JP2019182535A - Opening device for box - Google Patents

Abstract

To provide an opening device for a box capable of reducing wrong opening of the box due to wrong cutting of a tape.SOLUTION: An opening device cuts a tape 17 stuck on a box C to open the box C. The opening device comprises: rollers 53 (one example of a rolling body) provided to be capable of being displaced in a pressing direction of pressing against a surface of the box C; an air cylinder 48 (one example of an energizing part) energizing the rollers 53 in the pressing direction; and a cutter 51 (one example of a blade part) capable of being displaced in the pressing direction together with the rollers 53. Further, the opening device comprises a moving unit which moves the roller 53 and the cutter 51 relatively to the box C. The rollers are rolled while pressed against the surface of the box C and followed by the cutter 51 on the surface of the box C where a tape 17 is stuck, so as to cut the tape 17.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a box opening device for cutting a tape attached to a box to open the box.

For example, Patent Documents 1 to 3 disclose a box opening device for cutting a tape that seals a flap of a box.
The box opening device (unpacking device) described in Patent Document 1 includes a cutter that cuts an adhesive tape attached to an abutting portion of a flap of a cardboard box to unpack the box.

  In addition, the box opening device described in Patent Documents 2 and 3 includes a horizontally supported guide plate and a cutter erected on the guide plate, and the guide plate is inserted inside the flap of the box. The flap is lifted slightly, and the tape is cut with a cutter as the conveyor is transported.

JP-A-9-124015 JP 59-152133 A JP-A-11-91746

  However, in the unsealing apparatus described in Patent Documents 1 to 3, when the box is deformed, in the process of cutting the tape by the cutter, the insertion depth of the cutter with respect to the tape becomes shallow at the deformed portion of the box, or the cutter is tape If you leave, the cutter will not be able to cut the tape at that point, and the box cannot be opened. For this reason, there is a need for a box opening device that can reduce the frequency of occurrence of tape cutting mistakes and reduce box opening errors even if the box is somewhat deformed.

  An object of the present invention is to provide a box opening device that can reduce box opening errors caused by tape cutting errors.

  Hereinafter, means for solving the above-described problems and the effects thereof will be described. A box opening device that solves the above problems is a box opening device that cuts a tape attached to a box to open the box, and is provided so as to be displaceable in a pressing direction for pressing against the surface of the box. A rolling element, an urging portion that urges the rolling element in the pressing direction, a blade part that is displaceable in the pressing direction together with the rolling element, and the rolling element and the blade part with respect to the box. And a moving mechanism for moving the tape relative to the surface of the box by rolling the pressing member against the surface of the box, thereby causing the blade portion to follow the surface of the box on which the tape is stuck. Disconnect.

  According to this configuration, by rolling on the surface while pressing the rolling element against the surface of the box, the blade portion follows the surface of the box together with the rolling element. The blade also follows the surface of the box, so that the blade hits the tape at an appropriate depth. Therefore, even if the box is somewhat deformed, the tape attached to the box can be appropriately cut to open the box. Therefore, it is possible to reduce box opening mistakes caused by tape cutting mistakes.

  In the box unsealing device, the blade portion is stuck across a pair of flaps of the box by rolling while pressing the rolling element against the top surface of the box to which the tape is stuck. It is preferable to cut the tape.

According to this structure, even if the box is somewhat deformed, the tape stuck across the two flaps on the top surface of the box can be cut by the blade portion.
In the box opening device, the rolling element includes a first rolling element that can be pressed against the top surface of the box, and a second rolling element that can be pressed against the side surface of the box, A first urging portion that urges the first rolling element in a first direction that can be pressed against the top surface, and a second urging member that urges the second rolling element in a second direction that can be pressed against the side surface. Two urging parts, the first rolling element rolling while being pressed against the top surface of the box, and the second rolling element rolling while being pressed against the side surface of the box, It is preferable that the blade portion cuts the tape attached to a side edge between the top surface and the side surface of the box.

  According to this configuration, the first rolling element rolls while being pressed against the top surface of the box, and the second rolling element is rolled while being pressed against the side surface of the box, so that the blade portion is separated from the top surface. Follow to the side. Thereby, the insertion depth with respect to the tape of a blade part is ensured, and a blade part can be positioned in the appropriate cutting position of the width direction with respect to a tape. Therefore, even if the box is slightly deformed, the tape attached to the side edge between the top surface and the side surface of the box can be reliably cut. In this case, even if both the top surface and the side surface of the box are deformed, the tape attached to the side edge can be reliably cut.

In the box opening device, the urging portion preferably pressurizes the rolling element with air pressure.
According to this configuration, since the rolling element is urged with air pressure, the urging force in the pressing direction varies due to the difference in the position of the rolling element in the pressing direction compared to the configuration in which the rolling element is biased with a spring. Is small. As a result, the pressing force of the blade portion is stabilized. Therefore, even if the box is somewhat deformed, the blade can be made to follow the tape with a stable pressing force, and the tape can be cut more reliably. Also, due to the deformation of the surface of the box, the urging force against the rolling element is too weak and the insertion depth of the blade part with respect to the tape is insufficient, or the urging force against the rolling element is too strong and the blade rolling element Do not push too hard to deform the surface of the box.

  In the box unsealing apparatus, the imaging unit that images the blade part, the captured image of the blade part that the imaging unit images the blade part, and the reference image of the blade part are compared, and It is preferable to further include a determination unit that determines whether or not there is a defect.

According to this configuration, by comparing the captured image of the blade portion acquired by imaging the blade portion with the reference image of the blade portion, the blade portion can be detected from the difference therebetween.
In the box opening device, the imaging unit images the blade after the blade cuts the tape of the box, the determination unit performs determination after cutting the tape, and the reference image is It is preferable that the image is an initial image of the blade part or an image of the blade part in which the imaging unit images the blade part before starting to cut the tape of the box.

  According to this configuration, after the box tape is cut, the image of the blade imaged by the imaging unit is displayed as an initial image of the blade part or before the cutting of the box tape is started. Is compared with the captured image of the blade portion that has been picked up to determine whether or not the blade portion is missing. Therefore, even if the blade portion is lost, the blade portion can be detected immediately after cutting the tape where the blade portion is lost.

  According to the present invention, it is possible to reduce box opening errors caused by tape cutting errors.

The schematic side view which shows the opening system of the box in one Embodiment. The schematic plan view which shows the opening system of a box. The schematic front view which shows a 1st opening apparatus. The schematic front view which shows the cutting | disconnection operation | movement which a 1st cutter unit cut | disconnects the tape of a box. The perspective view which shows the box positioned in the opening position. The schematic side view which shows the cutter unit which cut | disconnects a 1st tape. The schematic front view which shows the cutter unit which cut | disconnects a 2nd tape. The pneumatic circuit diagram which controls the air cylinder which urges | biases a roller. The schematic side view which shows the cutter unit which cut | disconnects a 1st tape. The schematic front view which shows the cutter unit which cut | disconnects a 2nd tape. The block diagram which shows the electrical constitution of a box opening system. The schematic diagram which shows a cutter reference | standard image. The schematic diagram which shows a cutter picked-up image. The flowchart which shows opening control.

  Hereinafter, an embodiment of a box opening device will be described with reference to the drawings. 1 and 2, when the box opening system 10 as an example of the box opening device cuts the first tape (center tape) attached along the center line of the top surface of the box C. The direction in which the cutter moves is the X direction, and the direction in which the cutter moves when cutting the second tape (side edge tape) attached to the side edge of the box C is the Y direction. A direction that intersects the X direction and the Y direction and is parallel to the vertical direction is defined as a Z direction. In the box opening system 10, the X direction that is the transport direction is also referred to as the transport direction X, and the Y direction that intersects the transport direction X is also referred to as the width direction Y. The Z direction is also referred to as the height direction Z.

  As shown in FIG. 1, the box opening system 10 has a function of cutting the tape attached to the box C and opening the box C. The box C is, for example, a cardboard box, and an adhesive tape is attached to at least a part of the peripheral edge of the closed flap of the box C. In this example, the box C is affixed across the top surface and the side surface on the two side edges of the top surface in a state of crossing the first tape, which is pasted along the center line of the top surface. The second tape is closed by so-called “H sticking”.

  As shown in FIG. 1, the opening system 10 includes a first opening device 30 that cuts a tape attached in the X direction of the box C, and a second opening device 60 that cuts the tape attached in the Y direction of the box. Is provided. The first opening device 30 includes the first conveyor 11, and the second opening device 60 includes the second conveyor 12. The first conveyor 11 and the second conveyor 12 are connected in series, and the box C is conveyed from the upstream side to the downstream side in the order of the first conveyor 11 and the second conveyor 12. The unpacked box C is sent from the second conveyor 12 to an unillustrated unpacking device arranged downstream of the unpacking system 10 in the transport direction X. The unpacking device refers to a state in which the contents can be taken out from the box C by pushing a plurality of flaps outwardly with respect to the box C after the tape has been cut. Work to take out.

  The first opening device 30 includes a frame body 23 having a plurality of support columns 21 and an upper frame 22 supported by the plurality of support columns 21. The first conveyor 11 conveys the box C in the X direction along a path that passes through the inside of the frame body 23. The second opening device 60 includes a frame body 26 having a plurality of support posts 24 and an upper frame 25 supported by the plurality of support posts 24. The second conveyor 12 conveys the box C in the X direction along a path that passes through the inside of the frame body 26. As shown in FIGS. 1 and 2, a box C having an arbitrary size within the range from the maximum size box C <b> 1 to the minimum size box C <b> 2 is conveyed on the conveyors 11 and 12.

  As shown in FIGS. 1 and 3, the first opening device 30 includes a first positioning device 31 that positions the box C on the first conveyor 11 at a first position (first opening position). The first positioning device 31 includes a stopper 32 that restricts the movement of the box C conveyed on the first conveyor 11 and a pair of guide units 33 that position the box C positioned in the X direction by the stopper 32 in the width direction Y. With. The stopper 32 moves to a restriction position (see FIG. 1) that restricts the movement of the box C and a retreat position that allows the conveyance of the box C in the X direction from the first position. In FIG. 2, the stopper 32 is omitted.

  As shown in FIG. 2, the pair of guide units 33 are provided on both sides of the first conveyor 11 in the width direction Y. The pair of guide units 33 includes a pair of guide members 35 that can advance and retreat in the width direction Y by the power of the electric cylinder 34 that is a power source. The pair of guide members 35 move to a retracted position shown in FIG. 2 and a guide position that moves inward in the width direction Y from the retracted position and positions the box C in the width direction Y. Since the width dimension of the box C is known, the electric cylinder 34 is driven with a driving amount corresponding to the width dimension of the box C up to a guide position where the pair of guide members 35 sandwich the box C in the width direction Y. In this example, an example is shown in which the box C is positioned based on a center reference that matches the width center of the box C with the center of the width of the first conveyor 11. However, the present invention is not limited to this. Alternatively, the positioning may be performed based on a side-by-side reference approached to one side in the width direction Y.

  As shown in FIG. 2, a first sensor 36 that detects the box C that has reached the first position is disposed at a position upstream of the stopper 32 in the transport direction X of the first conveyor 11. The first sensor 36 includes an optical sensor having a light emitting unit and a light receiving unit. When the first sensor 36 detects the box C, the electric cylinder 34 is driven, and the pair of guide members 35 position the box C in the width direction Y with the box C sandwiched from both sides in the width direction Y. Instead of the stopper 32, a stopper portion integral with the guide member 35 formed by bending the downstream end portion of the guide member 35 in the transport direction X inward in the width direction Y may be used. In this case, the pair of guide members 35 are put on standby at the standby position where the box C hits the stopper, and when the first sensor 36 detects the box C reaching the position where it hits the stopper, the guide unit 33 is driven from the standby position to the guide position. It is set as the structure made to do.

  Moreover, as shown in FIGS. 1-3, the 1st opening apparatus 30 is attached to the top surface (upper surface) of the box C positioned at the first position on the first conveyor 11, and the first tape 17 (FIG. 1), the first opening unit 40 is provided. The first opening unit 40 includes a moving unit 40A as an example of a moving mechanism that moves the cutter unit 50 while supporting the cutter unit 50 at the lower end.

  As shown in FIG. 1, the moving unit 40A is assembled to the upper frame 22 of the frame body 23, and moves the cutter unit 50 in the X direction and the Z direction. The moving unit 40A includes an X-axis slide mechanism 41 that moves the cutter unit 50 in the X direction, and a Z-axis slide mechanism 42 that moves relative to the X-axis slide mechanism 41 in the Z direction and moves the cutter unit 50 in the Z direction. With.

  As shown in FIG. 1, the X-axis slide mechanism 41 includes a motor 43 such as a servo motor serving as a power source, and a ball screw type linear drive mechanism 44 having a rail portion 44A extending in the X direction. The linear drive mechanism 44 is arranged in a posture in which the longitudinal direction thereof coincides with the X direction. The Z-axis slide mechanism 42 is fixed to a slider (not shown) of the linear drive mechanism 44. The Z-axis slide mechanism 42 includes a motor 45 such as a servo motor serving as a power source, a ball screw type linear drive mechanism 46 having a rail portion 46A (see FIG. 3) extending in the Z direction, and a Z axis along the rail portion 46A. And a slider 47 movable in the direction. The slider 47 is made of a long plate material having a predetermined length long in the Z direction.

  As shown in FIGS. 1 and 3, a cutter unit 50 is supported on the lower end portion of the slider 47 via an air cylinder 48 as an example of an urging portion. The air cylinder 48 is disposed so that its expansion / contraction direction coincides with the Z direction, and the cutter unit 50 is supported at the tip of the piston rod. The cutter unit 50 includes a cutter 51 as an example of a blade portion.

  As shown in FIG. 3, the cutter unit 50 is disposed in the width center position of the first conveyor 11 in the width direction Y. For this reason, the cutter 51 of the cutter unit 50 coincides with the width center of the box C positioned at the first position on the first conveyor 11 in the width direction Y. That is, in the plan view in FIG. 2, the cutter 51 of the cutter unit 50 can move on the width center line of the box C positioned at the first position on the first conveyor 11.

  When the motor 43 is driven forward / reversely, the linear drive mechanism 44 constituting the X-axis slide mechanism 41 is driven, and the Z-axis slide mechanism 42 moves in the X direction. Further, when the motor 45 is driven forward and backward, the slider 47 of the linear drive mechanism 46 constituting the Z-axis slide mechanism 42 moves up and down along the rail portion 46A in the Z direction. As shown in FIG. 1, the moving unit 40A includes a flexible guide member F1 that guides a power line that supplies power to the Z-axis slide mechanism 42 that moves in the X direction, and an air flow that supplies air pressure to the air cylinder 48. A flexible guide member F <b> 2 that guides a power line 54 </ b> B (see FIG. 6) that supplies power to the road and cutter unit 50 is provided.

  Here, the box C opened by the opening system 10 will be described with reference to FIG. FIG. 5 shows the unopened box C positioned at a predetermined position on the conveyors 11 and 12. In the example shown in FIG. 5, the movement of the box C is restricted in the transport direction X by the stopper 32 and is positioned in the width direction Y by the pair of guide members 35. The box C has a box main body 15 and four flaps 16 (only two of the outer sides are shown in FIG. 5) bent in a state where the upper opening of the box main body 15 can be opened and closed. A first tape 17 (center tape) made of an adhesive tape is affixed along the boundary where the pair of outer flaps 16 face each other with the four flaps 16 closed. The first tape 17 is attached along a central line that extends in the X direction through the width center of the top surface 19A (upper surface) of the box C. Moreover, the 2nd tape 18 (side edge tape) is affixed over the flap 16 and the box main body 15 on the both sides of the X direction of the two flaps 16 with which the 1st tape 17 was affixed to the box C. Yes. The second tape 18 is stuck between the pair of flaps 16 facing each other in the closed state on the upper side of the box C and the front and back side surfaces 19B of the box body 15 in the transport direction X.

  The box C is conveyed by the conveyors 11 and 12 with the top surface 19A to be opened facing upward. As shown in FIG. 5, the box C is in a direction in which the longitudinal direction of the first tape 17 attached to the center of the top surface 19 </ b> A is the X direction. The 1st tape 17 affixed on the top | upper surface 19A of the box C is cut | disconnected along the cutting | disconnection virtual line L1 shown with a dashed-dotted line in FIG. Moreover, the 2nd tape 18 stuck on the side edge of the box C is cut | disconnected along the cutting | disconnection virtual line L2 shown with a dashed-dotted line in FIG. In addition, the bottom part of the box C is sealed by sticking a tape (all are not shown) in a state of being closed by four flaps, similarly to the top side.

  In addition, based on the box identification information including the product number of the box C, the box size including the dimension in the X direction, the dimension in the Y direction, and the dimension in the Z direction of the box C is specified. For example, on the upstream side of the unsealing system 10, a depalletizer is disposed that performs a step-up operation of taking out boxes C one by one from a group of boxes stacked on a pallet and placing them on a conveyor. The depalletizer transmits the box specifying information acquired by reading the two-dimensional code written in the box C with the reading unit to the control unit 110 (controller) shown in FIG. For this reason, the control part 110 has previously acquired the box specific information regarding the box C carried into the opening system 10. The control unit 110 acquires the size of the box C based on the box specifying information, and controls the position of the pair of guide members 35 and the cutter unit 50 by drivingly controlling the electric cylinder 34, the motors 43, 45, and the like according to the size. . As shown in FIG. 1, the cutter unit 50 moves from the cutting start position P1 indicated by the two-dot chain line to the cutting end position P2 in the same figure in the X direction indicated by the one-dot chain line arrow in FIG. The first tape 17 is cut by moving along the cutting virtual line L1 of the first tape 17 shown in FIG.

  Next, the second opening device 60 will be described. As shown in FIG. 1, the second opening device 60 includes a second positioning device 61 that positions the box C on the second conveyor 12 at the second position. The second positioning device 61 has the same configuration as the first positioning device 31. The second positioning device 61 includes a stopper 62 for restricting the movement of the box C conveyed on the second conveyor 12 and a pair of guide units 63 for positioning the box C positioned in the X direction by the stopper 62 in the width direction Y. With.

  As shown in FIG. 2, the pair of guide units 63 includes an electric cylinder 64 serving as a power source, and a pair of guide members 65 capable of moving back and forth in the width direction Y with the power of the electric cylinder 64. Since the width dimension of the box C is known, the box C is positioned at the second position in the X direction and the Y direction by the stopper 62 and the pair of guide units 63 as shown in FIG. The second positioning device 61 may also have a configuration in which the box C is positioned on the basis of a side-by-side reference that is moved to one side in the width direction Y of the second conveyor 12.

  As shown in FIG. 2, a second sensor 66 that detects the box C that has reached the second position is disposed at a position upstream of the stopper 62 in the transport direction X. The second sensor 66 is an optical sensor having the same configuration as the first sensor 36. When the second sensor 66 detects the box C, the electric cylinder 64 is driven, the pair of guide members 65 extend from the retracted position to the guide position corresponding to the width dimension of the box C, and the box C is sandwiched from both sides. C is positioned at the second position in the width direction Y. Note that the stopper 62 that positions the box C at the second position in the transport direction may be replaced with an L-shaped stopper portion in which the downstream end portion of the guide member 65 is bent.

  As shown in FIGS. 1 and 2, the second opening device 60 has a second tape 18 (FIG. 5) pasted on two side edges of the box C positioned at the second position on the second conveyor 12. 2), two second opening units 70 are provided. The second opening unit 70 includes two moving units 70A and 70B that support the cutter units 81 and 82 at their lower ends.

  As shown in FIGS. 1 and 2, the two moving units 70 </ b> A and 70 </ b> B are assembled at different positions in the X direction of the upper frame 25 of the frame body 26. 70 A of 1st moving units support the 1st cutter unit 81 in the lower end part so that a movement to a X direction, a Y direction, and a Z direction is possible. The second moving unit 70B moves the second cutter unit 82 supported on the lower end thereof in the X direction, the Y direction, and the Z direction. The moving units 70A and 70B constitute an example of a moving mechanism.

  As shown in FIGS. 1 and 2, the first moving unit 70A includes a Y-axis slide mechanism 71 that moves the first cutter unit 81 in the Y direction, an X-axis slide mechanism 72 that moves in the X direction, and a Z direction. And a Z-axis slide mechanism 73 to be moved. The Y-axis slide mechanism 71 is assembled to the upper frame 25. The X-axis slide mechanism 72 moves relative to the Y-axis slide mechanism 71 in the direction in which the first cutter unit 81 is moved in the X direction. The Z-axis slide mechanism 73 moves relative to the X-axis slide mechanism 72 in the direction in which the first cutter unit 81 is moved in the Z direction. The second moving unit 70B is arranged to face the first moving unit 70A with the second position in the transport direction X, but the basic configuration is the same as that of the first moving unit 70A. That is, the second moving unit 70B includes a Y-axis slide mechanism 71 that moves the second cutter unit 82 in the Y direction, an X-axis slide mechanism 72 that moves the second cutter unit 82 in the X direction, and the second cutter unit 82 in the Z direction. And a Z-axis slide mechanism 73 that moves in the direction.

  As shown in FIGS. 1 and 2, in the second position, the box C is positioned with reference to the end face on the downstream side in the transport direction. For this reason, in the transport direction, the position of the downstream end face of the box C that is the cutting position of the second cutter unit 82 is always constant regardless of the size of the box C, and the box that is the cutting position of the first cutter unit 81 The position of the end face on the upstream side of C changes according to the size of the box C. For this reason, the moving stroke in which the first moving unit 70A moves the first cutter unit 81 in the X direction is longer than the moving stroke in which the second moving unit 70B moves the second cutter unit 82 in the X direction. The first moving unit 70A and the second moving unit 70B are in a positional relationship in which the first cutter unit 81 and the second cutter unit 82 face each other in the X direction.

  As shown in FIGS. 1 and 2, the Y-axis slide mechanism 71 includes a motor 74 such as a servo motor serving as a power source, and a ball screw type linear drive mechanism 75 having a rail portion 75A extending in the Y direction. The linear drive mechanism 75 is arranged in a posture in which the longitudinal direction thereof coincides with the Y direction. The X-axis slide mechanism 72 includes a motor 76 such as a servo motor serving as a power source and a ball screw type linear drive mechanism 77 having a rail portion 77A extending in the X direction. The linear drive mechanism 77 is arranged in a posture in which the longitudinal direction thereof coincides with the X direction. A Z-axis slide mechanism 73 is assembled to a slider (not shown) of the linear drive mechanism 77. The Z-axis slide mechanism 73 includes a motor 78 such as a servo motor serving as a power source, a ball screw type linear drive mechanism (linear guide) 79 having a rail portion (not shown) extending in the Z direction, and the rail portion. And a slider 80 movable in the Z direction. The slider 80 is made of a long plate material having a predetermined length long in the Z direction.

  The lower end of the slider 80 on the first moving unit 70A side has a first air cylinder 83 as an example of an urging unit and a first urging unit, and a second air as an example of an urging unit and a second urging unit. A first cutter unit 81 is supported via the cylinder 84. That is, the first air cylinder 83 is fixed to the lower end portion of the slider 80 in a direction in which the expansion / contraction direction coincides with the Z direction. Further, the second air cylinder 84 is fixed to the tip end portion of the piston rod of the first air cylinder 83 in a direction in which the expansion / contraction direction coincides with the X direction. A first cutter unit 81 is supported at the tip of the piston rod of the air cylinder 84. The first cutter unit 81 has a cutter 85 as an example of a blade portion.

  The support structure of the second cutter unit 82 at the lower end of the slider 80 on the second moving unit 70B side is basically the same as that on the first moving unit 70A side. That is, the second cutter unit 82 is supported at the lower end of the slider 80 on the second moving unit 70B side via the first air cylinder 83 that can be expanded and contracted in the Z direction and the second air cylinder 84 that can be expanded and contracted in the X direction. Has been. The second cutter unit 82 supported at the tip of the piston rod of the second air cylinder 84 has a cutter 85 as an example of a blade part. In the first moving unit 70A and the second moving unit 70B, the angle of the second air cylinder 84 is set at the tip of the piston rod of the first air cylinder 83 so that the expansion / contraction direction is an oblique direction intersecting the X direction. It may be attached and fixed.

  When the motor 74 is driven forward / reversely, the linear drive mechanism 75 constituting the Y-axis slide mechanism 71 is driven, and the X-axis slide mechanism 72 moves in the Y direction. Further, when the motor 76 is driven forward and backward, the linear drive mechanism 77 constituting the X-axis slide mechanism 72 is driven, and the Z-axis slide mechanism 73 moves in the X direction. Further, when the motor 78 is driven forward / reversely, the slider 80 of the linear drive mechanism 79 constituting the Z-axis slide mechanism 73 moves up and down in the Z direction. As shown in FIG. 1, the moving units 70A and 70B include a flexible guide member F3 that guides a power line that supplies power to the X-axis slide mechanism 72 that moves in the Y direction, and a Z-axis slide mechanism that moves in the X direction. A flexible guide member F <b> 4 for guiding a power line that supplies power to 73 is provided. The moving units 70A and 70B include an air flow path for supplying air pressure to the air cylinders 83 and 84 moving in the Z direction together with the slider 80, and a power line 89B for supplying power to the cutter units 81 and 82 (see FIG. 7). Is provided with a flexible guide member F5.

  As shown in FIG. 3, the first opening device 30 is provided with a camera 92. The camera 92 is supported in a suspended state from the upper frame 22 by a support rod 91, and is arranged at a position where the cutter 51 can be imaged in a state where the cutter unit 50 is in a standby position indicated by a solid line in FIG. Image data captured by the camera 92 is output to the control unit 110.

  As shown in FIG. 1, the second opening device 60 is provided with two cameras 94. The two cameras 94 are supported in a suspended state by the support rod 93 from the upper frame 25, and in a state where the cutter units 81 and 82 are in the standby positions indicated by solid lines in FIG. Has been placed. Image data captured by the camera 94 is output to the control unit 110.

  Next, the configuration of the cutter unit 50 will be described with reference to FIG. As shown in FIG. 6, a support plate 52 is fixed to the tip of the piston rod 48 </ b> A of the air cylinder 48. A pair of rollers 53, as an example of a rolling element, is attached to the lower portion of the support plate 52 so as to protrude slightly below the lower end of the support plate 52. A cutter 51 is positioned between the pair of first rollers 53, and the tip of the cutter 51 protrudes further downward than the lower ends of the pair of first rollers 53. The pair of rollers 53 rotate about a rotation axis 53A parallel to the Y direction so that the top surface 19A of the box C can roll in the process in which the cutter unit 50 moves in the X direction.

  A columnar vibrator 54 is attached to the support plate 52 by a bracket 54A. The cutter 51 is fixed to the tip of an output shaft (not shown) of the vibrator 54. The vibrator 54 and the cutter 51 are held in an oblique posture inclined at a predetermined angle (for example, about 45 degrees) with respect to the horizontal plane. The cutter unit 50 cuts the first tape 17 by moving the cutter 51 that vibrates with ultrasonic waves generated by the vibrator 54 along the cutting virtual line L1 (see FIG. 5) of the first tape 17. The power line 54B for supplying a periodically changing voltage to the vibrator 54 is connected to an oscillator (not shown) via the flexible guide member F2.

  The air cylinder 48 is used by stopping the piston rod 48A in the middle of the stroke when extending. That is, the lowering position of the slider 47 by the Z-axis slide mechanism 42 is controlled to a position where the roller 53 hits the top surface 19A of the box C during the stroke when the air cylinder 48 is extended. For this reason, when the roller 53 rolls on the top surface 19A of the box C, the piston rod 48A is positioned in the middle of the stroke, and the roller 53 can follow even if the top surface 19A is deformed.

  For example, when a configuration is adopted in which the urging means of the roller is a spring, the spring changes the urging force (elastic force) of the roller according to the product of the change in length (displacement) from the natural length and the spring constant. For this reason, when the urging force of the roller changes according to the stroke, the urging force of the roller against the box is not stabilized according to the stroke. In contrast, since the air cylinder 48 is used, the roller 53 can be biased with a constant air pressure (biasing force) even if the stroke of the piston rod 48A changes. The roller 53 rolls on the top surface 19 </ b> A of the box C while being pressed by a relatively weak predetermined urging force due to the minute air pressure applied to the air cylinder 48.

  Next, the configuration of the two cutter units 81 and 82 will be described with reference to FIG. Since the basic configuration of the two cutter units 81 and 82 is the same, the configuration of the first cutter unit 81 will be described below. As shown in FIG. 7, the second air cylinder 84 is fixed to the front end (lower end) of the piston rod 83 </ b> A of the first air cylinder 83 fixed to the lower end of the slider 80 so that the second air cylinder 84 can extend and contract in the X direction. The support plate 86 is fixed to the tip of the piston rod 84A (see FIG. 10). A pair of first rollers 87 and a pair of second rollers 88 are attached to the support plate 86. The pair of first rollers 87 rotate about a rotation axis 87A parallel to the X direction so that the top surface 19A of the box C can roll in the process in which the cutter units 81 and 82 move in the Y direction. The lower ends of the pair of first rollers 87 are positioned slightly lower than the lower ends of the support plates 86. A cutter 85 is positioned between the pair of first rollers 87, and the leading end of the cutter 85 protrudes further downward than the lower ends of the pair of first rollers 87.

  The pair of second rollers 88 rotate about a rotation axis 88A parallel to the Z direction so that the side surface 19B of the box C can roll while the cutter units 81 and 82 move in the Y direction. The second roller 88 is positioned below the first roller 87 and rolls on the side surface 19B of the box C when the first roller 87 rolls on the top surface 19A of the box C.

  The first air cylinder 83 biases the first roller 87 downward in the Z direction. The first roller 87 rolls while being pressed against the top surface 19 </ b> A of the box C by the urging force of the first air cylinder 83. The second air cylinder 84 biases the second roller 88 in the X direction. The second air cylinder 84 on the first moving unit 70A side urges the second roller 88 downstream in the X direction, and the second air cylinder 84 on the second moving unit 70B side pushes the second roller 88 in the X direction. Energize upstream. The second roller 88 rolls while being pressed against the side surface 19B of the box C by the urging force of the second air cylinder 84.

  Further, a columnar vibrator 89 is assembled to the support plate 86 by a bracket 89A. The cutter 85 is fixed to the tip of the output shaft (not shown) of the vibrator 89. The vibrator 89 and the cutter 85 are held in an oblique posture inclined at a predetermined angle (for example, about 45 degrees) with respect to the horizontal plane. The cutter units 81 and 82 cut the second tape 18 by moving the cutter 85 that vibrates with ultrasonic waves generated by the vibrator 89 along the cutting virtual line L2 (see FIG. 5) of the second tape 18. To do. A power line 89B that supplies a periodically changing voltage to the vibrator 89 is connected to an oscillator (not shown) via a flexible guide member F5.

  FIG. 8 shows a pneumatic circuit for driving the air cylinders 48, 83, 84. The pneumatic circuit 100 for driving the air cylinders 48, 83, and 84 has basically the same configuration. Hereinafter, the pneumatic circuit 100 that controls the air cylinder 48 will be described as an example. As shown in FIG. 8, the pneumatic circuit 100 includes a pneumatic source 101. An electromagnetic switching valve 103 is connected to the air pressure source 101 through a flow path 102. Further, between the electromagnetic switching valve 103 and the air cylinder 48, a flow path 104 communicating with the piston 48B side chamber in the air cylinder 48 and a flow path communicating with the piston rod 48A side chamber in the air cylinder 48 are provided. 105 is connected. A pressure reducing valve 106 is disposed in the middle of the flow path 104, and the urging force that presses the roller 53 against the surface of the box C is adjusted to a weak predetermined value by supplying minute air pressure reduced by the pressure reducing valve 106 into the air cylinder 48. To do.

  By switching the electromagnetic switching valve 103, the air cylinder 48 expands or contracts. When the electromagnetic switching valve 103 is in the first position shown in FIG. 8, the air pressure from the air pressure source 101 is supplied to the piston rod side chamber of the air cylinder 48, and the air cylinder 48 is driven to contract. When the electromagnetic switching valve 103 is switched to a second position different from the first position, a minute air pressure obtained by reducing the air pressure from the air pressure source 101 by the pressure reducing valve 106 is supplied to the piston side chamber of the air cylinder 48, The air cylinder 48 is driven to extend. The air cylinder 48 urges the roller 53 downward in the Z direction with a small constant air pressure when the air cylinder 48 is extended, and presses the roller 53 against the top surface 19A of the box C with a weak urging force. The air cylinder 48 separates the roller 53 from the top surface 19A of the box C when contracted. The first air cylinder 83 and the second air cylinder 84 also have the same air cylinder 48 and pneumatic pressure source 101 and are driven and controlled by the pneumatic circuit 100 having the same configuration as the air cylinder 48.

  Further, the air cylinders 48, 83, 84 are used while being stopped in the middle of the stroke. That is, when the air cylinders 48 and 83 are extended, the lowered positions of the sliders 47 and 80 are controlled by the Z-axis slide mechanisms 42 and 73 at positions where the rollers 53 and 87 hit the top surface 19A of the box C in the middle of the stroke. The For this reason, when the rollers 53 and 87 roll on the top surface 19A of the box C, the piston rods 48A and 83A are located in the middle of the stroke (for example, at an intermediate position). Even if it is deformed, it can follow the top surface 19A by being displaced vertically in the Z direction. Further, when the second roller 88 rolls on the side surface 19B of the box C, the piston 84B of the second air cylinder 84 is located in the middle of the stroke (for example, at an intermediate position), so that the side surface 19B of the second roller 88 is somewhat Even if it is deformed, it can follow the side surface 19B by being displaced to both sides in the X direction.

  A minute air pressure obtained by reducing the air pressure of the air pressure source 101 by the pressure reducing valve 106 is supplied to the chambers of the air cylinders 48, 83, 84 on the pistons 48 B, 83 B, 84 B side. For this reason, the roller 53 and the first roller 87 press the top surface 19A of the box C with a weak biasing force by the air cylinders 48 and 83. Further, the second roller 88 pushes the side surface 19B of the box C with a weak biasing force caused by a minute air pressure supplied to the second air cylinder 84. Further, since the rollers 53, 87, 88 are energized by the air pressure of the air cylinders 48, 83, 84, even if the stroke positions of the air cylinders 48, 83, 84 change in the process of following the surface of the box C. It is energized with almost constant force. For example, a configuration in which a spring is used as the biasing means of the rollers 53, 87, 88 is conceivable. For this reason, since the urging force of the roller following the surface of the box C changes according to the stroke, it becomes unstable. On the other hand, by supplying minute air pressure reduced by the pressure reducing valve 106 to the pistons 48B, 83B, 84B side of the air cylinders 48, 83, 84, the air cylinders 48, 83, 84 are moved to the rollers 53, 87, The biasing force for pressing 88 is set to be weak. Further, the rollers 53, 87, 88 are pressed against the surface of the box C in a state where the pistons 48B, 83B, 84B are arranged in the middle of the stroke. For this reason, even if the top surface 19A of the box C is wavy or deformed, the rollers 53 and 87 roll following the top surface 19A of the box C, and the side surface 19B of the box C is wavy or deformed. The roller 88 rolls following the side surface 19B of the box C.

  70 A of 1st moving units are the cutting start position P11 (refer FIG. 4) of the 2nd tape 18 which stuck the cutter 85 of the 1st cutter unit 81 on the side edge part of the box C positioned in the 2nd position. Deploy. The cutter unit 81 is moved from a cutting start position P11 indicated by a solid line in FIG. 4 to a cutting end position P12 indicated by a two-dot chain line in FIG. As shown in FIGS. 4 and 10, in this cutting process, the first air cylinder 83 extends with the piston rod 83 </ b> A positioned in the middle of the stroke, and the first roller 87 has a minute pressure reduced by the pressure reducing valve 106. It rolls on the top surface 19A while being pressed against the top surface 19A of the box C with a small urging force from the first air cylinder 83 by air pressure. Further, as shown in FIG. 10, the second air cylinder 84 extends with the piston rod 84A positioned in the middle of the stroke, and the second roller 88 is a second air cylinder with a minute air pressure reduced by the pressure reducing valve 106. It rolls on the side surface 19B while being pressed against the side surface 19B of the box C with a small urging force from 84.

  The pair of cutter units 81 and 82 that constitute the moving units 70A and 70B of the second opening device 60 shown in FIG. 1 is shown by a two-dot chain line from a position indicated by a solid line in FIG. Are simultaneously moved in the Y direction to the position indicated by. In the cutting process, as shown in FIG. 10, the first roller 87 is pressed against the top surface 19A and the second roller 88 is pressed against the side surface 19B. As the rollers 87 and 88 roll while being pressed on the top surface 19A and the side surface 19B, respectively, the cutter 85 is positioned with respect to the top surface 19A and the side surface 19B, and the cutting start position P11 indicated by a solid line in FIG. To a cutting end position P12 indicated by a two-dot chain line. The cutters 85 of the two cutter units 81 and 82 move along the virtual cutting line L2 of the two second tapes 18 shown in FIG. 5 to cut the two second tapes 18, respectively.

  Next, the electrical configuration of the opening system 10 will be described with reference to FIG. The control panel 110 of the unsealing system 10 is electrically connected to an operation panel 120 used by an operator to input various setting data to the unsealing system 10 and to give instructions such as start and stop of operation. Has been. The operation panel 120 includes a display unit 121. The control unit 110 causes the display unit 121 to display a setting screen or a notification screen for notifying an operator of an error or the like.

  The first opening device 30 and the second opening device 60 are electrically connected to the control unit 110. That is, the control unit 110 is electrically connected to the first conveyor 11, the first positioning device 31, the first opening unit 40, and the first camera 92 that constitute the first opening device 30. The controller 110 is electrically connected to the second conveyor 12, the second positioning device 61, the second opening unit 70, and the second camera 94 that constitute the second opening device 60. Further, the control unit 110 is electrically connected with a first sensor 36 and a second sensor 66 as an input system.

  The control unit 110 includes an image processing unit 111, a determination unit 112, and a memory 113. The memory 113 stores the program PR shown in the flowchart of FIG. 14 and the cutter reference image data SD. The cutter reference image data SD is image data (cutter initial image data) when the cutters 51 and 85 are in an initial state before use. When the cutters 51 and 85 are replaced, the image data obtained by the cameras 92 and 94 capturing the initial cutters 51 and 85 may be stored in the memory 113 as the cutter reference image data SD. The cutter reference image data SD is captured image data obtained by capturing the cutters 51 and 85 by the cameras 92 and 94 before the next box C, that is, before starting the cutting of the tapes 17 and 18 of the current box C. But you can. As the cutter reference image data SD, the cutter initial image data, and the cutter image data before and after the previous time taken by the cameras 92 and 94 after the start of use of the cutter and before the opening of the present box is opened are used as the cutter reference image data. You may use both.

  FIG. 12 shows the cutter reference image data SD. A cutter reference image SD shown in FIG. 12 is an example of an initial image before the cutters 51 and 85 are used. The cutters 51 and 85 in the cutter reference image SD are not missing or worn. FIG. 13 shows cutter captured image data PD (hereinafter also simply referred to as “cutter captured image PD”) obtained by capturing the cutters 51 and 85 at a predetermined time when the cameras 92 and 94 are operating the unsealing system 10. The cutter captured image PD shown in FIG. 13 is an example of the cutters 51 and 85 having the defect K.

  The control unit 110 compares the cutter reference image SD and the cutter captured image PD to determine whether there is a defect K and wear. The image processing unit 111 performs necessary image processing on the cutter captured image data PD captured by the cameras 92 and 94. The determination unit 112 compares the cutter captured image PD after image processing with the cutter reference image SD, and determines the presence or absence of the defect K and the wear of the cutters 51 and 85. When the control unit 110 detects the loss K of the cutters 51 and 85 based on the determination result of the determination unit 112, the control unit 110 displays on the display unit 121 of the operation panel 120 that the cutter loss K has occurred and notifies the operator. . In addition, when the wear of the cutters 51 and 85 is detected, the control unit 110 displays the fact that the cutter is worn on the display unit 121 of the operation panel 120 and notifies the operator.

  When the image processing unit 111 matches the sizes of the cutter reference image SD shown in FIG. 12 and the cutter captured image PD shown in FIG. 13 and obtains a difference, a missing area such as a missing K is acquired as a difference area DA. The image processing unit 111 compares the captured captured image PD after the image processing with the cutter reference image SD. As a comparison process, a difference process for obtaining a difference between the cutter captured image PD and the cutter reference image SD is performed. As a result of the difference processing, the image processing unit 111 obtains a difference area DA shown in FIG. The determination unit 112 determines whether the difference area DA is a defect K or wear by using the shape threshold value and the area threshold value for the difference area DA. The determination unit 112 performs determination until the next box C is opened by cutting the tapes 17 and 18 of the next box C. In this example, the determination unit 112 determines the presence or absence of a defect K in the cutters 51 and 85 before the cutting of the tapes 17 and 18 in the next box C is started. The determination unit 112 can also determine the degree of wear of the cutters 51 and 85 by using the cutter initial image as the cutter reference image SD.

  Next, the operation of the opening system 10 will be described. The opening system 10 is controlled by the control unit 110. The operator operates the operation panel 120 and gives an instruction to start operation. The control part 110 will start the driving | operation of the opening system 10, if the instruction | indication of a driving | operation start is received. The control unit 110 reads the program PR from the memory 113 and executes it.

  Note that the control unit 110 receives box specifying information related to boxes that are carried into the first conveyor 11 from a palletizer that performs a box stacking operation on the upstream side of the opening system 10. There are various sizes of boxes to be separated, and boxes C having different shapes and sizes are carried into the first conveyor 11. When a sensor (not shown) detects that a box has been carried into the first conveyor 11, the controller 110 drives an actuator (not shown) to move the stopper 32 from the retracted position to the restricted position. Further, when a sensor (not shown) detects that the box C is carried into the second conveyor 12, the control unit 110 drives an actuator (not shown) to move the stopper 62 from the retracted position to the restricted position.

  Hereinafter, opening control performed by the control unit 110 by executing the program PR shown in FIG. 14 will be described. In the first opening device 30 and the second opening device 60, the configuration of the cutter units 50, 81, 82 and the direction in which the moving units 40A, 70A, 70B move the cutter units 50, 81, 82, etc. The basic content of the opening control is the same, although it differs slightly depending on the position and orientation of the tapes 17 and 18. Therefore, below, opening control is demonstrated in the example of the 1st opening apparatus 30. FIG.

  First, in step S11, the control unit 110 stands by until the sensor 36 is turned on. If the sensor 36 is turned on, the process proceeds to the next step S12. That is, while the box C is being conveyed, the process waits until the sensor detects the box C. When the sensor 36 detects the box C, the process proceeds to step S12. Note that the box C detected by the sensor 36 hits the stopper 32, and further movement in the transport direction (X-axis direction) is restricted and positioned at the first position.

In step S12, the control unit 110 stops the conveyor 11. As a result, the box is placed at the opening position.
In the next step S13, the control unit 110 performs the positioning operation of the box C. That is, the control unit 110 drives the pair of guide units 33 to extend the pair of guide members 35, thereby positioning the box C positioned in the transport direction X by the stopper 32 in the width direction Y. As a result, the box C is positioned at the first position that is the opening position.

  In the next step S14, the control unit 110 moves the cutter 51 to the cutting start position. That is, the control unit 110 calculates a cutting start position corresponding to the size of the box C specified from the box specifying information, and controls the position of the opening unit in the X direction and the Z direction so that the cutter 51 moves to the calculated cutting start position. Then, the cutter 51 is moved to the cutting start position. At this time, the control unit 110 controls the position of the X-axis slide mechanism 41 in the X-axis direction, lowers the Z-axis slide mechanism 42, and further drives the air cylinder 48 to extend downward to start cutting the cutter unit 50. Move to position.

  In the next step S15, the control unit 110 performs a tape cutting operation. That is, as shown in FIG. 1, the control unit 110 moves the cutter unit 50 in the X direction from the cutting start position P1 toward the cutting end position P2, thereby reducing the cutter 51 by a predetermined air pressure of the air cylinder 48. The first tape 17 is moved along the virtual cutting line L1 while being urged by the urging force. As a result, the first tape 17 is cut. As shown in FIG. 9, the roller 53 rolls on the top surface 19A while being pressed against the top surface 19A of the box C with a predetermined air pressure. For this reason, the cutter 51 follows along the surface of the first tape 17 while being displaced vertically along the surface shape of the top surface 19A of the box C. At this time, even if the stroke of the air cylinder 48 changes according to the surface shape of the top surface 19A of the box C, the roller 53 can be pressed against the top surface 19A with a constant biasing force. For this reason, the cutter 51 is positioned in the Z direction by the roller 53 that rolls on the top surface 19A, and moves along the virtual cutting line L1 while being inserted at a predetermined depth with respect to the first tape 17. . Therefore, even if the top surface 19A is slightly deformed, the first tape 17 is surely cut. The cutter 51 does not enter the box C excessively while entering a little deeper than the thickness of the first tape 17. For this reason, the first tape 17 can be reliably cut by the cutter 51, and the cutter 51 can avoid damaging the contents in the box C.

  In step S <b> 16, the control unit 110 performs a box C carry-out operation. That is, the control unit 110 drives the conveyor 11 after controlling the electric cylinder 34 to retract the guide unit 33 from the guide position to the retracted position and move the stopper 32 from the restricting position to the retracted position. As a result, the box C after the first tape 17 is cut is transferred from the first conveyor 11 to the second conveyor 12 and carried into the second opening device 60.

  In the next step S17, the control unit 110 determines whether it is the inspection time. The timing for inspecting the cutter is set in advance. In this example, an inspection time is set to perform an inspection every time a cutting operation is performed. For this reason, in step S17, the conditions for the inspection time are always satisfied. The inspection time may be set every N or more times (where N is a natural number of 2 or more) as the number of cuttings, or the cutting length of the tape is measured and the accumulated value is stored in the memory 113. The inspection time may be set when the cumulative value of the cutting length exceeds the set value. The control unit 110 proceeds to step S18 if it is the inspection time, and proceeds to step S23 if it is not the inspection time. For example, in this example in which inspection is performed each time, the process proceeds to step S18.

  In step S <b> 18, the control unit 110 images the cutter 51 with the camera 92. That is, the control unit 110 moves the cutter unit 50 from the cutting end position P2 to the imaging position. Here, the imaging position is a position where the camera 92 is in focus and is a position where the cutter 51 can be imaged with a predetermined size or more. The imaging position is preferably a position on the moving path of the cutter 51 from the cutting end position P2 to the standby position. When the cutter 51 moves to the imaging position and stops, the control unit 110 causes the camera 92 to perform an imaging operation. The camera 92 outputs the cutter captured image data PD obtained by capturing the cutter 51 to the control unit 110.

  In step S19, it is determined whether or not the cutter is normal. That is, the control unit 110 compares the current cutter captured image PD captured by the camera 92 with the cutter reference image SD stored in the memory 113. When the cutter 51 has a defect K or excessive wear, the difference between the cutter reference image SD and the cutter captured image PD exceeds the threshold value. In the control unit 110, the image processing unit 111 performs predetermined image processing on the cutter captured image PD, and acquires a difference between the cutter reference image SD and the cutter captured image PD as a difference area DA illustrated in FIG. The control unit 110 determines whether the cutter 51 has a defect K or excessive wear by comparing the area and shape of the difference area DA with the area threshold value and the shape threshold value. If the cutter 51 has a defect K, it is determined as “abnormal”. When the cutter 51 is excessively worn, it is not determined as “abnormal” but is determined as “non-normal” when the cutter 51 is in the replacement period. Therefore, the control unit 110 proceeds to step S23 if the cutter 51 is normal as a result of the determination, and proceeds to step S20 if the cutter 51 is abnormal or abnormal.

  In step S20, the control unit 110 determines whether or not the cutter 51 is abnormal. If the cutter 51 is abnormal, the control unit 110 proceeds to step S21 to emergency stop the operation of the unsealing system 10 and notifies the cutter 51 that there is a defect K defect. That is, the control unit 110 displays on the display unit 121 that the cutter 51 has a defect K defect.

  If the cutter 51 is not abnormal as a result of the determination in step S20, the process proceeds to step S22, and the control unit 110 notifies the cutter replacement timing. That is, the control unit 110 displays on the display unit 121 the cutter replacement time.

  In step S23, the control unit 110 returns the cutter to the standby position. That is, the control unit 110 drives the air cylinder 48 to contract and moves the cutter unit 50 slightly upward, and drives the X-axis slide mechanism 41 and the Z-axis slide mechanism 42 to move the cutter unit 50 to the standby position. Move.

  Similarly to the first opening device 30, the control unit 110 basically performs the opening control on the second opening device 60 according to the opening control routine shown in the flowchart of FIG. 14. The second opening device 60 controls the two moving units 70A and 70B and cuts the cutter 51 captured by the second camera 94 in order to cut the two second tapes 18 attached to the two side edges of the box C. Based on this image, it is determined whether there is an abnormality such as a defect K of the cutter 51 and whether it is a replacement time due to wear of the cutter 51.

  In FIG. 14, in step S14, the control unit 110 drives and controls the two moving units 70A and 70B to move each cutter 85 to the cutting start position. At this time, the first air cylinder 83 is driven to extend downward, the first roller 87 is pressed against the top surface 19A of the box C, and the second air cylinder 84 is driven to extend in the X direction to move the second roller 88 to the box C. Against the side surface 19B.

  In step S15, the control unit 110 moves each cutter 85 from the cutting start position P11 to the cutting end position P12. The cutter 85 rolls while the first roller 87 rolls while being pressed by the urging force from the first air cylinder 83 and the second roller 88 is pressed by the urging force from the second air cylinder 84. It moves along the virtual cutting line L2 following the surface of the second tape 18 while being positioned with respect to the side surface 19B. As a result, even if at least one of the top surface 19A and the side surface 19B of the box C is deformed, the second tape is surely cut. Further, even if the air cylinders 83 and 84 are slightly expanded or contracted according to the surface shape of the box C, the urging force by which the first roller 87 is pressed against the top surface 19A and the urging force by which the second roller 88 is pressed by the side surface 19B are maintained. It is kept almost constant. Therefore, the cutter 85 follows the top surface 19A and the side surface 19B even if the stroke positions of the air cylinders 83 and 84 change according to the deformation of the box C. As a result, the second tape 18 can be surely cut by the cutter 85, and the cutter 85 can avoid damaging the contents in the box C.

  On the other hand, when it is in the inspection time (Yes in S17), the cutter 85 is moved to the imaging position and the camera 94 images the cutter 85 (S18). The control unit 110 compares the current cutter captured image captured by the camera 94 with the cutter reference image SD stored in the memory 113. The control unit 110 compares the area and shape of the difference area DA obtained by taking the difference between the cutter reference image SD and the cutter captured image PD with the respective threshold values, and determines whether or not the cutter 85 has a defect K or excessive wear. Determine. If there is a defect K in the cutter 85, it is determined as “abnormal” (Yes in S20), and the operation of the unsealing system 10 is emergency stopped and a notification that the cutter 85 has an abnormality in the defect K is given (S21). On the other hand, if the cutter 85 is excessively worn, a notification of the time for replacing the cutter is given (S22).

  Thus, even if the box C is slightly deformed, the first tape 17 and the second tape 18 are reliably cut by the opening system 10. Further, when the cutters 51 and 85 are lost, the operation of the opening system 10 is stopped and the display unit 121 displays that information until the opening K is detected and the opening of the next box is finished. For this reason, the box C when the cutters 51 and 85 are lost can be immediately identified and excluded. For example, mixing of the missing portions of the cutters 51 and 85 into the contents of the box C can be prevented.

As described above in detail, according to the present embodiment, the following effects can be obtained.
(1) The opening system 10 for the box C cuts the tapes 17 and 18 attached to the box C and opens the box C. The unsealing system 10 includes rollers 53, 87, 88 (rolling elements) that are displaceable in a pressing direction that presses against the surface of the box C, and an air cylinder that biases the rollers 53, 87, 88 in the pressing direction. 48, 83, 84 (biasing part). Further, the unsealing system 10 moves the cutters 51 and 85 (blade portions) that can be displaced together with the rollers 53, 87, and 88 and the rollers 53, 87, 88 and the cutters 51, 85 relative to the box C. Moving units 40A, 70A, and 70B (moving mechanism) are provided. By rolling while pressing the rollers 53, 87, 88 against the surface of the box C, the cutters 51, 85 are caused to follow the surface of the box C on which the tapes 17, 18 are stuck, and the tapes 17, 18 are cut. Therefore, by causing the cutters 51 and 85 to follow the surface of the box C, even if the box C is somewhat deformed, the tape attached to the box C can be appropriately cut and the box C can be opened. Therefore, unsuccessful opening of the box C due to a mistake in cutting the tapes 17 and 18 can be reduced.

  (2) The first tape in which the cutter 51 is stuck across the pair of flaps 16 in the box C by rolling the roller 53 against the top surface 19A of the box C to which the first tape 17 is stuck. 17 is cut. Therefore, even if the box C is slightly deformed, the first tape 17 stuck across the two flaps 16 on the top surface 19A of the box C can be cut by the cutter 51.

  (3) The unsealing system 10 includes a first roller 87 that can be pressed against the top surface 19A of the box C, and a second roller 88 that can be pressed against the side surface 19B of the box C. The unsealing system 10 urges the first air cylinder 83 in a first direction in which the first roller 87 can be pressed against the top surface 19A and the second direction in which the second roller 88 can be pressed against the side surface 19B. And a second air cylinder 84. The first roller 87 rolls while being pressed against the top surface 19A of the box C, and the second roller 88 rolls while being pressed against the side surface 19B of the box C. The 2nd tape 18 stuck on the side edge between 19A and side 19B is cut. Accordingly, the first roller 87 rolls while being pressed against the top surface 19A of the box C, and the second roller 88 rolls while being pressed against the side surface 19B of the box C, whereby the cutter 85 is moved to the top surface 19A. And the side surface 19B. Therefore, even if the box C is slightly deformed, the second tape 18 attached to the side edge between the top surface 19A and the side surface 19B of the box C can be reliably cut. Moreover, even if both the top surface 19A and the side surface 19B of the box C are deformed, the second tape 18 attached to the side edge can be reliably cut.

  (4) The air cylinders 48, 83, 84 pressurize the rollers 53, 87, 88 with air pressure. Since the rollers 53, 87, and 88 are biased by air pressure, fluctuations in the biasing force due to a difference in stroke position in the pressing direction of the rollers 53, 87, and 88 can be reduced as compared with a configuration that biases the rollers 53, 87, and 88. As a result, the rollers 53, 87, 88 follow the surface of the box C, and the pressing force of the cutters 51, 85 is stabilized. Therefore, even if the box C is slightly deformed, the cutters 51 and 85 are caused to follow the tapes 17 and 18 so that the tapes 17 and 18 can be cut more reliably. For example, when the urging means is a spring, the roller presses the surface of the box C too much and deforms the box C, or the pressing force of the roller is too weak and the cutter hits the tape so that a cutting error occurs. The frequency is relatively high. However, in the unsealing system 10 of the present embodiment, the pressing force of the rollers 53, 87, 88 is stable regardless of the stroke position, so that the frequency of occurrence of this type of box C deformation and cutting error can be reduced.

  (5) The unsealing system 10 stores the cameras 92 and 94 (an example of an imaging unit) that images the cutters 51 and 85, the cutter captured image PD that is captured by the cameras 92 and 94, and the memory 113. A determination unit 112 that compares the cutter reference image SD with the cutter 51 and 85 to determine the presence or absence of the defect K is provided. Therefore, the defect K of the cutters 51 and 85 can be detected based on the images obtained by capturing the cutters 51 and 85 with the cameras 92 and 94. For example, even if the missing portions of the cutters 51 and 85 are mixed in the opened box C, the box C can be easily identified and removed immediately.

  (6) The cameras 92 and 94 capture the images of the cutters 51 and 85 after the cutters 51 and 85 cut the tapes 17 and 18 of the box C. The determination unit 112 performs determination after the tapes 17 and 18 in the box C are cut. The cutter reference image SD is an initial image of the cutters 51 and 85 or a captured image obtained by the cameras 92 and 94 capturing the cutters 51 and 85 before the cutting of the tapes 17 and 18 of the box C is started. Therefore, after the tapes 17 and 18 of the box C are cut, the cutter captured images PD obtained by the cameras 92 and 94 capturing the cutters 51 and 85 are obtained before the initial images of the cutters 51 and 85 or the tapes 17 and 18 are cut. By comparing with the captured cutter reference image SD, the presence or absence of the defect K of the cutters 51 and 85 can be determined. Therefore, even if the cutters 51 and 85 are lost, the loss of the cutters 51 and 85 can be detected promptly after the cutting of the tape in which the loss K of the cutters 51 and 85 has occurred.

  (7) The cameras 92 and 94 capture the images of the cutters 51 and 85 in a period before the cutting of the tapes 17 and 18 of the next box C after the cutters 51 and 85 cut the tapes 17 and 18 of the box C. To do. The determination unit 112 performs determination after cutting the tapes 17 and 18 of the box C and before cutting and opening the tapes 17 and 18 of the next box C. Therefore, even if the cutters 51 and 85 are lost, after the tapes 17 and 18 of the box C are cut, the defects K of the cutters 51 and 85 can be found early before the next box C is opened.

The embodiment is not limited to the above, and may be modified as follows.
-A biasing part may be a spring. Since the rollers 53, 87, 88 roll while being pressed against the surface of the box C by the biasing force of the spring, the tapes 17, 18 are cut by the cutters 51, 85 that follow the surface of the box C together with the rollers 53, 87, 88. can do.

  The first roller 53 is not limited to a pair and may be one. Further, the first roller 87 is not limited to a pair and may be one. When the number of the first rollers 53 and 87 is one, the cutters 51 and 85 are more easily followed by the top surface of the box C.

The second tape 18 may be cut before the first tape 17.
The moving mechanism may be a drive system using an electric cylinder or a pneumatic cylinder as a power source.
The moving mechanism is a position positioned in the width direction Y and the height direction Z according to the size of the box C instead of the moving units 40A, 70A, 70B that move the cutter units 50, 81, 82 relative to the box C. It may be a conveyor that moves the box in a direction in which the tape can be cut with respect to the cutter unit that stops in step S2.

-The rolling element is not limited to a roller but may be a ball.
-It is not limited to an ultrasonic vibration type blade part, but may be a cutter that physically cuts.
-The inspection frequency of the blade can be set as appropriate according to the use of the blade. For example, the number of opened boxes may be counted with a counter, and the inspection operation may be performed each time the count value reaches a set value that is 2 or more. For example, in the case of food-related applications, it is preferable to increase the inspection frequency.

A distance sensor may be provided in the cutter unit, the distance to the surface of the box C may be detected during cutting, and the tape may be cut while controlling the height of the cutter unit according to the detected distance.
The box C may be closed by so-called “vertical pasting” by the first tape 17 stuck along the center line of the top surface. Moreover, the box C is stuck along the 1st tape stuck along the 1st center line extended in the length of a top | upper surface, and the 2nd center line extended on the side of a top | upper surface in the state which cross | intersects a 1st tape. The second tape may be closed with a so-called “cross-stick”. In these cases, it can be opened only by the first opening device 30.

  Only the second opening device 60 may be used. For example, the first tape on the center line of the top surface of the box C may be manually cut by a worker using a cutter, and the second tape attached to the side edge of the box C may be automatically cut by the second opening device 60. Good.

-You may arrange | position the air cylinder inclining diagonally in parallel with a cutter so that it may urge in the axial direction of the attitude | position which inclined the cutter.
-A tape is not restricted to an adhesive tape, You may affix with glue or an adhesive agent. Moreover, the tape may be welded to the box.

-There may be no inspection part which inspects breakage of a blade part, etc. using an image of a blade part (cutter).
-A cutting mechanism that does not include rolling elements, and a configuration that includes an inspection part of the blade part may be used. According to this configuration, the cutter can be inspected using the cutter captured image obtained by capturing the cutter with the camera.

  The box is not limited to a paper cardboard box but may be a plastic cardboard box. Also, a paper or plastic box other than cardboard may be used. The shape of the box is not limited to a rectangular parallelepiped, and may be a cylinder.

  DESCRIPTION OF SYMBOLS 10 ... Box opening system as an example of a box opening device, 11 ... 1st conveyor, 12 ... 2nd conveyor, 16 ... Flap, 17 ... 1st tape as an example of tape, 18 ... 1st tape as an example of tape 2 tapes, 19A ... top surface, 19B ... side surface, 30 ... first opening device constituting an example of a box opening device, 31 ... first positioning device, 32 ... stopper, 33 ... guide unit, 35 ... guide member, 36 DESCRIPTION OF SYMBOLS 1st sensor, 40 ... 1st opening unit, 40A ... Movement unit which comprises an example of a movement mechanism, 41 ... X-axis slide mechanism, 42 ... Z-axis movement mechanism, 48 ... Air cylinder as an example of an urging | biasing part, DESCRIPTION OF SYMBOLS 50 ... Cutter unit, 51 ... Cutter as an example of a blade part, 60 ... 2nd opening apparatus which comprises an example of a box opening apparatus, 61 ... 2nd positioning apparatus, 62 ... Stopper, 63 ... Guide unit , 65 ... guide member, 66 ... second sensor, 70 ... second opening unit, 70A ... first moving unit as an example of moving mechanism, 70B ... second moving unit as an example of moving mechanism, 71 ... Y As an example of a shaft slide mechanism, 72... X-axis slide mechanism, 73... Z-axis slide mechanism, a first air cylinder as an example of a biasing portion and a first biasing portion, 84. The second air cylinder, 85 ... a cutter as an example of a blade part, 92 ... a first camera as an example of an imaging part, 94 ... a second camera as an example of an imaging part, 110 ... a control part, 111 ... an image processing part 112 ... determining unit 113 ... memory 120 ... operation panel 121 ... display unit C, C1, C2 ... box, SD ... cutter reference image data (cutter reference image), PD ... cutter image data (cutter image) ), ... deficiency, DA ... differential region, X ... X direction (conveying direction), Y ... Y direction (width direction), Z ... Z direction (height direction).

Claims (6)

A box opening device for cutting a tape attached to a box and opening the box,
A rolling element provided so as to be displaceable in a pressing direction pressed against the surface of the box;
A biasing portion that biases the rolling element in the pressing direction;
A blade portion displaceable in the pressing direction together with the rolling elements;
A moving mechanism for moving the rolling element and the blade portion relative to the box,
A box opening device, wherein the rolling member is rolled while being pressed against the surface of the box, whereby the tape is cut by causing the blade portion to follow the surface of the box on which the tape is stuck. .   By rolling the rolling element while pressing against the top surface of the box to which the tape is stuck, the blade portion cuts the tape stuck across a pair of flaps of the box. The box opening device according to claim 1. As the rolling element, a first rolling element that can be pressed against the top surface of the box, and a second rolling element that can be pressed against the side surface of the box,
The urging portion includes a first urging portion that urges the first rolling element in a first direction in which the first rolling element can be pressed against the top surface, and a second direction in which the second rolling element can be pressed against the side surface. And a second urging portion that urges
The first rolling element rolls while being pressed against the top surface of the box, and the second rolling element rolls while being pressed against the side surface of the box, so that the blade portion of the box is The box opening device according to claim 1 or 2, wherein the tape attached to a side edge between the top surface and the side surface is cut.   The box opening device according to any one of claims 1 to 3, wherein the urging portion pressurizes the rolling element with air pressure. An imaging unit for imaging the blade part;
A determination unit that compares the captured image of the blade part obtained by imaging the blade part with the reference image of the blade part to determine the presence or absence of the blade part;
The box unsealing apparatus according to claim 1, further comprising: The imaging unit images the blade after the blade cuts the tape of the box,
The determination unit performs determination after cutting the tape,
The reference image is an initial image of the blade part or an imaged image of the blade part captured by the imaging unit before the cutting of the tape of the box is started. The box opening device according to 5.