CN103086028B - Dismantle device and method of unpacking - Google Patents
Dismantle device and method of unpacking Download PDFInfo
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- CN103086028B CN103086028B CN201210435067.9A CN201210435067A CN103086028B CN 103086028 B CN103086028 B CN 103086028B CN 201210435067 A CN201210435067 A CN 201210435067A CN 103086028 B CN103086028 B CN 103086028B
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Classifications
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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
- B65B69/0008—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
- 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
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
- Manipulator (AREA)
Abstract
The invention provides dismantle device and method of unpacking.There is provided a kind of take packaging apart and take out the dismantle device (100) of content.Described packaging comprise by pack with packing that described content formed once pack (3) and by once packing the secondary package (5) that (3) are formed described in packing with secondary package material.The described secondary package material of described secondary package (5) has otch (8).Described dismantle device (100) comprises robot (10) and control unit (110,120), described control unit is for controlling described robot (10), make this robot (10) take out once packaging (3) via the described otch (8) of described secondary package material, then take out described content from described once pack (3).
Description
Technical field
The present invention relates to for taking packaging apart and taking out the dismantle device of content and method of unpacking, and the article taken apart by this dismantle device and the method for unpacking; Further, more specifically, relate to for preventing the chip of packing when taking packaging apart to be mixed into the technology of content.
Background technology
The material of line of putting into production is usually received under packed state.Packaged material is manually unpacked by workman, and then put into production line.The major part work of unpacking is repeatedly performed and is automation under many circumstances.
Open in Japanese patent application 2002-002638 publication and 2002-249116 publication for the dismantle device by taking out content with sharp weapon cutting packing.In the dismantle device of JP2002-002638A, content (old newspaper) is cut while incision 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, it is very likely that chip is mixed in content in the process of cutting packing.When content is old newspaper as the dismantle device of JP2002-002638A, also serious problems can not be caused even if be mixed in old newspaper as some chips of the cardboard case of packing.But, if content is food, then do not wish that the chip of packing is mixed in content.
If content is relatively little content, such as vegetables or flour, then a part for content can be stayed in packing in the process of unpacking sometimes.For this reason, need to stop content in the process of unpacking to be stayed in packing as far as possible.
Summary of the invention
A kind of packaging of can taking apart is the object of the present invention is to provide to make the chip of packing can not be mixed into the dismantle device in content and method of unpacking, and the article 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, this robot is taken out via the otch of the secondary package material of secondary package and once packs, and then takes out content from described once packaging.Described once packaging by packing described content with packing and being formed, and described secondary package is formed by once packing described in packing with described secondary package material.In such dismantle device, described control unit can control described robot and take out this by described deadweight of 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 the described packing once packed described in the gripping of this robot, 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, make before the described content of taking-up, described robot performs preparation holding operation and main holding operation, in described preparation holding operation, the predetermined position of the described packing once packed described in described robot grips, once pack described in mentioning with 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, this robot is made to perform down operation between described preparation holding operation and described main holding operation, and in described down operation, under the state of once having packed described in having released in described preparation holding operation at this robot, described robot moves up or down, make this robot grip in described main holding operation described in the position of once packing offset.
Described packing can be flexible bags, in the described packing once packed described in described content is sealed in, and described control unit is configured to control described robot, make the described packing once packed described in the gripping of this robot, in described packing, form otch and utilize the deadweight of described content to take out this content via this otch formed in described packing.
Described control unit can be configured to control described robot, make prior to forming described otch in described packing, described robot performs preparation holding operation and main holding operation, described in described preparation holding operation robot grip described in once pack described packing predetermined position, to mention with predetermined displacement amount described in once packaging 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, this robot is made to perform down operation between described preparation holding operation and described main holding operation, in described down operation, under the state of once having packed described in having released in described preparation holding operation at this robot, described robot moves up or down, and the position making described robot grip described master package in described main holding operation offsets.
Described control unit can be configured to control described robot, and under the state making this robot grip the described predetermined position of described packing in described preparation holding operation, hang up reaches the schedule time.
Described dismantle device can also comprise: packing cutter unit, described packing cutter unit is used for, by except by the place except the place of once packing place described in the taking-up of described robot and the place of being taken out described content place by described robot, cutting the described secondary package material of described secondary package and in this secondary package material, forming described otch; Transportation unit, described transportation unit is used for the operating area described secondary package being transported to described robot from described packing cutter unit; And chip removes unit, described chip remove unit for except the place of once packing place described in being taken out by described robot and the place of being taken out described content place by described robot, place between described packing cutter unit and the described operating area of described robot, remove the chip produced during cutting operation from described secondary package.
According to a further aspect in the invention, there is provided a kind of for taking packaging apart and taking out the method for unpacking of content, described packaging comprise to be packed with secondary package material by once packing of packing with packing that described content formed and passing through described in once pack formed secondary package.The described method of unpacking comprises: in the described secondary package material of described secondary package, form otch; And utilize robot, once pack described in taking out via the described otch of described secondary package material, then take out described content from described once packaging.
Accompanying drawing explanation
Object of the present invention and feature will become obvious, in accompanying drawing from the following description of the embodiment provided by reference to the accompanying drawings:
Fig. 1 and Fig. 2 is the figure of the packaging process that food is schematically shown;
Fig. 3 is the planar view illustrating that technological process is according to the embodiment of the present invention arranged;
Fig. 4 is the block diagram of the dismantle device schematically illustrated according to embodiment;
Fig. 5 is the figure for illustration of the function of once taking out control unit;
Fig. 6 is the figure of the function of taking out control unit for illustration of secondary;
Fig. 7 is the block diagram of the dismantle device of the first modified example schematically illustrated according to embodiment;
Fig. 8 is the figure of the function for illustration of preparation holding operation control unit;
Fig. 9 is the figure of the function for illustration of down operation control unit and main holding operation control unit;
Figure 10 is the block diagram of the dismantle device of the second modified example schematically illustrated according to embodiment; And
Figure 11 is the block diagram of the dismantle device of the 3rd modified example schematically illustrated according to embodiment.
Detailed description of the invention
There is provided a kind of dismantle device, this dismantle device is used for, by using articulated robot, taking out plastic bag from the packaging formed by the cardboard case cut, and mentions this plastic bag and takes out content from this plastic bag.
In the present embodiment, assuming that the food as material is placed into snack manufacturing line.When receiving food, available packed state will be described below.
Fig. 1 and Fig. 2 is the figure of the packaging process that food is schematically shown.As shown in Figure 1, as the food 1(of content see the left figure in Fig. 1) be accommodated in as packing plastic bag 2 in (the central authorities figure see in Fig. 1).Conveying end (bag opening) 6 is folded to form once packs 3(see the right figure in Fig. 1).As shown in Figure 2, during once packaging 3 is typically entrapped within as secondary package material cardboard case 4 (the left figure see in Fig. 2), thus secondary package 5(is formed see the right figure in Fig. 2).In this, packing are the flexible pouch of such as plastic bag 2 and have conveying end 6.Secondary package material is the container of such as cardboard case 4, unless the external force be applied with to a certain degree otherwise the form trait of container is constant.In the present embodiment, by the strap 7 using sharp weapon cutting secondary package material itself or cutting to adhere to this secondary package material, the otch being enough to take out and once packing 3 can be formed in secondary package 5.
Fig. 3 is the planar view illustrating that technological process is according to the present embodiment arranged.Referring to Fig. 3, show tow-armed robot 10, packed and transported unit 11, packing cutter unit 12, chip removes unit 13, content unloads 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 be have total 15 axles articulated robot and be provided with two seven axis articulated robots, these two robots be installed to along general horizontal direction rotate common axis.Thus, the geometric terminology (such as " level ") in present disclosure does not need strict mathematical meaning.Be intended to allow the term of execution error.Packed and transported unit 11 to major general secondary package 5 is transported to the operating area of tow-armed robot 10 from packing cutter unit 12.Packed and transported unit 11 comprises packaging loading conveyor 19 and cross feed device 20.
Secondary package 5 is transported to the starting point (arrow A see Fig. 3) of cross feed device 20 by packaging loading conveyor 19 from upstream side discharge point.
Packing cutter unit 12 is mounted in the cutter sweep in haulway, and secondary package 5 is transported along this haulway by packing loading conveyor 19.Packing cutter unit 12 utilizes sharp weapon etc. to form otch in the cardboard case 4 of secondary package 5.About this point, packing cutter unit 12 forms otch in the part except its lower surface of cardboard case 4.Preferably, packing can be cut by packing cutter unit 12 in any place except taken out the place of once packing 3 and the place of being taken out food 1 by tow-armed robot 10 by tow-armed robot 10 except.Alternatively, otch can be formed by packing cutter unit 12 on the lower surface of cardboard case 4, secondary package 5 then can be made to rotate, thus otch can be positioned at cross side or upside.
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 in packing cutting process by pressurized air or by suction chip, removing chip from secondary package 5.The place of chip between packing cutter unit 12 and the operating area of tow-armed robot 10 removes unit 13 by chip and removes.Preferably, chip in any place except taken out the place of once packing 3 and the place of being taken out food 1 by tow-armed robot 10 by tow-armed robot 10 except, can remove unit 13 by chip and removes.
Cross feed device 20 is by transporting secondary package 5(see the arrow B Fig. 3 by secondary package 5 from the parallel starting point moving on to content unloading transport plane 14 of the terminal of packaging loading conveyor 19).
Fig. 4 is the block diagram of the dismantle device 100 schematically illustrated according to the present embodiment.As shown in Figure 4, dismantle device 100 comprises tow-armed robot 10, once takes out control unit 110 and secondary taking-up control unit 120.In the present embodiment, once taking-up control unit 110 and secondary take out control unit 120 and are used as control unit.
Once taking-up control unit 110 and secondary take out control unit 120 and control tow-armed robot 10 to take packaging apart and to take out content.
Fig. 5 is the view for illustration of the function of once taking out control unit 110.As shown in Figure 5, once take out control unit 110 to control tow-armed robot 10 and once pack 3 to be taken out by the otch 8 that formed by packing cutter unit 12.More specifically, once take out control unit 110 and first control tow-armed robot 10, the cardboard case 4 of secondary package 5 to be remained on the starting point place of content unloading transport plane 14, and secondary package 5(can be mentioned see the upper diagram in Fig. 5).
Then, once take out control unit 110 and control tow-armed robot 10 and rotate secondary package 5, to make otch 8 face down, making once to pack 3 can be fetched on content unloading transport plane 14 (bottom graph see in Fig. 5) via otch 8 under its own weight.Such as, if otch 8 is formed in the upside place of cardboard case 4, then once takes out control unit 110 and control tow-armed robot 10, revolve turnback to make secondary package 5.And, once take out control unit 110 control tow-armed robot 10 maintenance cardboard case 4 while rotate (arrow C see in Fig. 3) and this cardboard case 4 is transported to cardboard unloading transport plane 15 on.
After cardboard case 4 is transported by tow-armed robot 10, cardboard case 4 is transported to cardboard memory storage 16(see the arrow D in Fig. 3 by cardboard unloading transport plane 15).Cardboard memory storage 16 stores the cardboard case 4 transported by cardboard unloading transport plane 15.
Fig. 6 is the view of the function of taking out control unit 120 for illustration of 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 from once packing 3 taking-up food 1.More specifically, secondary takes out control unit 120 and controls tow-armed robot 10 to grip the plastic bag 2(of once packaging 3 see the left view in Fig. 6), and mention this plastic bag 2, food 1 can be fetched on content unloading transport plane 14 (right elevation see in Fig. 6) via conveying end 6 under its own weight.
Thus, when tow-armed robot 10 grips the plastic bag 2 once packing 3, secondary takes out control unit 120 and confirms grip position by using sensor (not shown).After food 1 is fetched on content unloading transport plane 14, secondary takes out control unit 120 and controls tow-armed robot 10 rotation (arrow C see in Fig. 3) while gripping plastic bag 2, and is transported on plastic bag recovery device 17 by this plastic bag 2.
When mentioning plastic bag 2, tow-armed robot 10 can with relative low speeds operation until food 1 from plastic bag 2 out, plastic bag 2 can not be torn under switching impulse effect.Food 1 from plastic bag 2 out after, tow-armed robot 10 can with relative high speed operation.In this, secondary take out sensitivity technique food 1 that control unit 120 can utilize the servomotor torque constant of tow-armed robot 10 whether from plastic bag 2 out.Replace detecting food 1 whether from plastic bag 2 out, secondary takes out control unit 120 can control tow-armed robot 10 with relative low speeds operation preset distance, and 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 2 is sent to plastic bag storage box 18(see the arrow E in Fig. 3 by plastic bag recovery device 17).Plastic bag storage box 18 stores the plastic bag 2 sent from plastic bag recovery device 17.After food 1 is taken out by tow-armed robot 10, food 1 is transported to the next stop (the arrow F see in Fig. 3) by content unloading transport plane 14.
In order to utilize conventional dismantle device disclosed in JP2002-002638A and JP2002-249116A to take out content (food 1) from secondary package 5, utilize sharp weapon to cut secondary package material (cardboard case 4) and a packing (plastic bag 2) simultaneously.But, in this case, it is very likely that the chip of secondary package material (cardboard case 4) and a packing (plastic bag 2) is mixed in content.
On the other hand, by dismantle device 100 according to the present embodiment and method of unpacking, once pack 3 and first taken out by from secondary package 5, then content (food 1) is removed, and need not form otch in a packing (plastic bag 2).This makes the chip of secondary package material (cardboard case 4) and a packing (plastic bag 2) be not easy to be mixed in content (food 1).By dismantle device 100 according to the present embodiment, the place forming otch in the secondary package material (cardboard case 4) is different from once place that packaging 3 is removed and the place that content (food 1) is removed.This makes the chip of secondary package material (cardboard case 4) especially be difficult to be mixed in content (food 1).
(the first modified example)
In the first modified example of above-mentioned embodiment, the situation for the formation of the operation gripping edge is had to be described by adding the dismantle device 100 of above-mentioned embodiment.
Thus, term " for the formation of gripping the operation at edge " mean grip plastic bag 2 predetermined position, mention plastic bag 2 and discharge the preparation holding operation of plastic bag 2.
Fig. 7 is the block diagram of the dismantle device 200 schematically illustrated according to 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 taking-up control unit 220.In the first modified example, once taking-up control unit 110 and secondary take out control unit 220 and are used as control unit.Those parts identical with the parts of above-mentioned embodiment represent by identical Reference numeral, and omit its repeated description.
It is the same that secondary as the dismantle device 100 of above-mentioned embodiment takes out control unit 120, and secondary taking-up control unit 220 controls tow-armed robot 10 with from once packing 3 taking-up food 1.The difference that secondary taking-up control unit 220 and secondary take out control unit 120 is, secondary taking-up control unit 220 has the operation for the formation of gripping edge.Secondary takes out control unit 220 and comprises preparation holding operation control unit 221, down operation control unit 222 and main holding operation control unit 223.
Fig. 8 is the figure of the function for illustration of preparation holding operation control unit 221.Preparation holding operation control unit 221 controls tow-armed robot 10, with before taking out food 1 from conveying end 6, grip the predetermined position (the left figure see in Fig. 8) of the plastic bag 2 once packing 3, mention with predetermined displacement amount and once pack 3(see the central authorities figure in Fig. 8), and discharge this and once pack 3(see the right figure in Fig. 8).
Fig. 9 is the figure of the function for illustration of down operation control unit 222 and main holding operation control unit 223.Under tow-armed robot 10 releases the state of once packing 3 under the control of preparation holding operation control unit 221, down operation control unit 222 operates tow-armed robot 10 and moves up or down.Therefore the position that down operation control unit 222 makes tow-armed robot 10 grip once packaging 3 in main holding operation offsets (the left figure see in Fig. 9).In the first modified example, down operation control unit 222 operates tow-armed robot 10 with about 30cm to 50cm that moves up.Main holding operation control unit 223 makes tow-armed robot 10 grip described predetermined position or its neighbouring (the right figure see in Fig. 9) of once packaging 3.
In the control performed by down operation control unit 222, the number of times of the upward movement of tow-armed robot 10 or the distance moved downward and preparation holding operation can be set by user.Such as, can touch panel be presented at for the screen of number of times setting position and the preparation holding operation gripping edge, thus receive inputted by user " height ", " in ", the selection of " low " option and prepare the number of times of holding operation.Move distance because of the tow-armed robot 10 controlled by down operation control unit 222 can be zero, and therefore secondary taking-up control unit 220 can be configured to not comprise down operation control unit 222.
As mentioned above, by the dismantle device 200 according to the first modified example, tow-armed robot 10 performs the operation being formed and grip edge, and the amount of the content (food 1) gripped during main holding operation can be made thus to be less than the amount of the content (food 1) gripped during preparation holding operation.This makes when do not form otch in a packing (plastic bag 2), when the tow-armed robot 10 of dismantle device 200 grips a packing (plastic bag 2) and takes out content (food 1), content (food 1) difficulty is not easy to stay in a packing (plastic bag 2).
(the second modified example)
In the second modified example of above-mentioned embodiment, be described to such dismantle device, in this dismantle device, articulated robot takes out the plastic bag of sealing from the packaging formed by the cardboard case cut open, grip this plastic bag, in this plastic bag, form otch and take out content via this otch.
In the second modified example, as above-mentioned embodiment, assuming that be put into snack manufacturing line as raw-material food.The difference of the second modified example and above-mentioned embodiment is packaging for foodstuff state.In the above-described embodiment, the food 1 as content is accommodated in the plastic bag 2 as packing.Once pack 3 to be formed via folding conveying end 6.In the second modified example, by not shown using putting into as the food 1 of content the plastic bag 22(as packing being in sealing state) and form that once to pack 23(not shown).As in the above-described embodiment, by the cardboard case 4 being used as secondary package material pack once pack 23 and to form secondary package 25(not shown).
Packaging for foodstuff state is substantially identical with packaging for foodstuff state available in the embodiment shown in Fig. 1 with Fig. 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, and the mouth of plastic bag 22 is closed by heatsealing.The once packaging 23 of the second modified example is corresponding with the once packaging 3 of above-mentioned embodiment.In the once packaging 3 of above-mentioned embodiment, content is not sealed, and content keeps sealing in the once packaging 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 and 23 to be packed by the secondary package 25 of the second modified example, and once pack 3 and packed by the secondary package 5 of above-mentioned embodiment.
Figure 10 is the block diagram of the dismantle device 300 schematically illustrated according to 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 taking-up control unit 320.In the second modified example, once taking-up control unit 110 and secondary take out control unit 320 and are used as control unit.Those parts identical with the parts of above-mentioned embodiment will be represented by identical Reference numeral and omit repeated description.
It is the same that secondary as the dismantle device 100 of above-mentioned embodiment takes out control unit 120, and secondary taking-up control unit 320 controls tow-armed robot 10, with can from once packing 23 taking-up food 1.The difference that secondary taking-up control unit 320 and secondary take out control unit 120 is, secondary takes out control unit 320 and controls tow-armed robot 10, to perform the cutting operation forming otch in plastic bag.Secondary takes out control unit 320 and comprises cutting operation control unit 324.
Cutting operation control unit 324 controls tow-armed robot 10 to perform cutting operation, and the plastic bag 22 once packing 23 in this cutting operation is gripped by a robots arm of tow-armed robot 10 and cut by another robots arm of this tow-armed robot 10.
As mentioned above, by the dismantle device 200 according to the second modified example, first tow-armed robot 10 takes out from secondary package 25 and once packs 23, then in a packing (plastic bag 2), forms otch, then takes out content (food 1) from this otch.This makes the chip of a packing (plastic bag 22) and secondary package material (cardboard case 4) be difficult to be mixed in content (food 1).
Such as, if content is not so good to human body, then do not wish manually to perform operation of unpacking.Very useful in this case according to the dismantle device 300 of the second modified example.When content is not so good to human body, once packs 23 and formed, as described in the second modified example by such as content being put into the packing (plastic bag 22) that are in sealing state.Such as, pack with the secondary package material more solid than cardboard case 4 and once pack 23 and form secondary package 25.The secondary package material more solid than cardboard case 4 refers to the container of a tank and so on, even if be applied with this container of sizable external force be also not easy distortion.But when the solid container of such as cylinder tank etc., the cutting operation be difficult to by such as putting on cardboard case forms otch.For this reason, replacing packing cutter unit 12, needing to adopt the hood-opening device for 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, be described to situation about adding for the formation of the operation of cut edge in the dismantle device 300 of the second modified example.In this, term " operation for the formation of cut edge " means the predetermined position gripping 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 of the dismantle device 400 schematically illustrated according to 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 taking-up control unit 420.In the 3rd modified example, once taking-up control unit 110 and secondary take out control unit 420 and are used as control unit.Represent by identical Reference numeral with above-mentioned embodiment, those parts that the first modified example is identical with the parts of the second modified example, and omit repeated description.
It is the same that secondary as the dismantle device 300 of the second modified example takes out control unit 320, and secondary taking-up control unit 420 controls tow-armed robot 10 and makes it can from once packing 23 taking-up food 1.The difference that secondary taking-up control unit 420 and secondary take out control unit 320 is, secondary taking-up control unit 420 has the operation for the formation of cut edge.Secondary takes out control unit 420 and comprises preparation holding operation control unit 221, operation suspension control unit 421, down operation control unit 222, main holding operation control unit 223 and cutting operation control unit 324.
Operation suspension control unit 421 controls tow-armed robot 10, under the state making tow-armed robot 10 grip the predetermined position of plastic bag 22 under the control of preparation holding operation control unit 221, shut-down operation can reach the schedule time.In the 3rd modified example, the described schedule time is approximately several seconds or tens of second.
Under the control of operation suspension control unit 421, the time-out performed for making the operation suspension of tow-armed robot 10 reach the schedule time controls expection and has following effect: the content (such as flour etc.) that Relative Size is little is to falling thus increasing cut edge.Suspend control and can be applied to the first modified example.If the granularity of content is greater than preliminary dimension, then time-out control effects difficult to calculate.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 performs the operation for the formation of cut edge.This makes to prevent content (food 1) from scattering when can form otch in a packing (plastic bag 22).
Above-mentioned dismantle device 100,200,300 and 400 can take the packaging formed by the cardboard case 4 be cut in advance apart.If packed and transported unit 11, packing cutter unit 12 and chip remove unit 13 and be added into corresponding dismantle device, then can realize the dismantle device (corresponding with the region represented by dotted line G in Fig. 3) can taking the packaging formed by the cardboard case 4 without otch apart.
The present invention can be applied to various for taking packaging apart and taking out in the dismantle device of content.By the present invention, can perform and take operation apart, the chip of packing should be mixed in content.Therefore, the present invention has very high industrial applicibility.
Although illustrate and describe the present invention with reference to embodiment, it will be appreciated by those skilled in the art that when not have disengaging as following claim limit invention scope can make various changes and modifications.
Claims (10)
1. a dismantle device, described dismantle device comprises:
Single tow-armed robot; With
Control unit, described control unit is configured to control described tow-armed robot, make this tow-armed robot keep secondary package secondary package material while by the deadweight of once packing via described secondary package material otch take out described in once pack, described tow-armed robot rotates and by described secondary package material delivery to unloading transport plane, then this tow-armed robot takes out described content by the deadweight of content from described once packaging while maintenance packing, described tow-armed robot rotates and described packing is transported to regenerative apparatus,
Wherein said once packaging is formed by packing described content with packing, and described secondary package is formed by once packing described in packing with described secondary package material.
2. device according to claim 1, wherein, described packing are flexible bags, and described control unit is configured to control described tow-armed robot, make the described packing once packed described in the gripping of this tow-armed robot, mention described packing, and take out this content by the deadweight of described content from described bag.
3. device according to claim 2, wherein, described control unit is configured to control described tow-armed robot, make before the described content of taking-up, described tow-armed robot performs preparation holding operation and main holding operation, in described preparation holding operation, and the predetermined position of the described packing once packed described in described tow-armed robot grips, once pack described in mentioning with predetermined displacement amount, and discharge this and once pack; In described main holding operation, described tow-armed robot grips near described predetermined position or described predetermined position.
4. device according to claim 3, wherein, described control unit is configured to control described tow-armed robot, this tow-armed robot is made to perform down operation between described preparation holding operation and described main holding operation, and in described down operation, under the state of once having packed described in having released in described preparation holding operation at this tow-armed robot, described tow-armed robot is moved up or down, make this tow-armed robot grip in described main holding operation described in the position of once packing offset.
5. device according to claim 1, wherein, described packing are flexible bags, in the described packing once packed described in described content is sealed in, and described control unit is configured to control described tow-armed robot, make the described packing once packed described in the gripping of this tow-armed robot, in described packing, form otch and utilize the deadweight of described content to take out this content via this otch formed in described packing.
6. device according to claim 5, wherein, described control unit is configured to control described tow-armed robot, make prior to forming described otch in described packing, described tow-armed robot performs preparation holding operation and main holding operation, in described preparation holding operation, and the predetermined position of the described packing once packed described in described tow-armed robot grips, once pack described in mentioning with predetermined displacement amount, and discharge this and once pack; In described main holding operation, described tow-armed robot grips near described predetermined position or described predetermined position.
7. device according to claim 6, wherein, described control unit is configured to control described tow-armed robot, this tow-armed robot is made to perform down operation between described preparation holding operation and described main holding operation, and in described down operation, under the state of once having packed described in having released in described preparation holding operation at this tow-armed robot, described tow-armed robot is moved up or down, make described tow-armed robot grip in described main holding operation described in the position of once packing offset.
8. device according to claim 6, wherein, described control unit is configured to control described tow-armed robot, and under the state making this tow-armed robot grip the described predetermined position of described packing in described preparation holding operation, hang up reaches the schedule time.
9. device according to claim 1, this device also comprises:
Packing cutter unit, described packing cutter unit is used for, by except by the place except the place of once packing place described in the taking-up of described tow-armed robot and the place of being taken out described content place by described tow-armed robot, cutting the described secondary package material of described secondary package and in this secondary package material, forming described otch;
Transportation unit, described transportation unit is used for the operating area described secondary package being transported to described tow-armed robot from described packing cutter unit; And
Chip removes unit, described chip remove unit for except the place of once packing place described in being taken out by described tow-armed robot and the place of being taken out described content place by described tow-armed robot, place between described packing cutter unit and the described operating area of described tow-armed robot, remove the chip produced during cutting operation from described secondary package.
10. one kind for taking packaging apart and taking out the method for unpacking of content, described packaging comprise to be packed with secondary package material by once packing of packing with packing that described content formed and passing through described in once pack formed secondary package, described in the method for unpacking comprise:
Otch is formed in the described secondary package material of described secondary package; And
Keep the described secondary package material of described secondary package at single tow-armed robot while, once pack described in taking out via the described otch of described secondary package material by described deadweight of once packing, described tow-armed robot rotates and by described secondary package material delivery to unloading transport plane, then
While described tow-armed robot keeps described packing, the deadweight by described content takes out described content from described once packaging, and described tow-armed robot rotates and described packing are transported to regenerative apparatus.
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 CN103086028A (en) | 2013-05-08 |
| CN103086028B true CN103086028B (en) | 2015-09-09 |
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| 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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| JP5351946B2 (en) * | 2011-08-10 | 2013-11-27 | 株式会社安川電機 | Packing equipment |
| JP5910946B2 (en) * | 2013-08-29 | 2016-04-27 | 株式会社安川電機 | Robot system and method for manufacturing processed specimen |
| US10329042B2 (en) | 2015-03-20 | 2019-06-25 | Seiko Epson Corporation | Packing apparatus and packing method |
| JP6536110B2 (en) * | 2015-03-20 | 2019-07-03 | セイコーエプソン株式会社 | Robot control device and control method |
| WO2017017710A1 (en) * | 2015-07-30 | 2017-02-02 | 川崎重工業株式会社 | Robot and control method therefor |
| US10733444B2 (en) | 2016-07-12 | 2020-08-04 | Walmart Apollo, Llc | Systems and methods for automated assessment of physical objects |
| 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 |
| CN109712331B (en) * | 2017-12-31 | 2021-10-22 | 河北立萨信息科技有限公司 | Automatic article dispensing system |
| JP7106331B2 (en) * | 2018-04-13 | 2022-07-26 | 東芝テック株式会社 | Product reading system |
| JP7005418B2 (en) * | 2018-04-13 | 2022-01-21 | 東芝テック株式会社 | Product reading system |
| CN112888635B (en) * | 2018-11-19 | 2022-09-13 | 川崎重工业株式会社 | Case unpacking device and case unpacking method using same |
| CN110422551A (en) * | 2019-08-21 | 2019-11-08 | 中国南方电网有限责任公司超高压输电公司天生桥局 | A kind of powder automatic adding device control system |
| EP4051597A4 (en) | 2019-11-01 | 2024-01-17 | Dln Integrated Systems Inc | Case unpacking system and method |
| CN110683145B (en) * | 2019-11-22 | 2023-07-21 | 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 |
| KR102134337B1 (en) * | 2020-02-19 | 2020-07-15 | 씨제이제일제당(주) | System for Taking out Items from Packaging Box |
| KR20220133025A (en) | 2021-03-24 | 2022-10-04 | 현대로보틱스 주식회사 | Unwrapping Apparatus |
| CN113306816B (en) * | 2021-06-09 | 2022-09-09 | 新疆雅澳科技有限责任公司 | Automatic batch feeder |
| EP4112238A1 (en) * | 2021-06-28 | 2023-01-04 | Bayer Aktiengesellschaft | Autonomous manipulation of a flexible primary package in a dimensionally stable secondary package by means of robots |
| CN114455275B (en) * | 2021-12-20 | 2024-05-31 | 安徽和信华成科技服务有限公司 | Automatic assembly device for express sorting telescopic machine |
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-
2011
- 2011-11-08 JP JP2011244423A patent/JP5413436B2/en active Active
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2012
- 2012-10-01 EP EP12186800.4A patent/EP2592007B1/en active Active
- 2012-10-25 BR BRBR102012027452-3A patent/BR102012027452A2/en not_active IP Right Cessation
- 2012-11-05 CN CN201210435067.9A patent/CN103086028B/en active Active
- 2012-11-06 US US13/669,616 patent/US20130125517A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| BR102012027452A2 (en) | 2015-06-23 |
| JP5413436B2 (en) | 2014-02-12 |
| JP2013100118A (en) | 2013-05-23 |
| EP2592007A1 (en) | 2013-05-15 |
| CN103086028A (en) | 2013-05-08 |
| EP2592007B1 (en) | 2015-12-30 |
| US20130125517A1 (en) | 2013-05-23 |
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