression position T5, which is the height position at which preparation for holding is complete, thereby completing preparation for the holding operation. Next, as shown in the right diagram of Fig. 21B, the three first binding members 11A bound along the short side direction X1 of the first laminate 100A are cut and removed.

[0098] The first binding member 11A is cut by cutting means 34 (see FIG. 17 ) on one side of the first binding member 11A, which is bound along the short-side direction X1 of the first laminate 100A, and holding means 35 on the other side. The first binding member 11A that has been cut and separated is removed by moving the holding means 35 away from the first laminate 100A while holding the cut first binding member 11A. During the removal operation, one cut end of the first binding member 11A moves along an upper guide portion 332 (see FIG. 16 ) formed on the lower surface 331 a of the pressing portion 330, and the other cut end of the first binding member 11A moves along a lower guide portion 322 (see FIG. 13 ) formed on the upper surface 321 a of the receiving portion 321. This limits the movement of the first binding member 11A and allows the first binding member 11A to be removed smoothly. The cutting and removal of the three first binding members 11A is carried out by repeatedly performing the cutting and removal operations on each of the first binding members 11A one by one.

[0099] 22 and 23 , in order to reduce the pressing load of the pressing unit 330, the stop position of the pressing unit 330 corresponding to the restraining position T5 may be set to a position slightly separated from the first laminate 100A (a position separated by the height of one component 10). In such a case, when the last first binding member 11A is cut and the binding is released, the first laminate 100A is released from its restraint, causing the components 10 constituting the second laminate 100B to expand in the stacking direction (vertical direction) due to distortion, etc., of the components 10, and the position of the upper surface 100a of the second laminate 100B moves upward. When the amount of movement due to expansion of the second laminate 100B is large, the upper surface 100a of the second laminate 100B abuts against the lower surface 331a of the pressing unit 330, restricting the expansion movement. In this way, the expansion of the second laminate 100B brings the upper surface 100a of the laminate 100B into close proximity to or into contact with the lower surface 331a of the pressing portion 330, thereby suppressing the turbulence of the cut end portion of the first binding member 11A even when the last first binding member 11A is removed (pulled out), and preventing the second laminate 100B (especially the uppermost component 10 (upper cover plate 104A)) from coming into contact and causing the stacked state to collapse.

[0100] As shown in the left diagram of FIG. 21C , after the cutting operation of all the binding members 11 is completed, the holding unit 330 moves upward away from the second laminate 100B and moves to the standby position T1. The laminate receiving member 320 of the support means 32 also moves downward, and the second laminate 100B is placed on the conveying surface 31a of the conveying means 31. The movement of the holding unit 330 to the standby position T1 and the placement of the second laminate 100B on the conveying surface 31a may be performed in parallel or separately. Thereafter, as shown in the right diagram of FIG. 21C , the second laminate 100B is transferred from the unpacking unit 30 to the second transfer device 70 in an orientation (in which the longitudinal direction X2 is oriented in the first transfer direction F1) that is rotated 90° relative to the conveying orientation in which it was supplied to the conveying means 31 before the cutting operation (in which the transverse direction X1 is oriented in the first transfer direction F1) (see FIG. 12 ).

[0101] 1, the control unit 80 comprehensively controls the packaging and unpacking device 1. The control unit 80 is realized by a hardware processor such as a CPU executing a computer program (software) stored in a storage unit.

[0102] The control unit 80 includes, for example, an input unit (including a switching operation unit 81), a motion detection unit, a processing unit, and a memory unit. The input unit is a unit that accepts input of various information to the packaging and unpacking device 1. As shown in FIG. 8 , the input unit is the above-mentioned switching operation unit 81, and an operation signal is input to the control unit 80 based on the operation of the worker M. The input unit may be included in the control unit 80. The motion detection unit detects the motion of each unit and the position and posture of the stacked product 100 (target product 10). Various detection sensors are used for the motion detection unit. The processing unit executes desired control based on information on the detection results by the motion detection unit. The memory unit stores information necessary for processing performed by each unit. The memory unit stores tables of various setting values ​​that are set based on the detection results by the motion detection unit. The memory unit may be realized by an EEPROM, ROM, RAM, etc., or may be realized by a HDD, flash memory, etc.

[0103] The control unit 80 comprehensively controls the operations of the packing unit 20, unpacking unit 30, collecting / separating unit 40, stacked product input / output unit 50, first transfer device 60, and second transfer device 70 included in the packing / unpacking apparatus 1, including packing control when the packing / unpacking apparatus 1 performs packing work and unpacking control when the packing / unpacking apparatus 1 performs unpacking work, as well as management control. The control unit 80 controls switching between the unpacking control and packing control operation modes performed by the packing / unpacking apparatus 1 based on a control operation switching signal. In this embodiment, the control operation switching signal switches the operation mode in response to a signal input by the switching operation unit 81 when either a packing input operation for packing control or an unpacking input operation for unpacking control is performed. Note that the switching operation unit 81 may also be controlled by a switching input signal from a host computer (not shown). Furthermore, after the control unit 80 has performed either of the switching control operations, switching from unpacking control to packing control, or switching from packing control to unpacking control, the control unit 80 checks whether or not there are stacked products 100 in the packing and unpacking device 1, and manages the completion of the switching of the operating mode by confirming that there are no stacked products 100. Specifically, the control unit 80 manages the presence or absence of stacked products 100 in the packing unit 20, unpacking unit 30, collecting and separating unit 40, stacked product input / output unit 50, first transfer device 60, and second transfer device 70, and manages the completion of the switching of the operating mode by confirming that there are no stacked products 100.

[0104] As shown in Figure 1, when unpacking work is performed as an operation performed by the packaging and unpacking device 1, the unpacking control in the control unit 80 includes a first transfer control for transferring the laminated product 100 packaged with binding members 11 from the laminated product input / output section 50 to the unpacking section 30, a first unpacking control for releasing the binding members 11 binding the laminated product 100 in the short direction X1, a second unpacking control for releasing the binding members 11 binding the laminated product 100 in the long direction X2, and a second transfer control for transferring the unpacked laminated product 100 from the unpacking section 30 to the collecting and separating section 40.

[0105] The first and second transfer controls are performed by controlling the input / output transfer mechanism 50A of the stack input / output section 50, the second transfer device 70, the conveying means 31 of the unpacking section 30, the collecting and transferring section 41 of the collecting / separating section 40, and the first transfer device 60. The first and second unpacking controls are performed by controlling the support means 32, pressing means 33, cutting means 34, and holding means 35 of the unpacking section 30.

[0106] Furthermore, when a packing operation is performed as an operation performed by the packing and unpacking device 1, the packing control in the control unit 80 includes a third transfer control for transferring the laminated product 100 from the collecting and separating unit 40 to the packing unit 20, a first packing control for bundling the laminated product 100 in the short side direction X1, a second packing control for bundling the laminated product 100 in the long side direction X2, and a fourth transfer control for moving the packaged laminated product 100 by completing bundling in the short side direction X1 and the long side direction X2 toward the laminated product input / output unit 50. Furthermore, the packing control includes a fifth transfer control for transferring the laminated product 100 from the packing unit 20 to a direction changing position, and a sixth transfer control for transferring the direction-changed laminated product 100 from the direction changing position to the packing unit 20.

[0107] The third transfer control is performed by controlling the collecting and transferring section 41 of the collecting and separating section 40, the second transfer device 70, and the transfer conveyor 25 of the packaging section 20. The first packaging control is performed by controlling the transfer conveyor 25, the pressure guide unit 23, the alignment unit 26, and the packaging mechanism 21, thereby performing bundling control at multiple locations set at predetermined intervals in the longitudinal direction X2 of the laminated product 100. The second packaging control is performed by controlling the pressure guide unit 23, the alignment unit 26, and the packaging mechanism 21. The fourth transfer control is performed by controlling the input / output transfer mechanism 50A of the laminated product input / output section 50, the second transfer device 70, and the transfer conveyor 25 of the packaging section 20. The fifth and sixth transfer controls are performed by controlling the transfer conveyor 25 of the packaging section 20, the second transfer device 70, and the conveying means 31 of the unpacking section 30.

[0108] The control unit 80 also includes a direction change control for changing the horizontal orientation of the stacked product 100. This direction change control changes the direction of the stacked product 100 from one of the short side direction X1 and the long side direction X2 to the other in a direction that rotates the stacked product 100 around a vertical rotation axis. The direction change control is performed by controlling the support means 32 of the unpacking unit 30.

[0109] [Packing and Unpacking Method] The packing and unpacking method using the above-described packing and unpacking apparatus 1 includes a packing step of packing the laminated product 100 with the binding member 11 in the packing section 20, an unpacking step of unpacking the laminated product 100 by removing the binding member 11 from the laminated product 100 in the unpacking section 30, a shipping and transport step of transporting the laminated product 100 from the packing section 20 to the laminated product input / output section 50, an incoming and transport step of transporting the laminated product 100 from the laminated product input / output section 50 to the unpacking section 30, a stacking step of stacking multiple target products, i.e., components 10, a separation step of separating the components 10 one by one from the laminated product 100, and an operation selection step of selecting either a packing operation or an unpacking operation of the packing and unpacking apparatus 1. The packing operation includes the packing process, the shipping and transport process, and the stacking process. The unpacking operation includes the unpacking process, the incoming and transport process, and the separation process.

[0110] As described above, with the unpacking section 30 of this embodiment, the pressing portion 330 of the pressing means 33 is moved from above to the restraining position for stacked products 100 packaged with binding members 11 supported from below by the stacked product receiving member 320 of the support means 32, and then the cutting member is moved toward the side of the stacked products 100 to cut the binding members 11. At this time, the binding members 11 packaging the stacked products 100 are supported by the holding unit 350 and the pressing portion 330 of the holding means 35, so that the movement of the cut binding members 11 can be suppressed and irregular movement of the cut ends of the binding members 11 can be prevented. This prevents problems such as the cut ends of the binding members 11 becoming tangled in part of the device, making it impossible to remove the cut binding members 11 and causing the device to stop, or the cut ends of the binding members 11 becoming tangled in part of the stacked products 100, causing the stacked products to collapse, thereby improving work efficiency.

[0111] In this embodiment, the holding portion 330 preferably includes an outer periphery and an upper guide portion 332 that is provided corresponding to the portion of the binding member 11 located on the upper side of the laminate 100 and that guides the movement of the binding member 11. Therefore, according to this embodiment, the movement of the binding member 11 cut by the cutting means 34 is guided by the upper guide portion 332, preventing disturbance of the binding member 11. Moreover, because the upper guide portion 332 is positioned in a position corresponding to the binding member 11, the cut binding member 11 can be reliably guided by the upper guide portion 332.

[0112] In this embodiment, the upper guide portion 332 includes an upper contact portion 333 that can contact the upper portion of the laminate 100, and an upper guide path 334 that is formed from one side of the outer periphery of the binding member 11 to the other with a width greater than the width of the binding member 11 and that guides the movement of the binding member 11. With this configuration, the movement of the binding member 11 cut by the cutting means 34 is guided by the upper guide path 334, thereby preventing disturbance of the binding member 11.

[0113] Furthermore, in this embodiment, the unpacking control unit 37 controls the pressing unit 330 to move to a proximity position that is set according to the height of the stacked products 100, controls the cutting operation of the cutting means 34 on the binding members 11 binding the stacked products 100, controls the holding operation of the holding unit 350 on the binding members 11 to be cut, and removes the cut binding members 11. Therefore, according to this embodiment, the unpacking control unit 37 can accurately position the pressing unit 330 and the holding unit 350 with respect to the stacked products 100. This allows an appropriate distance to be maintained between the binding members 11 and the pressing unit 330, and allows the cut binding members 11 to be moved and removed smoothly without disturbance or entanglement with other parts.

[0114] Furthermore, in this embodiment, in order to stop the movement of the pressing part 330 at a proximity position set according to the height of the stacked products 100, the device further includes a first detection means 336 that detects the upper end of the stacked products 100, and a second detection means 337 that detects the upper end of the stacked products 100 at the unpacking position P2 in order to compare the height of the stacked products 100 at the unpacking position P2 with a height that is preset according to the height of the stacked products 100 to be unpacked. With this configuration, the first detection means 336 and the second detection means 337 can accurately position the pressing part 330 relative to the stacked products 100. This allows an appropriate separation between the binding member 11 and the pressing part 330 to be maintained, and the cut binding member 11 can be moved and removed smoothly without disturbance or entanglement with other parts.

[0115] In this embodiment, the first detecting means 336 and the second detecting means 337 are provided in the holding unit 330. The holding unit 33 includes a drive mechanism that moves the holding unit 330, and moves the holding unit 330 in accordance with changes in the detection states of the first detecting means 336 and the second detecting means 337, and stops the holding unit 330 at any position. With this configuration, the drive mechanism that moves the holding unit 330 is driven in accordance with changes in the detection states of the first detecting means 336 and the second detecting means 337, so the holding unit 330 can be moved with high precision, and the positioning precision of the holding unit 330 with respect to the laminate 100 can be further improved.

[0116] In this embodiment, the support means 32 includes a receiving portion 321 on which the laminate 100 is placed and supported, and a lower guide portion 322 provided on the upper surface of the receiving portion 321, corresponding to the portion of the binding member 11 located below the laminate 100, for guiding the movement of the binding member 11. Therefore, according to this embodiment, the movement of the binding member 11 cut by the cutting means 34 is guided by the lower guide portion 322, preventing disturbance of the binding member 11. Moreover, because the lower guide portion 322 is positioned in a position corresponding to the binding member 11, the cut binding member 11 can be reliably guided by the lower guide portion 322.

[0117] In this embodiment, the lower guide portion 322 includes an upper surface 321a (lower contact portion) that can contact the lower portion of the stacked product 100, and an upper guide path 334 that is formed along the binding members 11 with a width greater than that of the binding members 11 and that guides the movement of the binding members 11. Therefore, according to this embodiment, the movement of the binding members 11 cut by the cutting means 34 is guided by the upper guide path 334, preventing turbulence of the binding members 11. Furthermore, because the upper surface 321a (lower contact portion) can press down the lower portion of the stacked product 100, expansion caused by the release of the multiple stacked components 10 (individual trays) when the last binding member 11 is cut can be suppressed between the upper surface 321a (lower contact portion) and the pressing means 33, preventing the stacked product 100 from becoming unstable due to expansion and collapsing.

[0118] In this embodiment, the support means 32 includes a receiving portion 321 on which the laminate 100 is placed and supported, an elevating mechanism 325 that raises and lowers the receiving portion 321, and a rotation drive mechanism 326 that rotates the receiving portion 321 about a rotation axis extending in the vertical direction, and positions the support member at a position corresponding to a first cutting position for cutting the first binding member 11 binding the laminate 100 in the short-side direction X1 and a second cutting position for cutting the second binding member 11 binding the laminate 100 in the long-side direction X2 different from the short-side direction X1. Therefore, according to this embodiment, the laminate 100 placed on the conveying surface 31a of the conveying means 31 is raised by the elevating mechanism 325 to a height above the conveying surface 31a, and then rotated by the rotation drive mechanism 326, thereby changing the direction of the laminate 100 between the short-side direction X1 and the long-side direction X2. Therefore, without moving the cutting means 34 in accordance with the short direction X1 and the long direction X2 or providing multiple cutting means, the first binding member 11 bound in the short direction X1 and the second binding member 11 bound in the long direction X2 can be unpacked at the same unpacking position P2.

[0119] In this embodiment, a conveying means 31 is provided that transfers laminated products 100 having a first length and a second length longer than the first length to the unpacking position P2, and the receiving portion 321 includes a first receiving portion 321A corresponding to the first length and a second receiving portion 321B corresponding to the second length. The conveying means 31 includes a storage portion 31b having a width of the second length and in which the receiving portion 321 is arranged so as to be able to wait at a position below the conveying surface 31a of the conveying means 31. With this configuration, even if the receiving portion 321 has the first receiving portion 321A and the second receiving portion 321B corresponding to laminated products 100 of different vertical and horizontal lengths, it can be made to wait in the storage portion 31b below the conveying surface 31a of the conveying means 31. Therefore, the laminated products 100 arranged at the unpacking position P2 can be supported from below by the receiving portion 321, raised by the lifting mechanism 325, and rotated by the rotary drive mechanism 323, thereby efficiently changing the direction of the laminated products 100.

[0120] Furthermore, in this embodiment, the cutting means 34 includes a cutting unit 340 that cuts the binding members 11 and a moving mechanism 341 that moves the cutting unit 340 toward or away from the binding members 11. The cutting unit 340 includes a cutting blade 342, a guide mechanism 343 that contacts the laminated product 100 and maintains a constant distance between the cutting blade 342 and the binding members 11, and a storage section 344 that accommodates the cutting blade 342. Therefore, according to this embodiment, the guide mechanism 343 of the cutting means 34 allows the cutting blade 342 to cut the binding members 11 while the cutting blade 342 is in contact with the laminated product 100. In other words, the guide mechanism 343 maintains a constant distance between the binding members 11 and the cutting blade 342, so that the cutting blade 342 can accurately cut only the binding members 11 without damaging the laminated product 100. Furthermore, since the cutting blade 342 is housed in the housing portion 344, the cut binding member 11 does not interfere with the cutting blade 342, and the cutting blade 342 can be protected.

[0121] Furthermore, in this embodiment, the holding means 35 is movably disposed on the opposite side of the cutting means 34 across the laminate 100, and includes a holding portion 352 that holds a portion of the binding member 11 on a second side of the laminate 100 that is opposite the first side to be cut by the cutting means 34, a contact portion 353 that holds a portion of the binding member 11 located on the second side, and a detection portion 354 that detects the binding member 11 in the holding area of ​​the contact portion 353. With this configuration, the detection portion 354 of the holding means 35 detects the position of the binding member 11, while the holding portion 352 and the contact portion 353 hold the binding member 11 located on the second side of the laminate 100. Therefore, the holding means 35 can be positioned so as to maintain a constant distance from the cutting means 34 on the laminate 100, allowing the binding member 11 to be cut with precision.

[0122] Furthermore, this embodiment further includes recovery means 36 for recovering the cut binding members 11, and the recovery means 36 includes a storage section 361 for recovering the binding members 11 and a recovery guide section 362 for guiding the binding members 11 immediately after being cut to the storage section 361. Therefore, according to this embodiment, after the binding members 11 immediately after being cut at the unpacking position P2 are stored in the recovery guide section 362, the binding members 11 can be guided from the recovery guide section 362 to the storage section 361 and recovered efficiently.

[0123] According to the unpacking device and unpacking system of this embodiment, problems caused by irregular movement of the cut end portions can be prevented, and work efficiency can be improved.

[0124] Although the embodiments of the present disclosure have been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present disclosure. Furthermore, the components shown in the above-described embodiments and modifications can be configured by appropriately combining them.

[0125] Although preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to these embodiments. Addition, omission, substitution, and other modifications of the configuration are possible without departing from the spirit of the present disclosure. Furthermore, the present disclosure is not limited by the above description, but is limited only by the scope of the appended claims.

[0126] The present disclosure is applicable to unpacking devices and unpacking systems.

[0127] REFERENCE SIGNS LIST 1 Packing and unpacking device 10 Part (target item) 100 Laminated product 100A First laminated product 100B Second laminated product 11 Binding member 11A First binding member 11B Second binding member 20 Packing section 30 Unpacking section 31 Conveying means 32 Supporting means 33 Pressing means 330 Pressing section (pressing member) 34 Cutting means 35 Holding means 36 Recovery means 40 Gathering and separating section 50 Laminated product input / output section 50A Input / output transfer mechanism 50a Input / output port 50b End 60 First transfer device 70 Second transfer device 71 Second horizontal guide rail (transfer path section) 71a First side section 71b Second side section 72 Transfer platform (first transfer section) 73 Delivery mechanism (second transfer section) 75 Working path 76 Work entry / exit section 80 Control section 81 Switching operation section F1 First transfer direction F2 Second transfer direction X1 Short direction (first direction) X2 Longitudinal direction (second direction)

Claims

1. An unpacking device that unpacks a stacked product at an unpacking position, where the stacked product is made up of multiple stacked individual trays containing target items and packed with binding members, and comprises: a support means that supports the stacked product from below and has a support member that is movable in the vertical direction; a pressing means that has a pressing member that suppresses turbulence when the binding members are removed from the stacked product; a cutting means that has a cutting member that can move toward and away from the side of the stacked product and cuts the binding members; and a holding means that has a holding member that holds the binding members to be cut.

2. The unpacking device according to claim 1, wherein the pressing member comprises an outer peripheral portion and an upper guide portion that corresponds to the portion of the binding member located on the upper side of the stacked product and guides the movement of the binding member.

3. The unpacking device according to claim 2, wherein the upper guide portion comprises: an upper abutment portion that can abut against the upper portion of the stacked product; and an upper guide path that is formed from one side of the outer periphery along the binding member with a width greater than the width of the binding member, and that guides the movement of the binding member.

4. An unpacking device as described in claim 1, further comprising a control unit that controls the support means, the pressing means, the cutting means and the holding means, wherein the control unit controls the pressing member to move and position it relative to a restraining position of the pressing member that is set according to the height of the stacked product, controls the cutting action of the cutting member on the binding member that binds the stacked product, controls the holding action of the holding member on the binding member to be cut, and removes the cut binding member.

5. An unpacking device as described in claim 1, further comprising: a first detection means for detecting the upper end of the stack; and a second detection means for detecting the upper end of the stack; wherein the first detection means and the second detection means are arranged at positions with different distances from the pressing member; the first detection means detects the upper end of the stack before the pressing member stops at a restraining position where it restrains the binding member; and the second detection means detects the upper end of the stack after the pressing member stops at a restraining position where it restrains the binding member.

6. The unpacking device according to claim 1, wherein the support means comprises: a support portion on which the stacked product is placed and supported; and a lower guide portion provided on the upper surface of the support portion, corresponding to a portion of the binding member located below the stacked product, and guiding the movement of the binding member.

7. The unpacking device according to claim 6, wherein the lower guide portion comprises: a lower abutment portion that can abut against the lower portion of the stacked product; and an upper guide path that is formed along the binding member with a width greater than that of the binding member and that guides the movement of the binding member.

8. The unpacking device described in claim 1, wherein the support means comprises a support section on which the laminated product is placed and supported, a lifting mechanism for raising and lowering the support section, and a rotation drive mechanism for rotating the support section around a rotation axis extending vertically, and positions the support section at a position corresponding to a first cutting position for cutting a first binding member that binds the laminated product in a first direction, and a second cutting position for cutting a second binding member that binds the laminated product in a second direction different from the first direction.

9. An unpacking device as described in claim 8, further comprising: a conveying means for transporting the laminated products of a first length and a second length longer than the first length to the unpacking position; the support portion comprises a first support portion corresponding to the first length and a second support portion corresponding to the second length; the conveying means has a width of the second length; and the support portion comprises a storage portion arranged so that it can wait at a position below the conveying surface of the conveying means.

10. An unpacking device as described in claim 1, wherein the cutting means comprises: a cutting unit that cuts the binding member; and a moving mechanism that moves the cutting unit closer to or away from the binding member, and the cutting unit comprises: a cutting blade; a guide member that abuts against the laminate and maintains a constant distance between the cutting blade and the binding member; and a storage section in which the cutting blade is stored.

11. The unpacking device described in claim 1, wherein the holding means is movably arranged on the opposite side of the cutting means across the laminate, and comprises: a holding portion that holds a portion of the binding member on a second side of the laminate opposite to a first side that is cut by the cutting means; a contact portion that contacts a portion of the second side that corresponds to the portion of the binding member located on the second side; and a detection portion that detects the binding member in the holding area of ​​the contact portion.

12. An unpacking device as described in claim 1, further comprising a recovery means for recovering the cut binding member, said recovery means comprising: a storage section for recovering the binding member; and a recovery guide section for guiding the binding member to the storage section immediately after being cut.

13. An unpacking system equipped with the unpacking device according to any one of claims 1 to 12, comprising: the unpacking device; a separation standby means for allowing the stack of products from which the binding members have been removed to wait; a separation means for separating the individual trays from the stack of products waiting in the separation standby means; and a guide means for guiding the sides of the individual trays separated by the separation means.

Images