CN103086028A - Unpacking Device And Method - Google Patents
Unpacking Device And Method Download PDFInfo
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- CN103086028A CN103086028A CN2012104350679A CN201210435067A CN103086028A CN 103086028 A CN103086028 A CN 103086028A CN 2012104350679 A CN2012104350679 A CN 2012104350679A CN 201210435067 A CN201210435067 A CN 201210435067A CN 103086028 A CN103086028 A CN 103086028A
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- Prior art keywords
- packing
- robot
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- control unit
- content
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0008—Opening and emptying bags
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B2220/00—Specific aspects of the packaging operation
- B65B2220/16—Packaging contents into primary and secondary packaging
- B65B2220/18—Packaging contents into primary and secondary packaging the primary packaging being bags the subsequent secondary packaging being rigid containers, e.g. cardboard box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/005—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for removing material by cutting
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- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
- Manipulator (AREA)
Abstract
An unpacking device (100) unpacks a package and takes out contents. The package includes a primary package (3) formed by packing the contents with a primary packing material and a secondary package (5) formed by packing the primary package (3) with a secondary packing material. The secondary packing material of the secondary package (5) has an incision (8). The unpacking device (100) includes a robot (10), and a control unit (110, 120) for controlling the robot (10) such that the robot (10) takes out the primary package (3) through the incision (8) of the secondary packing material and then takes out the contents from the primary package (3).
Description
Technical field
The present invention relates to be used to taking packing apart and take out the dismantle device of content and the method for unpacking, and the article of being taken apart by this dismantle device and the method for unpacking; And, more specifically, relate to the technology of sneaking into content be used to the chip that prevents packing when taking packing apart.
Background technology
The material of line of putting into production is usually received under packed state.Packaged material is manually unpacked by the workman, and line then puts into production.The major part work of unpacking is repeatedly performed and is automation under many circumstances.
Be used for by the dismantle device that takes out content with sharp weapon cutting packing open at Japanese patent application 2002-002638 communique and 2002-249116 communique.In the dismantle device of JP2002-002638A, content (old newspaper) is cut when cutting packing.In the dismantle device of JP2002-249116A, the upper wall of box is cut away by slanting cutting machine.
When with dismantle device cutting packing, very possible is, chip is sneaked into content in the process of cutting packing in.In the situation that content is old newspaper as the dismantle device of JP2002-002638A, can not cause serious problems even sneak in old newspaper as some chips of the cardboard case of packing yet.Yet, if content is food, do not wish that the chip of packing is sneaked in content.
If content is relatively little content, such as vegetables or flour, the part of content can be stayed in packing in the process of unpacking sometimes.For this reason, need to stop as far as possible in the process of unpacking content to be stayed in packing.
Summary of the invention
The object of the present invention is to provide a kind of packing of can taking apart to make the chip of packing can not sneak into the dismantle device in content and the method for unpacking, and the article of being taken apart by described dismantle device and the method for unpacking.
According to an aspect of the present invention, provide a kind of dismantle device, described dismantle device comprises: robot; And control unit, described control unit is configured to control described robot, makes this robot take out once packing via the otch of the secondary package material of secondary package, then takes out content from described once packing.Described once the packing by packing described content with packing forms, and described secondary package forms by packing described once the packing with described secondary package material.In such dismantle device, described control unit can be controlled described robot and take out this by the deadweight of described once packing via the described otch of described secondary package material and once pack.
Described packing can be flexible bags, and described control unit can be configured to control described robot, make this robot grip described once described packing of packing, mention described packing, and take out described content by the deadweight of described content from described bag.
Described control unit can be configured to control described robot, made before taking out described content, described robot is carried out preparation holding operation and main holding operation, in described preparation holding operation, described robot grips the described once predetermined position of described packing of packing, mention described once packing with the predetermined displacement amount, and discharge this and once pack; In described main holding operation, described robot grips near described predetermined position or described predetermined position.
Described control unit can be configured to control described robot, make this robot carry out operation up and down between described preparation holding operation and described main holding operation, and in described operation up and down, discharged in described preparation holding operation at this robot under the state of described once packing, described robot moves up or down, and makes this robot grip the described once position of packing in described main holding operation and is offset.
Described packing can be flexible bags, described content is sealed in described packing of described once packing, and described control unit is configured to control described robot, make this robot grip described once described packing of packing, form otch and utilize the deadweight of described content to take out this content via this otch that forms in described packing in described packing.
Described control unit can be configured to control described robot, make prior to form described otch in described packing, described robot is carried out preparation holding operation and main holding operation, robot described in described preparation holding operation grip described once described packing of packing predetermined position, with the predetermined displacement amount mention described once pack and discharge this once pack; In described main holding operation, described robot grips near described predetermined position or described predetermined position.
Described control unit can be configured to control described robot, make this robot carry out operation up and down between described preparation holding operation and described main holding operation, in described operation up and down, discharged in described preparation holding operation at this robot under the state of described once packing, described robot moves up or down, and the position that makes described robot grip described master package in described main holding operation is offset.
Described control unit can be configured to control described robot, makes this robot grip in described preparation holding operation under the state of described predetermined position of described packing, and hang up reaches the schedule time.
Described dismantle device can also comprise: the packing cutter unit, described packing cutter unit is used for by describedly once packing the place at place and taken out place the place at described content place by described robot except being taken out by described robot, cut described secondary package described secondary package material and in this secondary package material the described otch of formation; Transportation unit, described transportation unit is used for described secondary package is transported to from described packing cutter unit the operating area of described robot; And chip removes the unit, described chip removes the unit and is used for except being taken out described place of once packing the place by described robot and by the place between the place at the described robot described content of taking-up place, described operating area at described packing cutter unit and described robot, removing the chip that produces from described secondary package during cutting operation.
According to a further aspect in the invention, a kind of method of unpacking be used to taking packing apart and taking out content is provided, and described packing comprises that described content is formed once to be packed and by pack the described formed secondary package of once packing with the secondary package material by packing with packing.The described method of unpacking comprises: form otch in the described secondary package material of described secondary package; And utilize robot, via the described once packing of described otch taking-up of described secondary package material, then take out described content from described once packing.
Description of drawings
Purpose of the present invention and feature will become from the following description of the embodiment that provides by reference to the accompanying drawings obviously, in accompanying drawing:
Fig. 1 and Fig. 2 are the figure that the packaging process of food schematically is shown;
Fig. 3 illustrates the planar view that technological process is according to the embodiment of the present invention arranged;
Fig. 4 is the block diagram that schematically illustrates according to the dismantle device of embodiment;
Fig. 5 once takes out the figure of the function of control unit for explanation;
Fig. 6 takes out the figure of the function of control unit for the explanation secondary;
Fig. 7 is the block diagram that schematically illustrates according to the dismantle device of the first modified example of embodiment;
Fig. 8 is the figure for the function of explanation preparation holding operation control unit;
Fig. 9 is the figure for the function of explanation up and down operation control unit and main holding operation control unit;
Figure 10 is the block diagram that schematically illustrates according to the dismantle device of the second modified example of embodiment; And
Figure 11 is the block diagram that schematically illustrates according to the dismantle device of the 3rd modified example of embodiment.
The specific embodiment
A kind of dismantle device is provided, and this dismantle device is used for taking out plastic bag by using articulated robot from the packing that the cardboard case by cutting forms, and mentions this plastic bag and takes out content from this plastic bag.
In the present embodiment, suppose that the food as material is placed into the snack manufacturing line.Available packed state will be described below when receiving food.
Fig. 1 and Fig. 2 are the figure that the packaging process of food schematically is shown.As shown in Figure 1, as the food 1(of content referring to the left figure in Fig. 1) be accommodated in (referring to the figure of the central authorities in Fig. 1) in the plastic bag 2 as packing.Conveying end (bag opening) 6 is folded to form once packs 3(referring to the right figure in Fig. 1).As shown in Figure 2, once pack in 3 cardboard cases 4 that wrapped into as the secondary package material (referring to the left figure in Fig. 2), thereby form secondary package 5(referring to the right figure in Fig. 2).In this, packing are such as the flexible pouch of plastic bag 2 and have conveying end 6.The secondary package material is the container such as cardboard case 4, unless be applied with to a certain degree external force the shape of container remain unchanged.In the present embodiment, adhere to the strap 7 of this secondary package material by using sharp weapon cutting secondary package material itself or cutting, can form to be enough to take out in secondary package 5 and once pack 3 otch.
Fig. 3 illustrates the planar view of arranging according to the technological process of present embodiment.Referring to Fig. 3, show tow-armed robot 10, packed and transported unit 11, packing cutter unit 12, chip and remove unit 13, content unloading transport plane 14, cardboard unloading transport plane 15, cardboard memory storage 16, plastic bag recovery device 17 and plastic bag storage box 18.
Tow-armed robot 10 is have the articulated robot that amounts to 15 axles and be provided with two seven axle articulated robots, and these two robots are installed to along the common axis of general horizontal direction rotation.Thereby the geometric terminology in present disclosure (such as " level ") does not need strict mathematical meaning.Be intended to allow the term of execution error.Packed and transported unit 11 is transported to the operating area of tow-armed robot 10 to major general's secondary package 5 from packing cutter unit 12.Packed and transported unit 11 comprises packing loading conveyor 19 and cross feed device 20.
Chip removes unit 13 and is mounted in clean-up device between packing cutter unit 12 and cross feed device 20.This chip removes unit 13 by blowing away the chip that produces with pressurized air or pass through the suction chip in the packing cutting process, removes chip from secondary package 5.The place of chip between the operating area of packing cutter unit 12 and tow-armed robot 10 removes unit 13 by chip and removes.Preferably, chip can in any place except taken out the place of once packing 3 place and being taken out food 1 by tow-armed robot 10 by tow-armed robot 10, remove unit 13 by chip and remove.
Fig. 4 is the block diagram that schematically illustrates according to the dismantle device 100 of present embodiment.As shown in Figure 4, dismantle device 100 comprises tow-armed robot 10, once takes out control unit 110 and secondary and take out control unit 120.In the present embodiment, once take out control unit 110 and secondary and take out control unit 120 as control unit.
Once take out control unit 110 and secondary and take out control unit 120 control tow-armed robots 10 to take packing apart and to take out content.
Fig. 5 once takes out the view of the function of control unit 110 for explanation.As shown in Figure 5, once take out control unit 110 and control tow-armed robot 10 once to pack 3 by otch 8 taking-ups that formed by packing cutter unit 12.More specifically, once take out control unit 110 and at first control tow-armed robot 10, remain on the starting point place of content unloading transport plane 14 with the cardboard case 4 with secondary package 5, and can mention secondary package 5(referring to the upper diagram in Fig. 5).
Then, once take out control unit 110 and control tow-armed robots 10 rotation secondary package 5, so that otch 8 faces down, make and once pack 3 and can be fetched to via otch 8 under its deadweight on content unloading transport plane 14 (referring to the bottom graph in Fig. 5).For example, if otch 8 is formed on the upside place of cardboard case 4, once takes out control unit 110 and control tow-armed robot 10, so that secondary package 5 Rotate 180 degree.And, once take out the rotation (referring to the arrow C in Fig. 3) when keeping cardboard case 4 of control unit 110 control tow-armed robots 10 and also this cardboard case 4 is transported on cardboard unloading transport plane 15.
After cardboard case 4 was transported by tow-armed robot 10, cardboard unloading transport plane 15 was transported to cardboard memory storage 16(referring to the arrow D in Fig. 3 with cardboard case 4).16 storages of cardboard memory storage are by the cardboard case 4 of cardboard unloading transport plane 15 transportations.
Fig. 6 takes out the view of the function of control unit 120 for the explanation secondary.As shown in Figure 6, secondary takes out control unit 120 and controls tow-armed robot 10 to get back to content unloading transport plane 14 and to take out food 1 from once packing 3.More specifically, secondary takes out control unit 120 and controls tow-armed robots 10 and once pack 3 plastic bag 2(referring to the left view in Fig. 6 to grip), and mention this plastic bag 2, make food 1 to be fetched to via conveying end 6 under its deadweight on content unloading transport plane 14 (referring to the right elevation in Fig. 6).
Thus, when 3 plastic bag 2 was once packed in tow-armed robot 10 grippings, secondary took out control unit 120 by using the sensor (not shown) to confirm grip position.After food 1 was fetched on content unloading transport plane 14, secondary took out control unit 120 and controls tow-armed robot 10 rotation (referring to the arrow C in Fig. 3) when gripping plastic bag 2, and this plastic bag 2 is transported on plastic bag recovery device 17.
When mentioning plastic bag 2, tow-armed robot 10 can be with relative low-speed handing until food 1 from plastic bag 2 out, make plastic bag 2 can not be torn under the switching impulse effect.Food 1 from plastic bag 2 out after, tow-armed robot 10 can be with relative high speed operation.In this, secondary take out sensitivity that control unit 120 can utilize the servomotor torque constant of tow-armed robot 10 detect food 1 whether from plastic bag 2 out.Replace to detect food 1 whether from plastic bag 2 out, secondary takes out control unit 120 can control tow-armed robot 10 with relative low-speed handing preset distance, then secondary takes out control unit 120 and can control tow-armed robot 10 with relative high speed operation.In this, preferably, described preset distance is substantially equal to the length of plastic bag 2.
Plastic bag recovery device 17 sends to plastic bag storage box 18(referring to the arrow E in Fig. 3 with plastic bag 2).The plastic bag 2 that 18 storages of plastic bag storage box send from plastic bag recovery device 17.After food 1 was taken out by tow-armed robot 10, content unloading transport plane 14 was transported to the next stop (referring to the arrow F in Fig. 3) with food 1.
In JP2002-002638A and JP2002-249116A, disclosed conventional dismantle device takes out content (food 1) from secondary package 5 in order to utilize, and utilizes sharp weapon to cut simultaneously secondary package material (cardboard case 4) and packing (plastic bag 2).Yet in this case, very possible is that the chip of secondary package material (cardboard case 4) and packing (plastic bag 2) is sneaked in content.
On the other hand, by according to the dismantle device 100 of present embodiment and the method for unpacking, once pack 3 and at first taken out from secondary package 5, then content (food 1) is removed, and needn't form otch in packing (plastic bag 2).This makes the chip of secondary package material (cardboard case 4) and packing (plastic bag 2) be not easy to be sneaked in content (food 1).By the dismantle device 100 according to present embodiment, the place that forms otch in secondary package material (cardboard case 4) is different from once the place that place that packing 3 is removed and content (food 1) are removed.This makes the chip of secondary package material (cardboard case 4) especially be difficult to be sneaked in content (food 1).
(the first modified example)
In the first modified example of above-mentioned embodiment, will add the dismantle device 100 of above-mentioned embodiment the situation that is useful on the operation that form to grip the edge to be described.
Thus, the term operation of edge " be used to form grip " means the predetermined position that grips plastic bag 2, the preparation holding operation of mentioning plastic bag 2 and release plastic bag 2.
Fig. 7 is the block diagram that schematically illustrates according to the dismantle device 200 of the first modified example.As shown in Figure 7, dismantle device 200 comprises tow-armed robot 10, once takes out control unit 110 and secondary and take out control unit 220.In the first modified example, once take out control unit 110 and secondary and take out control unit 220 as control unit.Those parts identical with the parts of above-mentioned embodiment will represent by identical Reference numeral, and omit it and be repeated in this description.
Take out control unit 120 as the secondary of the dismantle device 100 of above-mentioned embodiment the same, secondary takes out control unit 220 and controls tow-armed robots 10 with from once packing 3 taking-up food 1.Secondary takes out control unit 220 and is with the difference that secondary takes out control unit 120, and secondary takes out control unit 220 and has the operation that is used to form the gripping edge.Secondary takes out control unit 220 and comprises preparation holding operation control unit 221, up and down operation control unit 222 and main holding operation control unit 223.
Fig. 8 is the figure for the function of explanation preparation holding operation control unit 221.Preparation holding operation control unit 221 is controlled tow-armed robot 10, with before taking out food 1 from conveying end 6, grip the predetermined position (referring to the left figure in Fig. 8) once pack 3 plastic bag 2, mention with the predetermined displacement amount and once pack 3(referring to the central authorities in Fig. 8 figure), and discharge this and once pack 3(referring to the right figure in Fig. 8).
Fig. 9 is the figure for the function of explanation up and down operation control unit 222 and main holding operation control unit 223.Discharged under the control of preparation holding operation control unit 221 at tow-armed robot 10 and once packed under 3 state, operation control unit 222 operation tow-armed robots 10 in up and down move up or down.Therefore up and down operation control unit 222 grips tow-armed robot 10 once to pack 3 position to be offset (referring to the left figure in Fig. 9) in main holding operation.In the first modified example, operation control unit 222 operation tow-armed robots 10 in up and down are with about 30cm to 50cm that moves up.Main holding operation control unit 223 grips tow-armed robot 10 and once packs 3 described predetermined position or its neighbouring (referring to the right figure in Fig. 9).
In the control of being carried out by up and down operation control unit 222, the number of times of the upward movement of tow-armed robot 10 or the distance that moves downward and preparation holding operation can be set by the user.For example, the screen that be used for to set grips the number of times of the position at edge and preparation holding operation can be presented at touch panel, thus receive by " height " of user's input, " in ", the selection of " low " option and the number of times of preparation holding operation.Because the move distance of the tow-armed robot 10 of being controlled by up and down operation control unit 222 can be zero, so secondary takes out control unit 220 and can be configured to not comprise up and down operation control unit 222.
As mentioned above, by the dismantle device 200 according to the first modified example, tow-armed robot 10 is carried out and is formed the operation that grips the edge, can make thus in the amount of the content that grips during main holding operation (food 1) amount less than the content (food 1) that grips during the preparation holding operation.This makes works as in the situation that do not form otch in packing (plastic bag 2), when the tow-armed robot 10 of dismantle device 200 gripped packing (plastic bag 2) and takes out content (food 1), content (food 1) difficulty was not easy to stay in packing (plastic bag 2).
(the second modified example)
In the second modified example of above-mentioned embodiment, to such dismantle device be described, in this dismantle device, articulated robot takes out the plastic bag of sealing from the packing that is formed by the cardboard case that cuts open, grip this plastic bag, form otch and take out content via this otch in this plastic bag.
In the second modified example, as above-mentioned embodiment, suppose as raw-material food to be put into the snack manufacturing line.The difference of the second modified example and above-mentioned embodiment is the packaging for foodstuff state.In the above-described embodiment, be accommodated in plastic bag 2 as packing as the food 1 of content.Once packing 3 forms via folding conveying end 6.In the second modified example, not shown by putting into the plastic bag 22(of packing of conduct that are in sealing state as the food 1 of content) form that once to pack 23(not shown).As in the above-described embodiment, once packing 23 by cardboard case 4 packings that are used as the secondary package material, to form secondary package 25(not shown).
The packaging for foodstuff state is basically identical with available packaging for foodstuff state in embodiment illustrated in figures 1 and 2.The plastic bag 22 of the second modified example is corresponding with the plastic bag 2 of above-mentioned embodiment.The plastic bag 22 of the second modified example is with the difference of the plastic bag 2 of above-mentioned embodiment, mouthful being closed by heatsealing of plastic bag 22.Once packing of the second modified example is 23 corresponding with the once packing 3 of above-mentioned embodiment.Content is not sealed in the once packing 3 of above-mentioned embodiment, and content keeps sealing in the once packing 23 of the second modified example.The secondary package 25 of the second modified example is corresponding with the secondary package 5 of above-mentioned embodiment.Once pack 23 secondary package 25 packings by the second modified example, and once pack 3 secondary package 5 packings by above-mentioned embodiment.
Figure 10 is the block diagram that schematically illustrates according to the dismantle device 300 of the second modified example.As shown in figure 10, dismantle device 300 comprises tow-armed robot 10, once takes out control unit 110 and secondary and take out control unit 320.In the second modified example, once take out control unit 110 and secondary and take out control unit 320 as control unit.Those parts identical with the parts of above-mentioned embodiment will be represented by identical Reference numeral and omit to be repeated in this description.
Take out control unit 120 as the secondary of the dismantle device 100 of above-mentioned embodiment the same, secondary takes out control unit 320 and controls tow-armed robots 10, with can be from once packing 23 taking-up food 1.Secondary takes out control unit 320 and is with the difference that secondary takes out control unit 120, and secondary takes out control unit 320 and controls tow-armed robot 10, to carry out the cutting operation that forms otch in plastic bag.Secondary takes out control unit 320 and comprises cutting operation control unit 324.
Cutting operation control unit 324 is controlled tow-armed robots 10 to carry out cutting operation, packs once in this cutting operation that 23 plastic bag 22 is gripped by a robots arm of tow-armed robot 10 and by another robots arm's cutting of this tow-armed robot 10.
As mentioned above, by the dismantle device 200 according to the second modified example, at first tow-armed robot 10 takes out from secondary package 25 and once packs 23, then forms otch in packing (plastic bag 2), then takes out content (food 1) from this otch.This makes the chip of packing (plastic bag 22) and secondary package material (cardboard case 4) be difficult to sneak in content (food 1).
For example, if content is not so good to human body, do not wish manually to carry out the operation of unpacking.Very useful in this case according to the dismantle device 300 of the second modified example.In the situation that content is not so good to human body, once packs 23 and form by for example content being put into packing (plastic bag 22) that are in sealing state, as described in the second modified example.For example, use the secondary package material more solid than cardboard case 4 to pack once to pack 23 and form secondary package 25.The secondary package material more solid than cardboard case 4 refers to the container of tank and so on, also is not easy distortion even be applied with this container of sizable external force.Yet, in the situation that such as the solid container of cylinder tank etc., be difficult to by as the cutting operation that puts on cardboard case forms otch.For this reason, replace packing cutter unit 12, need to adopt the hood-opening device be used to opening container cover in the technological process of above-mentioned embodiment is arranged.
(the 3rd modified example)
In the 3rd modified example of above-mentioned embodiment, will be to adding the situation of the operation that is used to form the cut edge to be described in the dismantle device 300 of the second modified example.In this, term " is used to form the operation of cut edge " and means the predetermined position that grips plastic bag 2, mentions the preparation holding operation of plastic bag 2 and this plastic bag 2 of release, as the gripping edge formation operation of the first modified example.
Figure 11 is the block diagram that schematically illustrates according to the dismantle device 400 of the 3rd modified example.As shown in figure 11, dismantle device 400 comprises tow-armed robot 10, once takes out control unit 110 and secondary and take out control unit 420.In the 3rd modified example, once take out control unit 110 and secondary and take out control unit 420 as control unit.Those parts identical with the parts of above-mentioned embodiment, the first modified example and the second modified example will be represented by identical Reference numeral, and omission is repeated in this description.
Take out control unit 320 as the secondary of the dismantle device 300 of the second modified example the same, secondary takes out control unit 420 and controls tow-armed robots 10 and make it can be from once packing 23 taking-up food 1.Secondary takes out control unit 420 and is with the difference that secondary takes out control unit 320, and secondary takes out control unit 420 and has the operation that is used to form the cut edge.Secondary takes out control unit 420 and comprises preparation holding operation control unit 221, operation suspension control unit 421, up and down operation control unit 222, main holding operation control unit 223 and cutting operation control unit 324.
Operation suspension control unit 421 is controlled tow-armed robot 10, makes tow-armed robot 10 under the state of the predetermined position that grips plastic bag 22 under the control of preparation holding operation control unit 221, can shut-down operation reach the schedule time.In the 3rd modified example, the described schedule time is approximately several seconds or tens of seconds.
Under the control of operation suspension control unit 421, the time-out that carry out to be used for making the operation suspension of tow-armed robot 10 to reach the schedule time is controlled expection and is had following effect: the content that Relative Size is little (such as flour etc.) thereby to falling to increasing the cut edge.Suspend to control and to be applied to the first modified example.If the granularity of content is greater than preliminary dimension, time-out difficult to calculate is controlled effect.This means, operation suspension control unit 421 is not necessary element.
As mentioned above, by the dismantle device 400 according to the 3rd modified example, tow-armed robot 10 is carried out the operation that is used to form the cut edge.This makes and prevents in the time of can forming otch in packing (plastic bag 22) that content (food 1) from scattering.
Above-mentioned dismantle device 100,200,300 and 400 can be taken the packing that is formed by cut in advance cardboard case 4 apart.If packed and transported unit 11, packing cutter unit 12 and chip remove unit 13 and are added into corresponding dismantle device, can realize taking apart the packing that is formed by the cardboard case 4 that does not have otch dismantle device (with in Fig. 3 by dotted line G represent regional corresponding).
The present invention can be applied to various dismantle devices for taking packing and taking-up content apart.By the present invention, can carry out and take operation apart, make the chip of packing should do not sneaked in content.Therefore, the present invention has very high industrial applicibility.
Although illustrated and described the present invention with reference to embodiment, it will be appreciated by those skilled in the art that in the situation that the invention scope that does not have disengaging as following claim to limit can make various changes and modifications.
Claims (11)
1. dismantle device, described dismantle device comprises:
Robot; With
Control unit, described control unit is configured to control described robot, makes this robot take out once packing by the otch of the secondary package material of secondary package, then takes out content from described once packing;
Wherein said once packing forms by packing described content with packing, and described secondary package forms by packing described once the packing with described secondary package material.
2. device according to claim 1, wherein, described control unit is configured to control described robot, makes this robot take out this by the deadweight of described once packing via the described otch of described secondary package material and once packs.
3. device according to claim 1 and 2, wherein, described packing are flexible bags, and described control unit is configured to control described robot, make this robot grip described once described packing of packing, mention described packing, and take out this content by the deadweight of described content from described bag.
4. device according to claim 3, wherein, described control unit is configured to control described robot, made before taking out described content, described robot is carried out preparation holding operation and main holding operation, and in described preparation holding operation, described robot grips the described once predetermined position of described packing of packing, mention described once packing with the predetermined displacement amount, and discharge this and once pack; In described main holding operation, described robot grips near described predetermined position or described predetermined position.
5. device according to claim 4, wherein, described control unit is configured to control described robot, make this robot carry out operation up and down between described preparation holding operation and described main holding operation, and in described operation up and down, discharged in described preparation holding operation at this robot under the state of described once packing, described robot is moved up or down, made this robot grip the described once position of packing in described main holding operation and be offset.
6. device according to claim 1 and 2, wherein, described packing are flexible bags, described content is sealed in described packing of described once packing, and described control unit is configured to control described robot, make this robot grip described once described packing of packing, form otch and utilize the deadweight of described content to take out this content via this otch that forms in described packing in described packing.
7. device according to claim 6, wherein, described control unit is configured to control described robot, make prior to form described otch in described packing, described robot is carried out preparation holding operation and main holding operation, and in described preparation holding operation, described robot grips the described once predetermined position of described packing of packing, mention described once packing with the predetermined displacement amount, and discharge this and once pack; In described main holding operation, described robot grips near described predetermined position or described predetermined position.
8. device according to claim 7, wherein, described control unit is configured to control described robot, make this robot carry out operation up and down between described preparation holding operation and described main holding operation, and in described operation up and down, discharged in described preparation holding operation at this robot under the state of described once packing, described robot is moved up or down, made described robot grip the described once position of packing in described main holding operation and be offset.
9. device according to claim 7, wherein, described control unit is configured to control described robot, makes this robot grip in described preparation holding operation under the state of described predetermined position of described packing, and hang up reaches the schedule time.
10. device according to claim 1 and 2, this device also comprises:
The packing cutter unit, described packing cutter unit is used for by describedly once packing the place at place and taken out place the place at described content place by described robot except being taken out by described robot, cut described secondary package described secondary package material and in this secondary package material the described otch of formation;
Transportation unit, described transportation unit is used for described secondary package is transported to from described packing cutter unit the operating area of described robot; And
Chip removes the unit, described chip removes the unit and is used for except being taken out described place of once packing the place by described robot and by the place between the place at the described robot described content of taking-up place, described operating area at described packing cutter unit and described robot, removing the chip that produces from described secondary package during cutting operation.
11. method of unpacking that is used for taking packing apart and takes out content, described packing comprises that described content is formed once to be packed and by pack the described formed secondary package of once packing with the secondary package material, the described method of unpacking comprises by packing with packing:
Form otch in the described secondary package material of described secondary package; And
Utilize robot, via the described once packing of described otch taking-up of described secondary package material, then take out described content from described once packing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011244423A JP5413436B2 (en) | 2011-11-08 | 2011-11-08 | Unpacking device and manufacturing method of unpacked goods |
| JP2011-244423 | 2011-11-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103086028A true CN103086028A (en) | 2013-05-08 |
| CN103086028B CN103086028B (en) | 2015-09-09 |
Family
ID=47046395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210435067.9A Active CN103086028B (en) | 2011-11-08 | 2012-11-05 | Dismantle device and method of unpacking |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20130125517A1 (en) |
| EP (1) | EP2592007B1 (en) |
| JP (1) | JP5413436B2 (en) |
| CN (1) | CN103086028B (en) |
| BR (1) | BR102012027452A2 (en) |
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| CN109712331A (en) * | 2017-12-31 | 2019-05-03 | 天津德言科技有限公司 | The automatic delivery system of article |
| CN110683145A (en) * | 2019-11-22 | 2020-01-14 | 郑州大学 | Automatic unpacking system for packaging bags and unpacking and separating mechanism thereof |
| CN111038807A (en) * | 2019-12-30 | 2020-04-21 | 苏州嘉诺环境工程有限公司 | Unpacking device |
| TWI718767B (en) * | 2018-11-19 | 2021-02-11 | 日商川崎重工業股份有限公司 | Unpacking device and unpacking method using it |
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| CN106966164A (en) * | 2017-05-22 | 2017-07-21 | 山东新华医疗器械股份有限公司 | A kind of preliminary filling pin unloading unit |
| CN109712331A (en) * | 2017-12-31 | 2019-05-03 | 天津德言科技有限公司 | The automatic delivery system of article |
| TWI718767B (en) * | 2018-11-19 | 2021-02-11 | 日商川崎重工業股份有限公司 | Unpacking device and unpacking method using it |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20130125517A1 (en) | 2013-05-23 |
| BR102012027452A2 (en) | 2015-06-23 |
| CN103086028B (en) | 2015-09-09 |
| JP2013100118A (en) | 2013-05-23 |
| EP2592007B1 (en) | 2015-12-30 |
| JP5413436B2 (en) | 2014-02-12 |
| EP2592007A1 (en) | 2013-05-15 |
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